TWI415778B - Multi - joint robots - Google Patents

Abstract

PURPOSE: A multi-joint robot is provided to transport a work piece at a low path line as the bottom of the hand part can be positioned as low as the height of the pedestal. CONSTITUTION: A multi-joint robot includes a hand part, a multi-joint arm, a supporting member, and a pedestal(13). The hand part mounts a material to be carried. The multi-joint arm is connected to the hand part, has at least two rotary joints, and expands/contracts to move the hand part in a single direction. The supporting member connects a transfer mechanism which is mounted on a column(12) moving up and down and the multi-joint arm. The pedestal is connected to the bottom of the column and rotates around the multi-joint arm. The fixed surface of the output axis of a reducer(37) rotating the pedestal is positioned in approximately middle of the thickness of a bearing which supports the pedestal.

Description

Multi-joint robot

The present invention relates to a multi-joint robot for entering and leaving a thin plate-shaped workpiece such as a glass substrate or a semiconductor wafer for liquid crystal.

Conventional multi-joint robots have proposed offsetting of the rotation center of the shoulder joint portion and the rotation center of the pedestal to make the radius of the multi-joint robot's winding radius smaller when the pedestal is rotated (for example, refer to Patent Document 1).

As shown in Fig. 6, the conventional multi-joint robot 1 includes two sets of multi-joint arms that are coupled to each other by the joint portions 3, 4, and 5 so as to be rotatable and that can transmit a rotational force by a rotational drive source to perform a desired operation. 2. The rotation center axis of the joint portion 3 provided at the base end of the two sets of the multi-joint arms 2 is arranged in the vertical direction (or the axial direction).

The multi-joint robot 1 includes two sets of multi-joint arms 2, one of which is for supplying and the other for taking out, and can simultaneously perform the supply operation of the workpiece 9 and the take-out operation of the other workpiece 9.

Further, in the conventional multi-joint robot 1, the hand 8 holding the workpiece 9 by the multi-joint arm 2 is configured to be taken out from the workpiece 9 indicated by an arrow X in the drawing, and linearly moved in the supply direction.

Further, the conventional multi-joint robot 1 includes a moving member 11 (hereinafter referred to as a moving mechanism 11) that can move the support member 10 provided on the multi-joint arm 2 up and down, and can adjust the vertical position of the multi-joint arm 2. In addition, the pedestal 13 of the up-and-down moving mechanism 11 is arranged to be rotatable, so that multiple levels can be The robot 1 twists and turns to change direction.

In addition, the conventional multi-joint robot 1 has its pedestal 13 disposed in a direction indicated by an arrow Y in the figure, which can be orthogonal to the moving direction of the hand 8 and the upward and downward movement direction of the support member 10, respectively. The direction is moved on the base table 14 whereby the position of the vertical movement mechanism 11 can be adjusted.

Further, the two sets of the multi-joint arms 2 included in the conventional multi-joint robot 1 have, for example, a plurality of joint portions, that is, the multi-joint robot 1 is configured as a horizontal joint type robot. 2, comprising: a first arm 6 (hereinafter referred to as an upper wrist 6), a second arm 7 coupled to the upper wrist 6 (hereinafter referred to as a front wrist 7), and a hand 8 that is coupled to the front wrist 7 to hold the workpiece 9.

The proximal end of the upper wrist 6 is coupled to the support member 10 via a drive shaft to constitute a rotatable joint portion 3 (hereinafter referred to as a shoulder joint portion 3). The shoulder joint portion 3 is a proximal end joint portion 3 that serves as the multi-joint arm 2 . Further, the distal end of the upper wrist 6 and the proximal end of the front wrist 7 are coupled via a drive shaft to constitute a rotatable joint portion 4 (hereinafter referred to as an elbow joint portion 4). Further, the front end of the front wrist 7 and the hand 8 are coupled to each other via a drive shaft, and constitute a rotatable joint portion 5 (hereinafter referred to as a hand joint portion 5). The members are arranged such that the central axes of rotation of the shoulder joints 3 are arranged in pairs on the coaxial side in the vertical direction.

