WO2010073568A1 - Robot horizontal à articulations multiples - Google Patents

Robot horizontal à articulations multiples Download PDF

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Publication number
WO2010073568A1
WO2010073568A1 PCT/JP2009/007006 JP2009007006W WO2010073568A1 WO 2010073568 A1 WO2010073568 A1 WO 2010073568A1 JP 2009007006 W JP2009007006 W JP 2009007006W WO 2010073568 A1 WO2010073568 A1 WO 2010073568A1
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WO
WIPO (PCT)
Prior art keywords
shaft
arm
hole
wiring
horizontal articulated
Prior art date
Application number
PCT/JP2009/007006
Other languages
English (en)
Japanese (ja)
Inventor
赤羽和重
Original Assignee
セイコーエプソン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by セイコーエプソン株式会社 filed Critical セイコーエプソン株式会社
Publication of WO2010073568A1 publication Critical patent/WO2010073568A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement

Definitions

  • the horizontal articulated robot of the present invention includes a hollow arm, a shaft having a base end connected to and fixed to the arm, a drive device connected to the tip of the shaft and rotating the shaft, A horizontal articulated robot provided with a hollow support portion that rotatably supports the shaft by mounting a drive device, and a connection wiring disposed between the arm and the support portion,
  • the shaft includes a through hole penetrating from a bottom surface of the base end portion, which is a surface connected to the inside of the arm, to a peripheral side surface located inside the support portion, and the connection wiring is inserted into the through hole.
  • the gist of the invention is that it is disposed between the arm and the support portion.
  • FIGS. 3A and 3B are perspective views of the shaft 50, wherein FIG. 3A is a diagram showing a perspective structure when the left front is viewed from above, FIG. 3B is a diagram showing a perspective structure when the right front is viewed from above, and FIG. 2 is a cross-sectional view showing a cross-sectional structure taken along line 4-4, and FIG. 5 is a cross-sectional view showing a cross-sectional structure taken along line 5-5 in FIG.
  • the upper protrusion 50A has a plurality of screw holes 55 formed on the upper surface thereof, and is connected to the output shaft of the speed reducer 26 via bolts or the like screwed into the screw holes 55, respectively.
  • a top surface 56 is provided below the upper protrusion 50A.
  • the columnar portion 50B is gradually widened toward the 360 ° in a manner in which the center angle ⁇ 1 spreads downward from the position where the center angle ⁇ 1 is the smallest, and between the outer side surface 57F and the inner side surface 57R.
  • the lower end is connected to the bottom circle 58 while the thickness of the column is gradually reduced from the column thickness T3 to the thickness T2.
  • the columnar portion 50B is connected to the lower portion of the top surface 56 while the center angle ⁇ 1 is gradually widened from the position where the center angle ⁇ 1 is the smallest toward the upper side in a manner that also widens toward the 360 °. I am letting.
  • the through hole 59h is formed through the lower portion of the shaft 50 along the substantially axial center C2, and the lower end thereof is opened on the lower surface of the flange 50F.
  • the through-hole 59h is formed to have a thicker side wall than a general tubular member so that the rigidity of the cylindrical portion 59, particularly the rigidity against a force that causes the shaft to be curved, is maintained high.
  • the thickness on the arm front end side is the thickness T2
  • the thickness on the arm rear end side is the thickness T1.
  • the value obtained by adding the thickness T1 and the thickness T2 is set to be 1/2 or less and 1/5 or more of the shaft diameter D1.
  • the bearing B2 is a known ball bearing, and has a cylindrical inner ring B2a and an outer ring B2b, and the inner ring B2a and the outer ring B2b are mutually connected via a ball or the like disposed therebetween. It is coupled so as to be rotatable in the circumferential direction. That is, the inner ring B2a and the outer ring B2b have the same axis, and are rotatable about the axis.
  • such a bearing B2 is configured so that the axial center of the inner ring B2a and the axial center of the outer ring B2b are always concentric, and has high rigidity against a force in a direction in which the axial centers deviate. Have come to have. That is, the plane orthogonal to the axis of the inner ring B2a and the plane orthogonal to the axis of the outer ring B2b are always parallel.
  • the inner ring B2a is formed so that the inner diameter in the ring is approximately the same as the shaft diameter D1. Thereby, the bearing B2 does not have rattling between the shaft 50 inserted through the inner ring B2a. In addition, the bearing B2 is held high by the reinforcing portion 22a of the lower shaft hole 22h of the casing 20 and the fixture 52 so that the outer ring B2b is not rattled with respect to the casing 20. Fixed with rigidity.
  • the front end of the first arm 13 is connected to the lower surface of the flange 50F of the shaft 50 so that the opening of the through hole 59h formed in the lower surface corresponds to the connection hole 13a of the front end of the first arm 13. It is fixed.
