JPH0227023B2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention provides a so-called work robot that realizes an explosion-proof structure despite being electrically powered.
This invention relates to an electric painting robot that separates the rotational drive of the motor from the movement of the arm during CP teaching, thereby making the movement of the arm lighter.

Conventionally, work robots that require an explosion-proof structure, such as painting robots, have generally been constructed using hydraulic systems. Although hydraulic systems are suitable for explosion-proof structures, they are complicated in terms of maintenance and handling. Therefore, a solution to this point is desired. On the other hand, so-called CP teaching is required for painting robots, and especially when using an electric motor, if the output shaft of the motor and the output shaft arm are always directly connected, the movement of the arm becomes heavy, making CP teaching work difficult. The fact that it is difficult to do is pointed out as a drawback.

The present invention realizes an explosion-proof structure even though it is an electric type, which has conventionally been difficult to make explosion-proof, and enables so-called CP teaching work to be performed efficiently in a work robot that is easy to maintain and handle. The purpose of the present invention is to provide an electric painting robot that can perform painting. In a work robot having a built-in air pressure monitoring device for detecting air pressure, a rotational drive transmission/disconnection device is provided between the output shaft of the reducer to which the rotation of the electric motor is transmitted and the output shaft arm, and the It is characterized in that a rotational position detector is connected to the rotational axis of the output shaft arm.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An electric painting robot according to the present invention will be described below based on embodiments shown in the drawings.

Fig. 1 shows the overall structure of the electric painting robot according to the present invention, in which a is a top view, b is a side view, and c is a rear view. Like the painting robot, it has a joint arm system with a vertical arm 3 and a horizontal arm 4, and these arms 3 and 4 can move θ, φ, φ.
It is configured to move in the direction.

Motor units 6 and 7, which will be described later (see Fig. 2), are connected to the tip of the horizontal arm 4, and the motor unit 6 directs the paint gun 8 vertically, and the motor unit 7 directs the paint gun 8 horizontally. It has a function. In the case of this embodiment, since two motor units 6 and 7 are provided, the degree of freedom of the hand is 2, but this degree of freedom can be increased to 3.
If necessary, one more motor unit may be added.

On the other hand, 9, 10 and 11 are the vertical arm 3 and the horizontal arm 4, as described later (see FIG. 3).
The motor unit 9 is a motor unit for moving the output shaft in the θ, φ, and φ directions, respectively.
The horizontal arm 4 is moved up and down in the φ direction via the link 5. Further, the motor unit 10 rotates the vertical arm 3 directly connected to its output shaft to perform φ-axis operation. Further, the motor unit 11 is a motor unit for driving the horizontal arm 4 in the θ direction, and causes a pinion 14 and a gear 13 attached to the rotary body 2 to perform a turning movement.
Note that 1 is a base.

FIG. 2 shows the hand motor units 6 and 7.
A is a cross-sectional view, b is a side view, and c is an enlarged explanatory view showing the engaged state of the pneumatic clutch part.
When the electric motor 50 sealed by the motors 4 and 64 and housed in the cover 51 rotates, the gear 52 directly connected to its output shaft and the gear 53 meshed with the gear 52 rotate, thereby causing a reduction gear directly connected to the gear 53. 55 rotates, and the output shaft 75 of the reducer 55
is decelerated and rotates, and the clutch plate 56 directly connected to the output shaft 75 also rotates. However, when the air pressure for connecting the clutch is not supplied from the pneumatic hose 70, the clutch plates 56 and 57 are not connected by the spring 58, and the rotation of the clutch plate 56 is not transmitted to the clutch plate 57. Since the spring 58 rests on a thrust bearing 77 built into the clutch plate 56, even if the clutch plate 56 rotates and the clutch plate 57 stops, the thrust bearing 77 prevents the spring 58 from rotating.