The multi-joint arm 2 rotates the shoulder joint portion 3, the joint portion 4, and the hand joint portion 5 by a rotational driving source (not shown), and moves the hand 8 toward the workpiece and in the supply direction. At this time, the multi-joint arm 2 has a mechanism in which the telescopic operation is performed to linearly move the hand 8 in one direction to the extended position of the upper wrist 6 and the front wrist 7, and the upper wrist 6 and the front wrist 7 are in a folded state.

Here, the conventional articulated robot 1 is designed to be retracted at the multi-joint arm 2 shown in Fig. 7, and the center of the workpiece 9 held by the hand 8 and the center of rotation of the pedestal 13 can be aligned. Further, the rotation center of the elbow joint portion 4 and the rotation center of the pedestal 13 are offset from the moving direction of the hand 8 in the orthogonal direction so that the elbow joint portion 4 or the hand portion 8 does not protrude when the shank 13 is rotated. The minimum area circle 15 required around the robot 1 can reduce the winding radius of the multi-joint robot 1 .

Further, a conventional multi-joint robot proposes that the rotation of the motor is transmitted to the differential speed reducer by a belt, and the rotation of the differential speed reducer is supported by the bearing (for example, refer to Patent Document 2).

As shown in Fig. 8, the motor 102 is mounted in an inverted state in the vicinity of the outer peripheral portion of the substantially cylindrical rotating member 104, and its shaft and the drive input coupled to the speed reduction mechanism 103 are input. The toothed pulleys 191, 192 and the toothed belt 109 mounted on the shaft 193 operate the supply of the rotational driving force. The speed reduction mechanism 103 is attached to the fixing member 105, and the top of the rotating member 104 is attached by the base table 117 of the robot and the bolt 116, and is rotatably held by the fixing member 105 by the bearing 112 at the bottom.

[Patent Document 1] JP-A-2001-274218 (pages 4 to 5, 1 and 2)

[Patent Document 2] Japanese Patent Laid-Open No. 2-160485 (Page 2 to Page 3, Figure 1)

A multi-joint robot for entering and leaving a thin plate-shaped workpiece such as a liquid crystal glass substrate or a semiconductor wafer has a tendency to increase in size, and the number of processed substrates is also required to be increased, and it is required to be processed in a short time. Therefore, in response to the demand of the multi-joint robot, it is preferable that the transfer distance of the workpiece to be moved into the storage is small, regardless of the size of the device itself that has become higher in the storage space for the substrate. That is, if the transfer path is a transfer path from almost high to the ceiling to a transfer path that is almost low to the ground, the storage can be configured with more substrates, so it is desirable for the multi-joint robot to Effective use of the height direction.

In addition, it has become a big issue for multi-joint robots to achieve high speed and high precision. On the other hand, large-scale equipment requires a large investment in equipment in order to maintain a clean and dust-free environment. Therefore, it is desirable to allow more substrates to be placed in the storage and to increase the number of substrates processed. Based on this, it is also desired that the multi-joint robot can move in the up and down direction from the above high transmission path to the low transmission path.

In addition, regarding the cleanness and dustiness, the robot used to ensure cleanness and dustiness needs to be constructed so that the inside of the robot is not exposed. Therefore, the robot drive mechanism used is required to be disposed inside the robot.

In addition, the number of productions of liquid crystal substrates or semiconductor wafers has increased year by year, and in order to improve productivity, it is required for the robot to increase the number of workpieces to be transported. However, the robot needs maintenance due to the inclusion of mechanical parts, and the maintenance time has a great influence on the number of workpieces to be transported. Therefore, it is desirable for the robot to be easy to maintain. Regarding maintenance, it is natural to have motivation. The replacement work for the communication part is the replacement of the reducer at the most. It is a problem to make the replacement of the reducer easier. In particular, when the pedestal is wound, the torque of the column or the multi-joint arm or hand acts on the speed reducer for driving, so that the speed reducer of the turret winding shaft is highly likely to be damaged.

