WO2019138496A1

WO2019138496A1 - Horizontal articulated robot

Info

Publication number: WO2019138496A1
Application number: PCT/JP2018/000471
Authority: WO
Inventors: 識西山
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2018-01-11
Filing date: 2018-01-11
Publication date: 2019-07-18
Also published as: JP6859456B2; JPWO2019138496A1

Abstract

This horizontal articulated robot is provided with at least two joints which are linked so that the arm can turn in the horizontal direction. The robot is equipped with pairs of cylindrical members which are provided on both sides of the vertical shaft of each joint and on which multiple routed members can be stacked and held along the vertical shaft of the joint.

Description

Horizontal articulated robot

A horizontal articulated robot is disclosed herein.

Conventionally, as a working robot, a horizontal articulated robot including at least two joints in which arms are rotatably connected in a horizontal direction is known. In such a horizontal articulated robot, a lead-out member (air hose, electric cable, etc.) for supplying air or electricity to the end effector is, for example, as shown in FIG. It is connected by bending the outside of the two arms in a loop.

Unexamined-Japanese-Patent No. 8-57792

However, when the arm pivots in the horizontal direction about the vertical axis of the joint, such a lead-out member has a possibility of interfering with surrounding devices because the degree of deflection changes.

This indication is made in view of such a subject, and makes it a main purpose to control the risk that a lead-out member interferes with other devices.

The horizontal articulated robot of the present disclosure is
A horizontal articulated robot comprising at least two joints in which arms are pivotably connected in a horizontal direction, comprising:
The joint comprises a pair of cylindrical members provided on both sides of the vertical axis of each joint and capable of stacking and holding a plurality of draw-out members along the vertical axis of the joint.

This horizontal articulated robot has at least two joints in which arms are pivotally connected in a horizontal direction. A pair of cylindrical members are provided on both sides of the vertical axis of each joint. The pair of cylindrical members is capable of stacking and holding a plurality of routing members along the vertical axis of the joint. Since the plurality of stacked drawing members all pass through the vertical axis of the joint, the joint-to-joint length of the drawing member is constant even if the arm pivots. Therefore, compared with the case where the degree of deflection between the joints of the drawing member changes as the arm pivots, the risk of the drawing member interfering with other devices can be suppressed.

In addition, as a lead-out member, wiring (electrical cable etc.), piping (air hose, air pipe etc.) etc. are mentioned, for example.

FIG. 2 is a perspective view of a horizontal articulated robot 10. Sectional drawing of the 1st holding part 51 (or 2nd holding part 52). Explanatory drawing which shows a mode when the 2nd arm 22 turns with respect to the 1st arm 21. FIG. Explanatory drawing which shows a mode when the small diameter air hose 60 is stacked on the large diameter air hose 60. FIG. Sectional drawing which shows the modification of a pair of

cylindrical member

53,53. Sectional drawing which shows the modification of a pair of

cylindrical member

53,53.

Next, an embodiment of the present disclosure will be described. FIG. 1 is a perspective view of the horizontal articulated robot 10, and FIG. 2 is a cross-sectional view of the first holding unit 51 (or the second holding unit 52).

The horizontal articulated robot 10 comprises a base 12, a first arm 21, a second arm 22, a shaft 40, a first holding portion 51, and a second holding portion 52, as shown in FIG. There is. A plurality of (here, four) air hoses 60 are attached to the horizontal articulated robot 10.

The base 12 is a base of the horizontal articulated robot 10.

The first arm 21 is supported on the upper surface of the base 12 via a first joint 31. The first joint 31 connects the first arm 21 to the base 12 so as to be horizontally rotatable around the vertical axis 31 a of the first joint 31.

The second arm 22 is supported on the top surface on the tip end side of the first arm 21 via a second joint 32. The second joint 32 connects the second arm 22 horizontally pivotably about the vertical axis 32 a of the second joint 32 with respect to the first arm 21. A vertically extending shaft 40 is vertically penetrated on the distal end side of the second arm 22.

The shaft 40 is moved up and down by a motor (not shown) disposed inside the second arm 22. An upper cylindrical body 41 is attached to the upper end of the shaft 40. On the outer peripheral surface of the upper cylindrical body 41, a plurality of air hose attachment openings 42 are vertically arranged in parallel. The direction of each air hose attachment port 42 coincides with the longitudinal center line of the second arm 22. The lower cylindrical body 43 is attached to the lower end of the shaft 40. On the outer peripheral surface of the lower cylindrical body 43, a plurality of air supply and discharge ports 44 are provided in parallel in the vertical direction. Each air supply / discharge port 44 is connected to each air hose attachment port 42 via an air circuit (not shown) provided inside the shaft 40. At the lower end of the lower cylindrical body 43, an end effector mounting surface 45 is provided. The end effector mounting surface 45 is used to attach and remove various end effectors. Air is supplied to the end effector through the air supply / discharge port 44 via an air hose (not shown).