  • the second arm 15 is centered on the axis C2 and the first arm 13 is centered. Rotate in the horizontal direction, that is, turn horizontally. Further, when a force in a direction other than the rotation direction of the bearing B ⁇ b> 2 is applied to the first arm 13, the second arm 15 has high rigidity against the same force.
  • a vertical rotation shaft cylinder 15 ⁇ / b> A is provided at the tip of the second arm 15.
  • the vertical rotation shaft cylinder 15A supports the vertical rotation shaft 16 so as to be rotatable and movable in the vertical direction.
  • the vertical rotation shaft 16 is rotated forward and backward about its own axis C3 by forward and reverse rotation of the rotary motor M3 provided in the second arm 15. Further, the vertical rotation shaft 16 is moved up and down in the vertical direction by forward and reverse rotation of the lifting motor M4 provided in the second arm 15, and the lower end portion 17 is moved up and down by the vertical movement.
  • a tool for example, a hand for gripping a workpiece or a hand for processing a workpiece can be attached to the lower end portion 17 of the vertical rotation shaft 16. That is, the tool is raised and lowered together with the lower end portion 17. Then, the robot conveys the component or processes the component with each tool attached to the lower end portion 17.
  • a wiring cable CB having a diameter Dc that collects wirings connected to various devices installed on the second arm 15 passes from the base 11 to the first arm 13.
  • the second arm 15 is disposed through the through hole 59 h in the shaft 50.
  • the wiring cable CB includes a power line for supplying power to the motors M2 to M4 installed on the second arm 15, and a signal line for transmitting signals of various devices such as the sensors installed on the second cable 15.
  • Various connection wirings are provided.
  • the tip end portion of the wiring cable CB is fixed to the flange 25F by the support tool 60 and the fixing tool 61.
  • the present invention is not limited to this, and the wiring cable may be fixed above the opening, for example, at the end on the side opposite to the output shaft of the motor. According to this, even if the arrangement distance of the wiring cable from the opening end to the distal end becomes long and the outer side surface of the wiring cable is pulled by contacting the circumferential end of the opening by the rotation of the shaft, In addition to the conventional angle, if the angle is, for example, 5 to 6 degrees, it is possible to suppress application of high tension or kinking to the wiring cable. Furthermore, it becomes possible to give a larger amount of slack (play) than before, and this also suppresses application of high tension or kinking to the wiring cable. As a result, the mechanical reliability of the wiring cable can be suitably maintained.
  • the columnar portion 50B has an angle with the central angle ⁇ 1 from the axis C2 of approximately 90 degrees or less, and in this embodiment, 70 to 80 degrees.
  • the present invention is not limited to this, and if the connection wiring is appropriately wired in the through hole and the shaft can be rotated by the required rotation angle, the central angle ⁇ 1 from the axis of the columnar portion is more than 90 degrees. May be larger. That is, this value also varies depending on the motion characteristics of the robot, the arm material, and the like, and may be determined by an experiment or a test performed in advance. This also increases the degree of freedom of shape when forming the shaft.
  • the bearing B2 is a ball bearing, but the bearing B2 is not limited to this, and the bearing may be a bearing having another structure, for example, a cross roller bearing, a roller bearing, or a sliding bearing. Thereby, the freedom degree of selection of a bearing comes to be raised.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un robot horizontal à articulations multiples qui peut présenter, même si un câblage est monté à l'intérieur d'une section d'articulation autour de laquelle un bras oscille, à la fois une grande précision de positionnement nécessaire au robot et une bonne facilité d'entretien. Le robot horizontal à articulations multiples est pourvu : d'un arbre (50) dont une section d'extrémité de base est reliée et fixée à un premier bras de forme creuse (13) ; d'un dispositif d'entraînement (second moteur M2) et d'un engrenage réducteur (26) reliés à l'extrémité de l'arbre (50) et faisant tourner l'arbre (50), et d'un second bras (15) qui fonctionne comme section de support de forme creuse sur laquelle le dispositif d'entraînement est monté et qui porte l'arbre (50) de manière rotative. Un câble d'interconnexion (CB) est disposé de façon à relier le premier bras (13) et le second bras (15). L'arbre (50) présente un trou traversant (59h) qui relie l'espace intérieur (13c) du premier bras (13) et qui pénètre à travers la surface inférieure de la section d'extrémité de base de l'arbre (50) jusqu'à la surface latérale périphérique de l'arbre (50), ladite surface latérale périphérique étant disposée à l'intérieur du second bras (15). Le câble d'interconnexion (CB) est introduit dans le trou traversant (59h) pour être disposé de façon à relier le premier bras (13) et le second bras (15).
PCT/JP2009/007006 2008-12-24 2009-12-18 Robot horizontal à articulations multiples WO2010073568A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008-328776 2008-12-24
JP2008328776A JP5338301B2 (ja) 2008-12-24 2008-12-24 水平多関節型ロボット