In view of the above-mentioned problems, the conventional multi-joint robot has a column and a multi-joint arm attached to the column and a turret for the hand-wound pedestal, and the speed reducer is directly connected to the pedestal, so that it is necessary to be replaced during maintenance. The built-in reducer requires an additional support for the column, and maintenance cannot be easily performed. Therefore, the replacement of the reducer takes time and the productivity is lowered.

Further, the conventional multi-joint robot is configured such that the base end of the multi-joint arm is coaxially arranged on the upper and lower sides. Therefore, when the motor or the pulley that is disposed at the base end of the multi-joint arm is replaced, only the method of removing the single multi-joint arm and then replacing it can be performed, so that the maintenance time becomes large, resulting in a problem of reduced productivity.

Further, in the structure of the conventional multi-joint robot winding mechanism, if the structure is a structure in which the multi-joint arm is disposed on the winding mechanism as in a general vertical multi-joint robot, even if the bearing is disposed at the bottom, the upper moment load is configured. It does not produce a large effect and is therefore not a problem, but there is a large torque load when the pedestal is wound around the side column. In this way, since the output plane of the reducer and the support plane of the bearing are not uniform, the moment load at the time of winding will have a large effect, and not only the reducer but also the bearing may be damaged, resulting in difficulty in maintenance and repair.

In addition, although the transfer path of the workpiece is low, the winding mechanism shown in Fig. 8 has an unnecessary space inside, and even if it is combined with a conventional multi-joint robot, it is impossible to form a low-transmission path, so that the workpiece cannot be produced. The problem of moving out of the lower part of the vault.

The present invention has been made in view of the above problems, and an object thereof is to provide a multi-joint robot capable of achieving easy maintenance and a low transmission path.

In order to solve the above problems, the present invention is constituted as follows.

According to the invention of the first aspect of the invention, the multi-joint robot is a hand for carrying a carrier, and is connected to the hand, and has at least two or more rotating joints, and the hand can be expanded and contracted. Moving in one direction, a multi-joint arm that faces in the up-and-down direction, a moving mechanism that is attached to the column to move up and down, a support member that connects the moving mechanism and the multi-joint arm, and a lower end portion of the column The lower end portion of the column is biased to the winding shaft of the connection pedestal, and is configured to be orthogonal to the moving direction of the hand and the vertical direction of the multi-joint arm, and the multi-joint robot has an output of a reducer that winds the pedestal a first fixing member for fixing the shaft and the pedestal, wherein a fixing surface of the first fixing member and an output shaft of the reduction gear is disposed outside the support shaft of the pedestal in a radial direction of the reducer The thickness of the inclined roller bearing of the pedestal is fixed to the second fixing member, and the second fixing member is disposed on the inclined roller shaft The outer ring is fixed to the base stations On the base, the rotation support of the pedestal is performed by the inclined roller bearing, and the rotation of the pedestal is performed by the output of the differential reducer, so that even when the reducer is replaced, since the pedestal is supported by the inclined roller bearing, It is possible to disassemble the reducer without being restrained.

According to the invention of claim 2, the speed reducer is disposed inside the inner diameter of the inclined roller bearing, and the multi-joint arm and the column and the moving mechanism and the pedestal are the inclined roller bearing. In the state of the winding support, the pedestal above the speed reducer includes a speed reducer cover from which the speed reducer can be removed.

According to the invention described in the first and second aspects of the patent application, in order to maintain the column and the multi-joint arm attached to the column and the pedestal for hand winding, when the internal gear unit is replaced, The pedestal is supported by a bearing different from that of the reducer, so there is no need to perform additional support work on the column, and maintenance can be easily performed.

In addition, it is possible to eliminate the idle space in the height direction of the pedestal. That is, the bottom surface of the hand can be disposed at a position where the base is high to low, and the workpiece can be conveyed with a low transfer path. That is, the bottom surface of the hand is configurable to be positioned at a high to low position of the base, and workpiece handling with a low transfer path can be realized.

