WO2020016931A1 - Bras robotisé à articulations multiples - Google Patents

Bras robotisé à articulations multiples Download PDF

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Publication number
WO2020016931A1
WO2020016931A1 PCT/JP2018/026726 JP2018026726W WO2020016931A1 WO 2020016931 A1 WO2020016931 A1 WO 2020016931A1 JP 2018026726 W JP2018026726 W JP 2018026726W WO 2020016931 A1 WO2020016931 A1 WO 2020016931A1
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WO
WIPO (PCT)
Prior art keywords
cable
arm member
joint
arm
articulated robot
Prior art date
Application number
PCT/JP2018/026726
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English (en)
Japanese (ja)
Inventor
加藤正樹
Original Assignee
株式会社Ｆｕｊｉ
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 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2020530761A priority Critical patent/JP6886562B2/ja
Priority to PCT/JP2018/026726 priority patent/WO2020016931A1/fr
Publication of WO2020016931A1 publication Critical patent/WO2020016931A1/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
    • 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

Definitions

  • the present invention relates to an articulated robot arm having a joint with a protection member for protecting a cable from chips.
  • Patent Literature 1 discloses an articulated robot arm that constitutes an autoloader of a processing machine line.
  • the articulated robot arm is mounted on a traveling platform that moves between arranged machine tools, and transfers the work to and from a working machine such as a machine tool.
  • a forearm member and an upper arm member are connected via a joint mechanism, and a robot hand is attached to a distal end portion. Therefore, the position of the robot hand can be adjusted by the bending and stretching operation of the forearm member and the upper arm member, and the robot hand can grip a workpiece.
  • the articulated robot arm described in Patent Literature 1 enters a processing chamber of a machine tool to transfer a work, so that chips enter and accumulate in a concave portion such as a slight depression of the joint mechanism. If the concave portion exists in the wiring portion of the cable, the volume of the concave portion is reduced by the rotation operation, so that the accumulated chips are pressed against the cable. And, in some situations, the sharp corners of the chips will damage the cable.
  • the cable is protected by a protective tube.
  • a protective tube intended to prevent interference or snagging between a cable and a peripheral device cannot be sufficiently protected, and chips may break through and damage the cable. Therefore, it is conceivable to use a high-strength protective tube, but this would hinder the operation of the joint mechanism, which would hinder the operation of the articulated robot arm.
  • an object of the present invention is to provide an articulated robot arm in which a joint is provided with a protection member for protecting a cable from cuttings, in order to solve such a problem.
  • An articulated robot arm includes a first arm member rotatably supported by a first joint with respect to a support member, and a second arm rotatably supported by a second joint with respect to the first arm member.
  • the first arm member and the second arm member are formed by sandwiching the curved cable between the first band-shaped plate and the second band-shaped plate made of a flexible material and further enclosing the cable with a cylindrical protective cover. Even if the angle is changed and the joint is operated, the protective cover can follow the movement of the cable and can protect the cable from cuttings.
  • FIG. 5 is a perspective view showing a second joint of the articulated robot arm.
  • FIG. 5 is a perspective view showing a second joint of the articulated robot arm.
  • FIG. 5 is a perspective view showing a second joint of the articulated robot arm. It is the perspective view which showed an example of the workpiece
  • an automatic transfer machine for a workpiece in a processing machine line and an articulated robot arm constituting a part thereof will be described as an example.
  • a processing machine line a plurality of machine tools that perform a series of processing on a work are arranged, and an automatic work transfer machine transfers a work to each of a plurality of machine tools in order.
  • FIG. 6 is a perspective view showing an example of the automatic workpiece transfer machine, and particularly shows a state in which the workpiece is transferred to and from the machine tool, that is, an extended state of the articulated robot arm.
  • a traveling device 103 is mounted on a front portion of a base 108 on which a machine tool is mounted, and an articulated robot arm 105 is mounted on the traveling device 103.
  • the articulated robot arm 105 can enter the inside of the machine tool (not shown) by an extended posture as shown in the figure, and can be moved in a narrow transport space by being folded and standing upright and compact. Has become.
  • the traveling device 103 for moving the articulated robot arm 105 has a rack 112 and two rails 113 fixed horizontally on a vertical support plate 111, and a traveling stand 115 slidably mounted on the rails 113. ing.
  • a traveling motor 116 having a pinion gear 117 is attached to the traveling stand 115, and can be moved in the horizontal direction by rotation of the pinion gear 117 meshed with the rack 112.
  • the multi-joint robot arm 105 is mounted on the traveling platform 115 via a turning table 118.
  • an upper arm member 121 is connected to a support table 120 fixed to a turning table 118 via a first joint mechanism 123, and a forearm member 122 is further connected to the upper arm member 121 by a second joint mechanism 124.
  • a robot hand 125 is rotatably attached to an end of the forearm member 122 via a bearing member.
  • the work automatic transfer machine 100 is provided with a control device that controls the motors and hydraulic devices of the first joint mechanism 123, the second joint mechanism 124, and the robot hand 125.
  • the robot hand 125 at the tip enters the inside of a machine tool (not shown), and the hydraulic chuck of the robot hand 125 opens and closes to transfer the workpiece.
  • the spindle chuck is cleaned by air blowing every time the work is processed, so that the scattered chips fall on the articulated robot arm 105. Then, if chips are deposited on a moving part such as the second joint mechanism 124 due to repetition of the transfer operation, there is a problem that the cable against which the chips are pressed is damaged.
  • FIG. 1 is a perspective view showing an extended state of the articulated robot arm of the present embodiment.
