JP5915005B2 - Horizontal articulated robot - Google Patents

Description

  The present invention relates to a horizontal articulated robot.

As an industrial robot or the like, a horizontal articulated robot (scalar robot) in which a plurality of arms are rotatably connected via a horizontal joint as exemplified in Patent Document 1 is known.
The arm end of the horizontal articulated robot is provided with a vertical rotation shaft that is driven up and down and rotated, and various tools are attached to the vertical rotation shaft. Then, operations such as picking up, conveying and processing the object are performed using this tool.

In such a horizontal articulated robot, it is necessary to consider an area of interference with the robot itself in the rotation range of the arm, and a stopper portion is provided to mechanically restrict the rotation range of the arm.
Specifically, one screw is fastened to one arm and two screws positioned on the other arm are fastened near the pivot axis of the connected arm, and the screw heads are in contact with each other. Therefore, the rotation range of one arm is regulated.

JP 2011-101907 A

However, the stopper part that regulates the pivot range of the arm is made up of removable screws, and when the screw is removed for maintenance etc., the arm pivot range is not restricted and the pivot range is exceeded. There is a risk of damaging the robot itself.
In addition, the position where the stopper is formed also considers the size of various tools provided on the vertical rotation shaft, but when using a tool of a certain size or larger, the tool and the robot itself may interfere with each other. And the tool may be damaged.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  Application Example 1 A horizontal articulated robot according to this application example includes a first arm rotatably connected to a base and a second arm rotatably connected to the first arm. A horizontal articulated robot, which is formed on the first arm and restricts a rotation range of the second arm, and is formed on the second arm and can contact the first protrusion. The second protrusion is formed on the first arm, and is on a moving track of the second protrusion in plan view from the direction of the rotation axis around which the second arm rotates, and is separated from the first protrusion. A first screw hole and a second screw hole formed at a predetermined position, wherein the first protrusion is formed integrally with the first arm, and the second protrusion is formed integrally with the second arm. It is characterized by being.

According to this configuration, the first protrusion that regulates the rotation range of the second arm is formed integrally with the first arm, and the second protrusion that can contact the first protrusion is integrated with the second arm. Is formed. Furthermore, the 1st screw hole and the 2nd screw hole are formed in the position away from the 1st projection part.
Thus, since the 1st projection part and the 2nd projection part are integrally formed by the 1st arm and the 2nd arm, respectively, these projection parts cannot be removed by maintenance etc. For this reason, the rotation of the arm is reliably restricted, and the robot itself is not damaged beyond the rotation range of the arm.
Also, by using the first screw hole and the second screw hole formed at a position away from the first protrusion, interference with the robot itself is prevented according to the size of various tools provided on the vertical rotation shaft. This can prevent the tool from being damaged. Specifically, the rotation of the arm can be restricted by screwing into the first screw hole and the second screw hole and bringing the head of the screw into contact with the second protrusion.

  Application Example 2 In the horizontal articulated robot according to the application example, it is preferable that the first arm and the second arm are formed by die casting.

According to this configuration, the first arm and the second arm are formed by die casting, and the first protrusion and the second protrusion are formed integrally therewith.
Thus, the first protrusion and the second protrusion have a strength that can withstand the force caused by the contact between the two and can form a shape with excellent dimensional accuracy.

  Application Example 3 In the horizontal articulated robot according to the application example described above, it is preferable that an end portion of the first projecting portion contacting the second projecting portion has a curved surface shape.

  According to this configuration, since the end portion of the first projection portion that comes into contact with the second projection portion has a curved surface shape, the contact area is reduced, and the contact position can be accurately determined.

  Application Example 4 A horizontal articulated robot according to this application example includes a first arm rotatably connected to a base and a second arm rotatably connected to the first arm. A horizontal articulated robot having a first protrusion provided on a first surface of the first arm facing the second arm and a second surface of the second arm facing the first arm. A second protrusion provided; a loading member capable of being loaded on the first surface of the first arm; and an engaging portion provided on the first surface of the first arm and engaged with the loading member. When the second arm is rotated with the loading member removed from the engagement portion, the first protrusion and the second protrusion are brought into contact with each other. The rotation range is restricted to the first rotation range, and the loading member is loaded into the engagement portion. In this state, when the second arm is rotated, the loading member and the second protrusion are brought into contact with each other, whereby the rotation range of the second arm is a second rotation narrower than the first rotation range. It is characterized by being restricted to the moving range.

According to this configuration, the rotation range of the second arm can be set to the first rotation range and the second rotation range that is narrower than the first rotation range.
In this way, the two-stage rotation range can be regulated, and the interference between the second arm and the robot itself is prevented in the first rotation range, and the second arm is attached to the second arm in the second rotation range. The tool and the robot itself can interfere.