In addition, even if the large moment of the column, the multi-joint arm or the hand caused by the pedestal winding is applied, the bearing with good precision can be used for the load from any direction, such as the inclined roller bearing, with a larger radius of rotation. Since the support is provided, it is possible to obtain good precision support, and it is not necessary to perform additional support for the column when the speed reducer is taken out, so that maintenance can be easily performed.

[Best Embodiment of the Invention]

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Example 1]

1 is a perspective view of a multi-joint robot of the present invention, FIG. 2 is a top view of the multi-joint robot of the present invention, and FIG. 3 is a front view of the multi-joint robot of the present invention.

The multi-joint robot 1 of the present invention has a structure in which the uprights 12 that can be divided into a plurality of blocks are connected to each other in order to increase the height of the storage (not shown). As described above, the multi-joint robot 1 having the height corresponding to the upper level of the storage compartment is formed by connecting the respective pillar blocks 16 in order. In the present embodiment, the multi-joint robot 1 has a structure in which four pillar blocks 16 are connected to each other. The both end faces of each of the column blocks 16 are formed to have a fitting structure for connecting the column blocks 16 together, and a positioning hole (not shown) is provided for the good precision of the guide mechanism for forming the linear guide, and the positioning tool is used. Adjust for assembly.

Further, the multi-joint robot 1 of the present invention includes two sets of multi-joint arms 2 that are coupled to each other by the joint portions 3, 4, and 5 so as to be rotatable, and that can transmit a desired force by a rotational driving source. Further, the hand 8 holding the workpiece 9 by the multi-joint arm 2 is configured to be taken out from the workpiece 9 indicated by an arrow symbol X in the drawing, and linearly moved in the supply direction. Further, the relationship between the central axes of rotation of the joint portions 3 provided at the proximal ends of the two sets of multi-joint arms 2 is as shown in Fig. 2, and the joint portion 3 with respect to the proximal end of the upper arm 21 is moved in the hand 8 The joint portion 3 at the proximal end of the lower arm 22 is disposed to the shifted position.

Further, the vertical movement member 11 for vertically moving the support member 10 provided with the multi-joint arm 2 is provided, and the up-and-down position of the multi-joint arm 2 can be adjusted. Further, the pedestal 13 of the vertical movement mechanism 11 is provided so as to be rotatable, and the slewing multi-joint robot 1 is changed in direction. Here, the vertical movement mechanism 11 is disposed in the same direction as the movement direction of the hand 8, and the support member 10 is protruded in the orthogonal direction from the vertical movement mechanism 11 toward the movement direction of the hand 8, and is coupled to the joint of the proximal end of the articulated arm 2 Department 3. Further, as shown in FIG. 2, the support member 10 coupled to the lower arm is formed such that the hand 8 is offset in the moving direction so as not to interfere with the pedestal 13 when the multi-joint arm 2 is moved downward by the vertical movement mechanism 11. Further, the vertical movement mechanism 11 is covered with a protective cover having a sealing function (not shown), thereby suppressing dust from the inside of the column 12.

Next, the structure of the pedestal 13 will be described using FIG. Inside the pedestal 13, a motor 31 for driving the pedestal 13 and a speed reduction mechanism 36 are housed. In order to make the thickness of the pedestal 13 thin, a reinforcing rib 51 is formed inside, whereby the high rigidity structure can maintain the weight of the arm body attached to the column 12. Next, the detailed structure of the pedestal 13 will be described. The motor 31 is fixed to the pedestal 13 by bolts or the like, and the output shaft of the motor 31 is rotatably supported by the motor bearing 32, and one end of the output shaft 32 to which the belt 34 is attached. The other end of the belt 34 is an input gear 36 that is rotatably supported by an input gear bearing 35 disposed directly below the reduction cover 45, and transmits the power of the motor 31 to the input tooth transmission 36 through the belt 34. The outer wheel of the input gear bearing 35 is fixed to the bearing holding member 49, the bearing The holding member 49 is coupled to the output shaft 39 of the differential speed reducer 37. As described above, the bearing holding member 49 is coupled to the output shaft 39 in such a manner that the output shaft 39 can also serve as a mounting base for the bearing holding member 49, whereby the free space in the height direction of the pedestal can be eliminated. That is, the bottom surface of the hand can be arranged to be as low as the height of the pedestal, and workpiece handling with a low transfer path can be realized. The height of the differential speed reducer 37 and the speed reducer cover 45 is calculated from the bearing thickness of the input gear bearing 35 and the width of the belt 34, and is the minimum size. Further, the input gear 36 is input to the differential speed reducer 37. The fixing portion 38 of the differential speed reducer 37 is fixed to the base 17, and the output shaft 39 of the differential speed reducer 37 is fixed to the fixing member 41 to be fixed to the pedestal 13 by the output shaft fixing bolt 40. The height of the differential speed reducer 37 is calculated based on the bearing thickness of the differential reduction gear 37, the input gear bearing 35, and the width of the belt 34, and is the minimum size.