The first holding portion 51 is provided immediately above the first joint 31 and can hold a plurality of air hoses 60 in a stacked state. The first holding portion 51 is configured by a pair of

cylindrical members

53, 53. The pair of

cylindrical members

53, 53 is provided on both sides of the vertical axis 31 a of the first joint 31 in the upper surface of the proximal end side of the first arm 21. The pair of

cylindrical members

53, 53 are arranged in the direction orthogonal to the longitudinal direction of the first arm 21. As shown in FIG. 2, the distance between the pair of

cylindrical members

53, 53 substantially matches the outer diameter of a predetermined air hose 60. Each cylindrical member 53 has a roller 55 rotatably supported by a vertical support shaft 54 via a bearing (not shown).

The second holding portion 52 is provided immediately above the second joint 32 and can hold the plurality of air hoses 60 in a stacked state. Similar to the first holding portion 51, the second holding portion 52 is also configured by a pair of

cylindrical members

53, 53. The pair of

cylindrical members

53, 53 is provided on both sides of the vertical shaft 32 a of the second joint 32 in the upper surface of the proximal end side of the second arm 22. The pair of

cylindrical members

53, 53 are arranged in the direction orthogonal to the longitudinal direction of the first arm 21. The distance between the pair of

cylindrical members

53, 53 is substantially the same as the outer diameter of the predetermined air hose 60.

Four air hoses 60 are used in the present embodiment. A not-shown proximal end of the air hose 60 is connected to a not-shown air supply source (air compressor or vacuum pump) disposed inside the base 12 via a control valve. The air hose 60 is drawn into the inside of the base 12 through a plurality of holes 21 a provided on the upper surface on the proximal end side of the first arm 21. The tip of the air hose 60 is attached to the air hose attachment port 42 of the upper cylindrical body 41. The air hose 60 passes from the inside of the base 12 through the hole 21 a, passes between the pair of cylindrical members 53 of the first holding portion 51, and passes between the pair of cylindrical members 53 of the second holding portion 52. , Reaches the air hose attachment port 42 of the upper cylindrical body 41 through the cable guide 62. It is preferable that the air hose 60 be held in a tension-free state. The four air hoses 60 are held by the first holding portion 51 in a state of being stacked along the vertical axis of the first joint 31 between the pair of

cylindrical members

53, 53 of the first holding portion 51. The second holding portion 52 holds the second holding portion 52 in a stacked state along the vertical axis of the second joint 32 between the pair of

cylindrical members

53 and 53 of the second holding portion 52. The outer diameter of each air hose 60 has the same size, and the outer diameter is equal to the distance between the pair of

cylindrical members

53, 53.

The cable guide 62 is a member capable of storing the four air hoses 60 in a stacked state and bending on the vertical surface (vertical surface including the central axis in the longitudinal direction of the second arm 22) as it is. The proximal end of the cable guide 62 is fixed to an arm side bracket 63 provided on the upper surface of the first arm 21. The tip of the cable guide 62 is fixed to a cylinder side bracket 64 provided on the upper cylindrical body 41. Therefore, when the upper cylindrical body 41 moves up and down together with the shaft 40, the bending state of the cable guide 62 also changes, and the bending state of the four air hoses 60 also changes accordingly. However, the length between the first holding portion 51 and the second holding portion 52 of each air hose 60 and the length between the second holding portion 52 and the proximal end of the cable guide 62 are the vertical movement of the upper cylindrical body 41. And is constant regardless of the turning state of each

arm

21, 22.

Next, the operation of the horizontal articulated robot 10 will be described. FIG. 3 is an explanatory view showing how the second arm 22 pivots with respect to the first arm 21. As shown in FIG. The plurality of stacked air hoses 60 pass through the vertical axis 31a of the first joint 31 and the vertical axis 32a of the second joint 32, respectively. Therefore, even if the second arm 22 pivots to the left or right with respect to the first arm 21 (refer to the one-dot chain line and two-dot chain line in FIG. 3), the first joint 31 and the second joint 32 of each air hose 60 The length between them is constant.

Depending on the type of end effector attached to the end effector attachment surface 45, it may be desirable to reduce the number of air hoses 60 from four to three. In such a case, the air hose 60 held at the top of the first holding portion 51 and the second holding portion 52 may be removed. After that, when it is desired to increase the number from three to four, the fourth air hose 60 may be stacked on the first holding portion 51 and the second holding portion 52.

In the horizontal articulated robot 10 described above, the plurality of air hoses 60 stacked in layers pass through the vertical axis 31 a of the first joint 31 and the vertical axis 32 a of the second joint 32. Therefore, even if the second arm 22 pivots with respect to the first arm 21, the length between the first joint 31 and the second joint 32 of each air hose 60 is constant. Therefore, the swing of each air hose 60 can be suppressed and the risk that each air hose 60 interferes with other devices can be suppressed, as compared with the case where the degree of deflection between the joints of the air hose changes with the turning of the arm. Can.

Incidentally, in the case where the plurality of air hoses 60 are arranged side by side on the upper surface of the arm without being stacked, if the second arm 22 is turned relative to the first arm 21, the first joint 31 and the second joint 32 of each air hose 60 There is a difference in the length between them. Therefore, deflection is likely to occur.