  • FIG. 2 is a perspective view showing the articulated robot arm in a folded state.
  • the articulated robot arm 1 has the same structure as that shown in FIG. 6, although there are some differences in shape. However, the configuration is such that the plurality of cables 17 wired from the upper arm member 11 to the forearm member 12 are protected at the position of the second joint mechanism 14 (the second joint portion 10).
  • the articulated robot arm 1 has the upper arm member 11 assembled to the support base 120 shown in FIG. 6, and both are connected via the first joint mechanism.
  • the upper arm member 11 is configured such that a pair of left and right upper arm plates 21 are connected by a back plate 22, and the forearm member 12 enters into the inner space thereof, and can be folded as shown in FIG.
  • the forearm member 12 has a robot hand 15 pivotally supported by a pair of left and right forearm plates 23, and is connected to the upper arm member 11 via a second joint mechanism 14.
  • a plurality of hydraulic hoses 25 are piped from the upper arm member 11 to the forearm member 12 in order to operate the robot hand 15 including a hydraulic chuck.
  • the second joint 10 is provided with a joint cover 26 for covering a joint motor and a speed reducer in order to prevent chips from entering, and a cover plate for covering a hand motor for controlling the rotation of the robot hand 15. 27 is attached to the forearm plate 23.
  • a joint cover 26 for covering a joint motor and a speed reducer in order to prevent chips from entering
  • a cover plate for covering a hand motor for controlling the rotation of the robot hand 15.
  • 27 is attached to the forearm plate 23.
  • four cables 17 are wired to the articulated robot arm 1 to send control signals and power to the joint motor and the hand motor covered by the cover member. In the present embodiment, these four cables 17 are covered by a cable protection member 18 shown in FIG.
  • FIGS. 3 to 5 are perspective views showing the second joint 10 of the articulated robot arm 1, and the structure of the cable protection member 18 including FIG. 2 is shown hierarchically.
  • the four cables 17 are wired on one side in the width direction of the articulated robot arm 1 so as to be overlapped at the same position as the hydraulic hose 25 in the second joint 10. Therefore, the cable protection member 18 is configured in the wiring portion 10a where the cable 17 is wired in the second joint portion 10.
  • the cover plate 27 provided on the second joint portion 10 is cut so as not to overlap with the wiring portion 10a where the cable protection member 18 is located.
  • a cover plate is provided so as to straddle a pair of left and right forearm plates 23 (see FIG. 6).
  • the cover plate 27 and the cable 17 (cable protection member 18) are cut off in a stacked manner. A space is formed by notching the cover plate 27 so that the powder is not interposed.
  • the first belt-shaped plate 31 is attached to the cable protection member 18 so as to cover the hydraulic hose 25 as shown by a dashed line in FIG.
  • the first belt-shaped plate 31 is a thin plate having a constant width formed of resin, and is fixed in a curved state as shown in FIG. 2 because it has flexibility.
  • four cables 17 are arranged side by side in the same shape in the wiring portion 10a.
  • the first band-shaped plate 31 is attached along the lower part of the four cables 17, and one end of the first band-shaped plate 31 is fixed to the upper arm member 11 by a bolt 32, and the other end is fixed to the forearm member 12 by a bolt 33. Have been.
  • the cable protection member 18 has a second band-shaped plate 35 attached to the upper side of the cable 17.
  • the second belt-shaped plate 35 is also a thin plate formed of resin and having a fixed width, and has flexibility, so that the second belt-shaped plate 35 is attached in a curved state along the four cables 17.
  • the second band-shaped plate 35 has one end fixed to the upper arm member 11 side by the bolt 32, but the other end portion on the forearm member 12 side is a free end without being fixed. That is, when the second joint mechanism 14 is driven, the second band-shaped plate 35 is configured to follow the deformation of the first band-shaped plate 31 having a small radius of curvature formed integrally.
  • the cable protection member 18 is wrapped by the zipper tube (registered trademark) 36 with the first band-shaped plate 31 and the second band-shaped plate 35 sandwiching the cable 17. Therefore, even if the second plate 35 is free at one end, the second plate 35 is always attached to the cable 17 like the first band-shaped plate 31.
  • the second band-shaped plate 35 has a free end 351 in contact with the upper surface of the cover plate 27 formed on the forearm member 12 side.
  • a tapered surface 271 is formed in a cutout portion, and the free end 351 of the second band-shaped plate 35 that comes into contact with the tapered surface 271 comes into sliding contact with the articulated robot arm 1 in accordance with the operation thereof.
  • the spindle chuck is cleaned by air blow as described above, so that the scattered chips fall on the forearm member 12 and the second joint portion 10 at close positions.
  • the motor, the speed reducer, and the like incorporated in the second joint 10 are prevented from entering chips by the joint cover 26, the cover plate 27, and the side surface 28.
  • the cable protection member 18 is in a state in which the second band-shaped plate 35 is not restrained in the longitudinal direction in the zipper tube 36, and the free end 351 protruding outside always contacts the tapered surface 271 of the cover plate 27. Has been maintained. Therefore, it is possible to eliminate a gap in which chips enter and accumulate in the wiring portion 10a, and it is possible to eliminate damage to the cable 17 due to chips.
  • the cable protection member 18 of the present embodiment since the cable 17 is sandwiched between the first band-shaped plate 31 and the second band-shaped plate 35 made of resin, the protection for the cable 17 is enhanced. Further, since the cable protection member 18 is formed at the width interval of the wiring portion 10a, it is possible to prevent chips from falling on the hydraulic hose 25 side.
  • the free end 351 of the second band-shaped plate 35 is provided on the forearm member 12 side, but may be configured to be on the opposite upper arm member 11 side.
  • the protective cover that wraps the cable 17 and the first and second strip-shaped plates 31 and 35 is the zipper tube 36 from the viewpoint of handling. It may be a simple pipe material.