Further, in order to make the thickness of the pedestal 13 thin, it is not necessary to form a plurality of stages for the bearing for the turret rotation support, but the inclined roller bearing 42 which can hold the load from any direction. The inner ring of the inclined roller bearing 42 is held by a fixing member 43 fixed to the pedestal 13, and rotatably supports the pedestal 13. Further, the outer wheel of the inclined roller bearing 42 is held stationary by the fixing member 44 fixed to the base 17. In order to prevent vibration or fall of the column 12 at the time of winding, the axial gap of the inclined roller bearing 42 is constituted by, for example, a negative tolerance of about 0 to 15 μm. As a result, since the axial gap of the inclined roller bearing becomes zero, the structure in which the column 12 is not vibrated or fallen down is formed.

Next, the relationship between the inclined roller bearing 42 and the differential reducer 37 Be explained. When the center of rotation of the input gear 36 of the differential speed reducer 37 is the center of rotation, the output shaft 39 of the differential speed reducer 37 is rotated about the center of the winding, and is rotated to have a radius of rotation outside the radius of rotation of the input gear 36. Further, the inclined roller bearing 42 is centered on the center of the winding, and the inner wheel is rotated to have a radius of rotation outside the radius of rotation of the output shaft 39 of the differential speed reducer 37. As described above, the inclined roller bearing 42 and the differential speed reducer 37 have the same rotation center, and the inclined roller bearing 42 is disposed to have a radius of rotation outside the differential speed reducer 37. Further, in the height direction, the height of the fixing surface of the fixing member 41 for fixing both the output shaft 39 and the pedestal 13 of the differential speed reducer 37 is disposed so as to be located substantially at the center of the height of the inclined roller bearing 42. That is, in this way, the moment load of the upright column or the up-and-down moving mechanism and the upper and lower arms can be supported by the large inclined roller bearing, and the fixed surface whose height is set as the output shaft is located at the approximate height center of the inclined roller bearing. It is possible to suppress distortion when the pedestal is driven.

When the configuration is as described above, the rotatory support of the pedestal 13 is performed by the inclined roller bearing 42, and the rotation of the pedestal 13 is performed by the output of the differential speed reducer 37, so that, for example, even when the speed reducer 37 is replaced, the pedestal 13 is Supported by the inclined roller bearing 42, the reduction gear 37 can be removed without being restrained.

The present invention differs from Patent Document 1 in that the present invention is a configuration in which a joint portion of a lower arm base end is disposed at a position shifted in a hand movement direction with respect to a joint portion of a base end of an upper arm, and the rotatory support of the pedestal is an inclined roller bearing. Execution, the rotation of the pedestal is performed by the output of the differential reducer.

Next, the operation will be described using FIG. Multi-joint of the invention The two sets of the multi-joint arms 2 provided in the robot 1 have, for example, a plurality of joint portions, that is, the multi-joint robot 1 is a horizontal multi-joint robot. The multi-joint arm 2 of the present embodiment has the same structure as the conventional multi-joint arm 2.