  Application Example 5 In the horizontal articulated robot according to the application example, it is preferable that two loading members are paired, and the engaging portions are provided at two locations.

  According to this configuration, two loading members are loaded in the two engaging portions. This makes it possible to define a second rotation range that is narrower than the first rotation range.

  Application Example 6 In the horizontal articulated robot according to the application example, the first protrusion is formed integrally with the first arm, and the second protrusion is formed integrally with the second arm. It is desirable.

  According to this structure, since the 1st projection part and the 2nd projection part are integrally molded by the 1st arm and the 2nd arm, respectively, these projection parts cannot be removed by maintenance etc. For this reason, the rotation of the arm is reliably restricted, and the robot itself is not damaged beyond the rotation range of the arm.

  Application Example 7 In the horizontal articulated robot according to the application example, it is preferable that the loading member is a screw and the engagement portion is a screw hole.

  According to this configuration, the loading member and the engaging portion can be configured with simple machine elements, and the cost of the horizontal articulated robot can be reduced.

A side view showing composition of a horizontal articulated robot of an embodiment. The fragmentary top view which shows the structure of the 1st arm of embodiment. The fragmentary top view which shows the structure of the 2nd arm of embodiment. Explanatory drawing which shows control of the rotation range of the 2nd arm in embodiment. The partial top view which shows the structure of the 1st arm in a modification.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings. In the drawings used for the following description, the ratio of dimensions of each member is appropriately changed so that each member has a recognizable size.
(Embodiment)

FIG. 1 is a side view showing the configuration of the horizontal articulated robot of this embodiment.
As shown in FIG. 1, the horizontal articulated robot 10 includes a base 20, a first arm 30, a second arm 40, a vertical rotation shaft 50, and a robot controller 60.
The base 20 is fixed to an installation surface in an apparatus or the like, and a first arm 30 that rotates around the axis C1 of the rotation axis along the vertical direction is formed at the base end of the base 20 at the upper end. Are connected. And the 2nd arm 40 rotated centering on the axial center C2 of the rotating shaft along a perpendicular direction is connected with the front-end | tip part of the 1st arm 30 in the base end part.
The 1st arm 30 and the 2nd arm 40 are formed with metal materials, such as cast iron and die-casting, and have high rigidity in the length direction, the turning direction, etc.

In the base 20, a motor M1 as a drive source for rotating the first arm 30, a speed reducer 22 connected to a rotating shaft 21 of the motor M1, and an output shaft 23 of the speed reducer 22 are arranged. A first arm 30 is connected to the output shaft 23.
In this way, the driving force of the motor M1 is transmitted to the first arm 30 via the speed reducer 22, and the first arm 30 turns in the horizontal direction about the axis C1.

In the second arm 40, a motor M2 as a drive source for rotating the second arm 40 and a speed reducer 45 connected to the rotating shaft 46 of the motor M2 are arranged.
Then, in the second arm 40, the driving force of the motor M2 is transmitted to the second arm 40 via the speed reducer 45, and the second arm 40 pivots in the horizontal direction about the axis C2.

The first arm 30 is provided with a first protrusion 32 that restricts the rotation range of the second arm 40. The second arm 40 is provided with a second protrusion 42 that comes into contact with the first protrusion 32.
FIG. 2 is a partial plan view showing the configuration of the first arm of this embodiment, and is a plan view seen from the second arm side. FIG. 3 is a partial plan view showing the configuration of the second arm of the present embodiment, and is a plan view seen from the first arm side.

As shown in FIG. 2, a shaft hole 31 connected to the shaft is formed in the first arm 30, and a first protrusion 32 that regulates the rotation range of the second arm 40 along the outer periphery of the shaft hole 31. Is provided. The first protrusion 32 includes two protrusions 32a and 32b, and ends of protrusions 32a and 32b that come into contact with a second protrusion described later are formed in a curved surface in plan view. And this 1st projection part 32 is integrally formed with the 1st arm 30 with materials, such as cast iron and die-casting.
In addition, a first screw hole 35a and a second screw hole 35b as engaging portions are formed at positions away from the first projecting portion 32 along the outer periphery of the shaft hole 31, and the screws as the loading members are engaged therewith. ing.
The first screw hole 35a and the second screw hole 35b are formed on the trajectory of the second protrusion 42 in a plan view from the direction of the rotation axis around which the second arm rotates.
The first protrusion 32, the first screw hole 35a, and the second screw hole 35b are formed on a surface (first surface) of the first arm 30 that faces the second arm 40.

As shown in FIG. 3, the second arm 40 is formed with a shaft hole 41 connected to the rotation shaft, and a plate-like second protrusion in the direction in which the second arm 40 extends from the outer periphery of the shaft hole 41. 42 is provided. The second protrusion 42 is formed integrally with the second arm 40 from a material such as cast iron or die casting.
The second protrusion 42 is formed on a surface (second surface) of the second arm 40 that faces the first arm 30.