In addition, since the first and

second holding portions

51 and 52 are provided on the outer surfaces of the first and

second arms

21 and 22, when changing the number of air hoses 60, the air hose 60 can be easily attached to the first and

second holding portions

51 and 52. The

second holding portions

51 and 52 can be attached and detached.

Furthermore, since the cylindrical members 53 constituting the first and

second holding portions

51 and 52 are cylindrical rollers, the turning of the air hose 60 along with the turning of the first and

second arms

21 and 22 becomes smooth.

Furthermore, when the outer diameters of the plurality of air hoses 60 are different, as shown in FIG. 4, when the small diameter air hoses 60 are stacked on the large diameter air hose 60, the small diameter air hoses 60 and the large diameter air hose 60 There is a risk of entering into the gap with the cylindrical member 53. In the embodiment described above, the outer diameters of the plurality of air hoses 60 have the same size, so there is no such problem.

It is needless to say that the present invention is not limited to the above-mentioned embodiment at all, and can be implemented in various modes within the technical scope of the present invention.

For example, in the above-described embodiment, cylindrical rollers are illustrated as the pair of

cylindrical members

53, 53, but it is also possible to use a non-rotatable column instead of a roller. Further, as shown in FIG. 5, the pair of

cylindrical members

53, 53 may have circumferential grooves 53 a capable of holding the air hoses 60 at positions opposite to each other in multiple stages. In this way, each air hose 60 can be held firmly. Further, as shown in FIG. 6, even if the outer diameters of the plurality of air hoses 60 are different, if the depth of the circumferential groove 53a is adjusted to match the outer diameter of each air hose 60, all the air hoses 60 can be It can be stacked along the

vertical axes

31a, 32a of the first and

second joints

31, 32.

In the embodiment described above, the upper ends of the pair of

cylindrical members

53, 53 may be covered with a cap to prevent the air hose 60 from coming off between the pair of

cylindrical members

53, 53 with the cap.

Although the number of joints and the number of arms are two in the embodiment described above, the number is not particularly limited to two, and may be three or more.

In the embodiment described above, the air hose 60 is exemplified as the lead-out member, but the invention is not particularly limited to the air hose 60, and an air pipe, an electric cable, or the like may be used.

The horizontal articulated robot of the present disclosure may be configured as follows.

In the horizontal articulated robot of the present disclosure, the pair of cylindrical members may be provided on the outer surface of the arm. In this way, when changing the number of lead-out members, the lead-out members can be easily attached to or removed from the pair of cylindrical members.

In the horizontal articulated robot of the present disclosure, the cylindrical member may be a cylindrical roller. In this way, the turning of the lead-in member with the turning of the arm becomes smooth.

In the horizontal articulated robot of the present disclosure, preferably, the plurality of drawing members have the same outer diameter. When the outer diameters of the plurality of lead-out members are different, when the small-diameter lead-out members are stacked on the large-diameter lead-out members, the small-diameter lead-out members may enter the gap between the large diameter lead-out members and the cylindrical member. . If the outer diameters of the plurality of lead-out members are the same, such is not possible.

In the horizontal articulated robot of the present disclosure, the pair of cylindrical members may have circumferential grooves in multiple stages capable of holding the respective drawing members at mutually opposing positions. In this way, even if the outer diameters of the plurality of lead-out members are different, the pair of cylindrical members hold the lead-out members by the circumferential grooves facing each other, so that they can be stacked and held without problems. it can.

The present invention is applicable to a horizontal articulated robot that performs various tasks.

Reference Signs List 10 horizontal articulated robot, 12 base, 21 first arm, 21 a hole, 22 second arm, 31 first joint, 31 a vertical axis, 32 second joint, 32 a vertical axis, 40 shaft, 41 upper cylinder, 42 air hose Mounting port 43 Lower cylindrical body 44 Air supply / discharge port 45 End effector mounting surface 51 First holding portion 52 Second holding portion 53 Cylindrical member 53a Circumferential groove 54 Support shaft 55 Roller 60 Air hose , 62 cable guides, 63 arm side brackets, 64 cylinder side brackets.

Claims

A horizontal articulated robot comprising at least two joints in which arms are pivotably connected in a horizontal direction, comprising:
A horizontal articulated robot comprising a pair of cylindrical members provided on both sides of a vertical axis of each joint and capable of stacking and holding a plurality of draw-out members along the vertical axis of the joint.
The pair of cylindrical members are provided on the outer surface of the arm,
The horizontal articulated robot according to claim 1.
The cylindrical member is a cylindrical roller.
The horizontal articulated robot according to claim 1 or 2.
The plurality of lead-out members have the same outer diameter, and the outer diameter is equal to the distance between the pair of cylindrical members.
The horizontal articulated robot according to any one of claims 1 to 3.
The pair of cylindrical members has a plurality of circumferential grooves capable of holding the respective drawing members at mutually opposing positions.
The horizontal articulated robot according to any one of claims 1 to 4.