Publications (1)

Publication Number Publication Date
WO2010073568A1 true WO2010073568A1 (fr) 2010-07-01

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Application Number Title Priority Date Filing Date
PCT/JP2009/007006 WO2010073568A1 (fr) 2008-12-24 2009-12-18 Robot horizontal à articulations multiples

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JP (1) JP5338301B2 (fr)
WO (1) WO2010073568A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107031106A (zh) * 2017-05-31 2017-08-11 东莞沁峰机器人有限公司 利于走线中空旋转底座
WO2018162163A1 (fr) * 2017-03-06 2018-09-13 Robotautomation Svenska Ab Robot industriel et dispositif permettant de transférer des supports du robot à un outil
CN109483588A (zh) * 2018-12-31 2019-03-19 浙江元邦智能装备有限公司 一种注塑用关节机器人
CN110997254A (zh) * 2017-08-23 2020-04-10 川崎重工业株式会社 机器人
CN111195899A (zh) * 2018-11-16 2020-05-26 株式会社安川电机 机器人
CN111376314A (zh) * 2018-12-27 2020-07-07 发那科株式会社 机器人的线条体处理结构
US11969888B2 (en) * 2014-12-19 2024-04-30 Veolia Nuclear Solutions, Inc. Systems and methods for chain joint cable routing

Families Citing this family (13)

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Publication number Priority date Publication date Assignee Title
JP5877686B2 (ja) * 2011-10-27 2016-03-08 Thk株式会社 ロボットの関節構造及びこの関節構造が組み込まれた人間型ロボット
JP5890653B2 (ja) * 2011-10-28 2016-03-22 川崎重工業株式会社 多軸ロボット
JP5472283B2 (ja) * 2011-12-21 2014-04-16 株式会社安川電機 ロボットのアーム構造およびロボット
JP5729410B2 (ja) * 2013-03-19 2015-06-03 株式会社安川電機 ロボット
JP2013223923A (ja) * 2013-08-06 2013-10-31 Seiko Epson Corp 水平多関節型ロボット
JP6215000B2 (ja) * 2013-10-23 2017-10-18 ヤマハ発動機株式会社 産業用ロボット
JP6316701B2 (ja) * 2014-08-07 2018-04-25 東芝機械株式会社 リンク装置
KR101619493B1 (ko) 2014-08-14 2016-05-10 주식회사 스마트로봇 스위블 어댑터
JP2016068202A (ja) 2014-09-30 2016-05-09 セイコーエプソン株式会社 ロボット
CN104669300A (zh) * 2015-01-23 2015-06-03 太原重工股份有限公司 机械手臂
CN105563477A (zh) * 2016-01-29 2016-05-11 坚毅机械工程(高要)有限公司 一种旋转适配器及具有该旋转适配器的机械手
JP6374471B2 (ja) * 2016-11-28 2018-08-15 ファナック株式会社 結合構造
KR102346469B1 (ko) 2019-02-20 2021-12-31 하모닉 바이오닉스 물리 치료용 액추에이터