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

Abstract

La présente invention concerne un bras robotisé à articulations multiples comprenant un premier élément de bras (11) qui est supporté par une première articulation de manière rotative par rapport à un élément de support, un second élément de bras (12) qui est supporté par une seconde articulation (14) de manière rotative par rapport au premier élément de bras (11), une main robotisée (15) qui est fixée au second élément de bras (12), et un élément de protection de câble (18) qui protège la courbure d'un câble acheminé dans la zone de la seconde articulation (14), l'élément de protection de câble (18) comprenant : une première plaque en forme de ceinture constituée d'un matériau souple et fixée aux deux extrémités au premier élément de bras (11) et du second élément de bras (12) de façon à se courber sous le câble ; une seconde plaque en forme de ceinture (35) constituée d'un matériau souple et positionnée au-dessus du câble de façon à être fixée à une extrémité à l'un du premier élément de bras (11) et du second élément de bras (12) et de telle sorte que l'autre extrémité est une extrémité libre ; et un couvercle de protection cylindrique (36) qui enveloppe ensemble le câble et la première plaque en forme de ceinture et la seconde plaque en forme de ceinture (35) dans un état dans lequel ces dernières prennent en sandwich la partie incurvée du câble.
PCT/JP2018/026726 2018-07-17 2018-07-17 Bras robotisé à articulations multiples WO2020016931A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020530761A JP6886562B2 (ja) 2018-07-17 2018-07-17 多関節ロボットアーム
PCT/JP2018/026726 WO2020016931A1 (fr) 2018-07-17 2018-07-17 Bras robotisé à articulations multiples

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/026726 WO2020016931A1 (fr) 2018-07-17 2018-07-17 Bras robotisé à articulations multiples

Publications (1)

Publication Number Publication Date
WO2020016931A1 true WO2020016931A1 (fr) 2020-01-23

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Family Applications (1)

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PCT/JP2018/026726 WO2020016931A1 (fr) 2018-07-17 2018-07-17 Bras robotisé à articulations multiples

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JP (1) JP6886562B2 (fr)
WO (1) WO2020016931A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05138581A (ja) * 1991-11-20 1993-06-01 Yaskawa Electric Corp 産業用多関節ロボツト
JPH0957680A (ja) * 1995-08-18 1997-03-04 Tokico Ltd 工業用ロボット
JP3141165U (ja) * 2008-02-12 2008-04-24 艶金化学繊維株式会社 作業ロボット用保護カバー
JP2011255496A (ja) * 2010-06-10 2011-12-22 Kofukin Seimitsu Kogyo (Shenzhen) Yugenkoshi ロボット
WO2015145576A1 (fr) * 2014-03-25 2015-10-01 富士機械製造株式会社 Bras de robot articulé
WO2016035165A1 (fr) * 2014-09-03 2016-03-10 富士機械製造株式会社 Guide de câble rotatif

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05138581A (ja) * 1991-11-20 1993-06-01 Yaskawa Electric Corp 産業用多関節ロボツト
JPH0957680A (ja) * 1995-08-18 1997-03-04 Tokico Ltd 工業用ロボット
JP3141165U (ja) * 2008-02-12 2008-04-24 艶金化学繊維株式会社 作業ロボット用保護カバー
JP2011255496A (ja) * 2010-06-10 2011-12-22 Kofukin Seimitsu Kogyo (Shenzhen) Yugenkoshi ロボット
WO2015145576A1 (fr) * 2014-03-25 2015-10-01 富士機械製造株式会社 Bras de robot articulé
WO2016035165A1 (fr) * 2014-09-03 2016-03-10 富士機械製造株式会社 Guide de câble rotatif

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JPWO2020016931A1 (ja) 2021-03-18
JP6886562B2 (ja) 2021-06-16

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