The base end of the upper wrist 6 is coupled to the support member 10 through a drive shaft to constitute a rotatable shoulder joint portion 3. The shoulder joint portion 3 is a joint portion 3 that serves as a proximal end of the multi-joint arm 2. Further, the front end of the upper wrist 6 and the proximal end of the front wrist 7 are coupled to each other through a drive shaft to constitute a rotatable elbow joint portion 4. Further, the front end of the front wrist 7 and the hand 8 are coupled to each other through a drive shaft to constitute a rotatable hand joint portion 5.

The multi-joint arm 2 rotates the shoulder joint portion 3, the elbow joint portion 4, and the hand joint portion 5 by a rotation drive source (not shown), and moves the hand 8 toward the workpiece and in the supply direction. At this time, the multi-joint arm 2 is configured such that the hand 8 is telescopically moved in one direction so as to extend between the extended position of the upper wrist 6 and the front wrist 7, and the retracted position where the upper wrist 6 and the front wrist 7 are folded. Move in a straight line.

Here, the winding radius of the multi-joint robot 1 of the present embodiment will be described using the lower arm 22. At the retracted position of the lower arm 22 shown in Fig. 5, the center of the workpiece 9 held by the hand 8 is designed to coincide with the center of rotation of the pedestal 13. Further, the center of rotation of the shoulder joint portion 3 and the center of rotation of the hand joint portion 5 and the center of rotation of the pedestal 13 are offset so as to coincide with the axis of movement of the hand 8, so that the elbow joint portion 4 or the hand portion 8 is at the pedestal When the 13 is rotated, the minimum area circle 15 required around the multi-joint robot 1 is not protruded, so that the winding radius of the multi-joint robot 1 can be reduced.

Here, the lower arm is described in order to avoid complication of the drawing, but the same is true for the upper arm 21, and the center of the workpiece 9 is designed to coincide with the center of rotation of the pedestal 13, the shoulder joint portion 3, the hand joint portion 5, and the pedestal 13 The positional relationship of the center of rotation is also the same as that of the lower arm.

Next, the operation in the vertical direction will be described. The multi-joint arm 2 is attached to the support member 10, and is moved in the vertical direction by the vertical movement mechanism 11 in accordance with a controller command (not shown). As shown in Fig. 3, when moving downward, the support member 10 is configured to be offset from the pedestal 13 so that the hand 8 is biased in the moving direction, so that the support member 10 can be lowered to the lowermost position of the vertical movement mechanism 11. The moving position of the point.

Next, the replacement operation of the reduction gear will be described using FIG. First, the cover is removed by bolt 46 to remove the reduction cover 45. In this way, the fixing member 41 fixed to the input gear bearing 35 and the pedestal 13 can be confirmed. Next, the fixing bolt 47 of the input gear 36 is loosened to separate the input gear 36 from the belt portion. In this way, the belt 34 can be removed. Next, the output shaft bolt 40 is loosened, and the fixing member 41 fixed to the pedestal is removed. In this way, the output shaft 39 of the differential gear reducer 37 can be freely taken out without being restrained. Then, the fixing portion bolts 48 to which the fixed portion 38 is fastened by the differential gear reducer 37 are removed, and the fixing portion 38 of the differential gear reducer 37 is detached from the base 17. In this way, the differential gear reducer 37 can be taken out from the pedestal 13 without any restraint.

In the order described above, the differential gear reducer can be taken out smoothly. At this time, since the pedestal is supported by the inclined roller bearing, it is mounted on the pedestal. The column and the vertical movement mechanism can be operated without special equipment.

Further, in the same manner as the replacement of the motor, the replacement work can be easily performed by removing the cover disposed on the upper portion of the motor.