  As described above, the first arm 30 and the second arm 40 are integrally formed with the protrusions, so that the cost can be reduced. Further, when an aluminum alloy is used as the die casting metal for both the first arm 30 and the second arm 40, the impact caused by the contact between the first protrusion 32 and the second protrusion 42 can be reduced, and other mechanical elements are broken. There is an advantage that becomes difficult.

Returning to FIG. 1, a vertical rotation shaft 50 that is displaced with respect to the second arm 40 is provided at the tip of the second arm 40. The vertical rotation shaft 50 is a cylindrical shaft body, and a ball screw groove and a spline groove (not shown) are formed on the circumferential surface thereof.
The vertical rotation shaft 50 is inserted so that the spline groove is fitted to the center of the ball spline nut 51 disposed at the tip of the second arm 40, and the ball screw groove is also inserted into the tip of the second arm 40. The ball screw nut 52 is inserted so as to be screwed into the center. Thus, the vertical rotation shaft 50 is supported so as to be rotatable with respect to the second arm 40 and movable in the vertical direction.

  In the second arm 40, a motor M3 as a drive source is installed. The driving force of the motor M3 is transmitted to the ball spline nut 51 via a belt (not shown). That is, the vertical rotation shaft 50 is rotated forward and backward about its own axis C3 along the vertical direction when the ball spline nut 51 is rotated forward and backward by the motor M3.

  In the second arm 40, a motor M4 is installed as a drive source. The driving force of the motor M4 is transmitted to the ball screw nut 52 via a belt (not shown). That is, the vertical rotation shaft 50 moves up and down in the vertical direction when the ball screw nut 52 is rotated forward and backward by the motor M4. And the working part 53 which is the lower end part is raised / lowered by the up / down movement.

  The working unit 53 of the vertical rotation shaft 50 is provided with various tools. As the tool, for example, a tool that grips a workpiece such as a hand or a tool that processes a workpiece such as a drill can be attached. The horizontal articulated robot 10 is configured to grip and convey parts and process parts by using various tools attached to the working unit 53.

A drive circuit board 54 for driving various sensors and the like is provided in the second arm 40.
An arm cover 55 is provided to cover the second arm 40 from the proximal end portion to the distal end portion. The arm cover 55 is formed of a resin material, for example, and protects the motors M2, M3, M4 and the like.

  Above the arm cover 55, one end of a flexible wiring duct 56 having the other end connected to the base 20 is connected. The wiring duct 56 has a cylindrical shape, and has one end rotatably connected to the second arm 40 and the other end rotatably connected to the base 20. In the wiring duct 56, an electrical wiring L connected to the motor M3 installed in the second arm 40, an electrical wiring L connected to the drive circuit board 54, and the like are drawn from the second arm 40 to the base 20. It has been turned.

  Then, the electric wires L routed to the inside of the base 20 are collected in the base 20 and are installed outside the base 20 together with the electric wires L connected to the motor M1 to be a horizontal articulated robot. 10 can be routed to a robot controller 60 that performs overall control.

(Regulation of rotation range of second arm)
Next, regulation of the rotation range of the second arm will be described.
FIG. 4 is an explanatory view showing the restriction of the rotation range of the second arm. In this figure, only the movement of the second protrusion is shown in the plan view of the first arm.

As shown in FIG. 4A, when the second arm rotates clockwise, the second protrusion 42 of the second arm contacts the end 33 of the protrusion 32a of the first arm 30, and The two arms cannot be rotated further.
When the second arm rotates counterclockwise, the second protrusion 42 of the second arm contacts the end 33 of the protrusion 32b of the first arm 30, and the second arm It cannot be turned.
As described above, the second protrusion 42 of the second arm 42 and the first protrusions 32a and 32b of the first arm 30 come into contact with each other, so that the rotation in the range of S1 in the drawing cannot be performed. It is restricted to the first rotation range A1.

Here, the first protrusions 32a and 32b of the first arm 30 and the second protrusion 42 of the second arm are formed integrally with the respective arms. For example, when each arm is formed by die casting, the first projecting portions 32a and 32b and the second projecting portion 42 can be formed with high accuracy, and the strength to withstand contact between them can be ensured.
Furthermore, since the end portions 33 of the first protrusions 32a and 32b that come into contact with the second protrusion 42 are curved, the contact area is reduced, and the contact position can be accurately determined.