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62208888A (ja) * 1986-03-11 1987-09-14 フアナツク株式会社 産業用ロボツトのケ−ブル処理装置
JPS63139685A (ja) * 1986-12-02 1988-06-11 フアナツク株式会社 産業用ロボツト構造
JPS63256387A (ja) * 1987-04-13 1988-10-24 三菱電機株式会社 産業用ロボツトの関節機構
JPS63306888A (ja) * 1987-06-04 1988-12-14 株式会社日立製作所 多関節形ロボット
JPH04111795U (ja) * 1991-03-19 1992-09-29 シヤープ株式会社 プリント基板の電磁波防止装置
JP2005319534A (ja) * 2004-05-07 2005-11-17 Yasuhito Itagaki 関節構造体及び多関節ロボット
JP2007237342A (ja) * 2006-03-09 2007-09-20 Yaskawa Electric Corp 水平多関節ロボット

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JPH04111795A (ja) * 1990-08-30 1992-04-13 Toray Eng Co Ltd ケーブル支持装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62208888A (ja) * 1986-03-11 1987-09-14 フアナツク株式会社 産業用ロボツトのケ−ブル処理装置
JPS63139685A (ja) * 1986-12-02 1988-06-11 フアナツク株式会社 産業用ロボツト構造
JPS63256387A (ja) * 1987-04-13 1988-10-24 三菱電機株式会社 産業用ロボツトの関節機構
JPS63306888A (ja) * 1987-06-04 1988-12-14 株式会社日立製作所 多関節形ロボット
JPH04111795U (ja) * 1991-03-19 1992-09-29 シヤープ株式会社 プリント基板の電磁波防止装置
JP2005319534A (ja) * 2004-05-07 2005-11-17 Yasuhito Itagaki 関節構造体及び多関節ロボット
JP2007237342A (ja) * 2006-03-09 2007-09-20 Yaskawa Electric Corp 水平多関節ロボット

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11969888B2 (en) * 2014-12-19 2024-04-30 Veolia Nuclear Solutions, Inc. Systems and methods for chain joint cable routing
WO2018162163A1 (fr) * 2017-03-06 2018-09-13 Robotautomation Svenska Ab Robot industriel et dispositif permettant de transférer des supports du robot à un outil
US11254018B2 (en) 2017-03-06 2022-02-22 Robotautomation Svenska Ab Industrial robot and a device for transferring media from the robot to a tool
CN107031106A (zh) * 2017-05-31 2017-08-11 东莞沁峰机器人有限公司 利于走线中空旋转底座
CN110997254A (zh) * 2017-08-23 2020-04-10 川崎重工业株式会社 机器人
CN111195899A (zh) * 2018-11-16 2020-05-26 株式会社安川电机 机器人
CN111195899B (zh) * 2018-11-16 2023-04-18 株式会社安川电机 机器人
CN111376314A (zh) * 2018-12-27 2020-07-07 发那科株式会社 机器人的线条体处理结构
US11312010B2 (en) * 2018-12-27 2022-04-26 Fanuc Corporation Linear object handling structure of robot
CN109483588A (zh) * 2018-12-31 2019-03-19 浙江元邦智能装备有限公司 一种注塑用关节机器人
CN109483588B (zh) * 2018-12-31 2024-05-31 浙江元邦智能装备有限公司 一种注塑用关节机器人

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JP2010149214A (ja) 2010-07-08

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