1‧‧‧Multi-joint robot

2‧‧‧Multi-joint arm

21‧‧‧ upper arm

22‧‧‧ Lower arm

3‧‧‧ Shoulder joint

5‧‧‧Hand joints

6‧‧‧上腕

7‧‧‧ front wrist

8‧‧‧Hands

9‧‧‧Workpiece

10‧‧‧Support members

11‧‧‧Up and down moving mechanism

12‧‧‧ column

13‧‧‧ pedestal

14‧‧‧Base table

15‧‧‧Minimum area circle

16‧‧‧Post block

17‧‧‧Base

31‧‧‧Motor

32‧‧‧ Output shaft

33‧‧‧Motor bearings

34‧‧‧Land

35‧‧‧Input gear bearing

36‧‧‧ input gear

37‧‧‧Differential reducer

38‧‧‧ fixed department

39‧‧‧ Output shaft

40‧‧‧ Output shaft fixing bolt

41‧‧‧Fixed components

42‧‧‧inclined roller bearing

43‧‧‧Fixed components

44‧‧‧Fixed components

45‧‧‧Reducer cover

46‧‧‧With bolts

47‧‧‧ fixing bolts

48‧‧‧Bolts for fixing parts

49‧‧‧ bearing retaining members

50‧‧‧ openings

51‧‧‧Strengthened ribs

Fig. 1 is a perspective view showing a multi-joint robot of an embodiment of the present invention.

Fig. 2 is a top view showing a multi-joint robot according to an embodiment of the present invention.

Fig. 3 is a front elevational view showing the multi-joint robot of the embodiment of the present invention.

Fig. 4 is a side sectional view showing the pedestal according to the embodiment of the present invention.

Fig. 5 is a view showing a multi-joint robot winding radius of an embodiment of the present invention.

Figure 6 is a perspective view of a conventional multi-joint robot.

Fig. 7 is a view showing a conventional multi-joint robot winding radius.

Fig. 8 is a front elevational view showing a conventional multi-joint robot winding structure.

12‧‧‧ column

13‧‧‧ pedestal

16‧‧‧Post block

31‧‧‧Motor

32‧‧‧ Output shaft

33‧‧‧Motor bearings

34‧‧‧Land

35‧‧‧Input gear bearing

36‧‧‧ input gear

37‧‧‧Differential reducer

38‧‧‧ fixed department

39‧‧‧ Output shaft

40‧‧‧ Output shaft fixing bolt

41‧‧‧Fixed components

42‧‧‧inclined roller bearing

43‧‧‧Fixed components

44‧‧‧Fixed components

45‧‧‧Reducer cover

46‧‧‧With bolts

47‧‧‧ fixing bolts

48‧‧‧Bolts for fixing parts

49‧‧‧ bearing retaining members

50‧‧‧ openings

51‧‧‧Strengthened ribs

Claims (2)

A multi-joint robot is a hand for carrying a load; and is connected to the hand, and has at least two or more rotating joints, and the hand can be expanded and contracted in one direction, and arranged in a vertical direction. a multi-joint arm; a moving mechanism that is mounted on the column to be movable up and down; a support member for connecting the moving mechanism and the multi-joint arm; and a winding at the lower end of the column opposite to the lower end of the column The shaft is formed to be orthogonal to the moving direction of the hand and the direction of the upper and lower sides of the multi-joint arm, and is characterized in that: an output shaft having a reduction gear that winds the pedestal and a first fixing member for fixing the pedestal, a fixing surface of the fixing member and the output shaft of the speed reducer is located between the thickness of the inclined roller bearing of the pedestal disposed outside the support shaft of the pedestal in the radial direction of the reducer, and Fixed to the second fixing member, wherein the outer fixing wheel disposed on the inclined roller bearing is fixed to the base of the base table, The rotary support of the seat is carried out by the inclined roller bearing, and the rotation of the pedestal is performed by the output of the differential reducer, so that even when the reducer is replaced, since the pedestal is supported by the inclined roller bearing, it can be unconstrained Only remove the gear unit. The multi-joint robot according to claim 1, wherein the speed reducer is disposed inside the inner diameter of the inclined roller bearing, and the multi-joint arm and the column and the moving mechanism and the pedestal are In a state in which the inclined roller bearing is wound and supported, the pedestal above the speed reducer includes a speed reducer cover from which the speed reducer can be removed.