Next, a case where the rotation range of the second arm is restricted in consideration of the size of various tools provided on the vertical rotation shaft will be described.
As shown in FIG. 4B, screws as loading members are fixed to the first screw holes 35 a and the second screw holes 35 b as engaging portions, and screw heads 36 a and 36 b are planes of the first arm 30. Protruding from.
When the second arm rotates clockwise, the second protrusion 42 of the second arm comes into contact with the screw head 36a of the first arm 30, and the second arm cannot be further rotated. .
When the second arm rotates counterclockwise, the second protrusion 42 of the second arm contacts the screw head 36b of the first arm 30, and the second arm rotates further. become unable.
As described above, the second protrusion 42 of the second arm 42 and the screw heads 36a and 36b of the first arm 30 are in contact with each other, so that the rotation in the range of S2 in the drawing cannot be performed. The second rotation range A2 is narrower than the first rotation range A1.

As mentioned above, since the 1st projection part 32 and the 2nd projection part 42 are integrally formed in the 1st arm 30 and the 2nd arm 40, respectively, the horizontal articulated robot 10 of this embodiment can be removed by maintenance etc. Can not. For this reason, the first projecting portion 32 and the second projecting portion 42 come into contact with each other, so that the arm rotation range of the second arm 40 is surely restricted, and the horizontal articulated robot 10 itself exceeds the arm rotation range. There is no risk of damage.
Further, by using the first screw hole 35a and the second screw hole 35b formed at a position away from the first projecting portion 32, the robot itself and the robot according to the size of various tools provided on the vertical rotation shaft 50 can be used. Can prevent the tool from being damaged. Specifically, the rotation of the arm can be restricted by screwing into the first screw hole 35a and the second screw hole 35b and bringing the screw heads 36a, 36b and the second protrusion 42 into contact with each other. .
(Modification)

Next, a modification of this embodiment will be described.
FIG. 5 is a partial plan view showing the configuration of the first arm showing a modification of the present embodiment. In addition, about the structure similar to the said embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.
In the above-described embodiment, the first protrusion is configured by two protrusions, but in this modification, as illustrated in FIG. 5, the first protrusion is configured by one first protrusion 38.
As described above, the first protrusion can be implemented in any shape as long as two surfaces that contact the second protrusion are secured.

As another modification, the shapes of the first protrusion and the second protrusion may be formed opposite to each arm.
Further, in this embodiment, the first screw hole 35a and the second screw hole 35b are screwed and the circular head portion of the screw is used as the protrusion, but the screw head is designed and arranged in another shape. You can also. In this case, the contact position with the second protrusion can be changed from the case of using the screw head, and an arbitrary position can be set.

  The present invention is not limited to the embodiment described above, and the specific structure and procedure for carrying out the present invention can be appropriately changed to other structures and the like as long as the object of the present invention can be achieved. it can. Many modifications can be made by those skilled in the art within the technical idea of the present invention.

  DESCRIPTION OF SYMBOLS 10 ... Horizontal articulated robot, 20 ... Base, 21 ... Rotating shaft, 22 ... Reduction gear, 23 ... Output shaft, 30 ... 1st arm, 31 ... Shaft hole, 32 ... 1st projection part, 32a, 32b ... Projection 33 ... End, 35a ... First screw hole, 35b ... Second screw hole, 36a, 36b ... Screw head, 38 ... First projection, 40 ... Second arm, 41 ... Shaft hole, 42 ... Second Projection, 45 ... Reducer, 46 ... Rotating shaft, 50 ... Vertical rotating shaft, 51 ... Ball spline nut, 52 ... Ball screw nut, 53 ... Actuating shaft, 54 ... Drive circuit board, 55 ... Arm cover, 56 ... Wiring duct 60 ... robot controller, A1 ... first rotation range, A2 ... second rotation range, C1, C2, C3 ... axis, L ... electrical wiring, M1, M2, M3, M4 ... motor.

Claims (5)

A horizontal articulated robot having a first arm rotatably connected to a base and a second arm rotatably connected to the first arm,
A first protrusion that is integrally molded with the first arm and restricts a rotation range of the second arm;
A second protrusion that is integrally molded with the second arm and is capable of contacting the first protrusion;
A member formed on the first arm and on a moving track of the second protrusion in a plan view from the rotation axis direction in which the second arm rotates, and is formed at a position away from the first protrusion. And
The engaging portion is engageable with a loading member;
When the loading member is engaged with the engaging portion, the loading member can come into contact with the second protrusion. The horizontal articulated robot according to claim 1,
The horizontal articulated robot according to claim 1, wherein the first arm and the second arm are formed by die casting. The horizontal articulated robot according to claim 1 or 2,
The horizontal articulated robot according to claim 1, wherein an end of the first protrusion contacting the second protrusion is curved. The horizontal articulated robot according to any one of claims 1 to 3,
2. The horizontal articulated robot according to claim 1, wherein two loading members are paired, and the engaging portions are provided at two locations. The horizontal articulated robot according to any one of claims 1 to 4 ,
The horizontal articulated robot according to claim 1, wherein the loading member is a screw, and the engaging portion is a screw hole.

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