On the other hand, when air pressure is supplied from the pneumatic hose 70, the air pressure moves the pneumatic piston 61 to the left side and presses the clutch plate 57 toward the clutch plate 56 via the thrust bearing 78, causing the clutch plate 56 and the clutch plate 57 to Since the pawls engage as shown in FIG. 2c, rotation of clutch plate 56 is transmitted to clutch plate 57. Since the clutch plate 57 and the output shaft arm 59 supported by the bearing 62 are connected by a key or a spline, when the electric motor 50 rotates, the output shaft arm 59 rotates by a predetermined angle (see FIG. 3b). ). In addition, a rotational position detector 6 consisting of a potentiometer etc.
3 is the output shaft arm 59 via the coupling ring 69.
Since the clutch plates 56 and 57 are connected to the shaft, the rotational position detection function will operate whether the clutch plates 56 and 57 are connected or not.

Fresh air necessary for explosion-proofing is sent into the motor unit via an air supply hose 71 that also serves as a cover hose for the electric wire cable 73. The flexible air is eventually discharged from the motor unit through the air exhaust hose 72, but since the flexible air itself is pressurized, this pressure causes the diaphragm 66 to reverse, causing the limit switch 6 to
Perform the switching in step 7. When the pressure of the flexible air disappears, the diaphragm 66 is reversed to its original state by the action of the spring 68, so as a result of the contact of the limit switch 67 being reversed, it is possible to determine whether or not the pressure of the flexible air is maintained within the motor unit by the diaphragm 67. can be detected. In this embodiment, a diaphragm is used as an example of the air pressure monitoring device, but it goes without saying that the present invention is not limited to this. (60 is a pneumatic piston, 65 and 76 are O-rings , 74 is a cable for the limit switch 67).

On the other hand, FIG. 3 shows a motor unit for the vertical arm 3 and the horizontal arm 4, where a is a cross-sectional view thereof, and b is a cross-sectional view thereof.
is a side view of a, with both ends covered with lids 118 and 121.
When the electric motor 102 housed in the sealed cover 101 rotates, the reducer 103 directly connected to the output shaft of the electric motor 102 rotates.
03 output shaft 119 is decelerated and rotates, and the clutch plate 104 directly connected to the output shaft 119 rotates. However, the pneumatic hose 11 for clutch control
When pilot air pressure is not supplied from 6, the clutch plate 104 is moved by the spring 105.
and 106 are not connected, and the clutch plate 10
4 is not transmitted to the clutch plate 106. Since the spring 105 rests on a thrust bearing 120 incorporated in the clutch plate 106, even if the clutch plate 104 rotates and the clutch plate 106 stops, the thrust bearing 120 prevents the spring 105 from rotating.

On the other hand, when air pressure is supplied from the pneumatic hose 116, the seal is maintained by the O-ring 109, so the pneumatic piston 107 moves to the right due to the air pressure, and the clutch plate 106 is connected to the clutch plate via the thrust bearing 108. 104 side and both clutch plates 1 in the same way as shown in Fig. 2.
Since the pawls 04 and 106 are engaged, rotation of the clutch plate 104 is transmitted to the clutch plate 106. Therefore, the clutch plate 106 and the bearing 111
Since the output shaft arm 100 supported by the electric motor 10 is connected with a key or a spline,
2 rotates, the output shaft arm 100 rotates by a predetermined angle.

Fresh air necessary for explosion protection is sent into the motor unit via an air supply hose 112 that also serves as a cover hose for the electric wire cable 115.
Flexair will eventually become a limit switch 1
The air is discharged outside the motor unit by the air discharge hose 113 which also serves as a cover hose for the wiring 114 for 23, but since the fresh air itself is pressurized, this pressure reverses the diaphragm 117 and prevents the switching of the limit switch 123. Let's do it. When the pressure of the flexible air is removed, the diaphragm 117 is moved by the action of the spring 124.
is reversed to its original state, so limit switch 1
23 contacts are reversed, diaphragm 117
By this, it is possible to detect whether or not the fresh air maintains pressure within the motor unit. Note that, as in the case of FIG. 2, it goes without saying that the air pressure monitoring device is not limited to the case of a diaphragm (in FIG. 3, 110 is a pneumatic piston,
122 is an O-ring. ).

Although not shown, the motor unit shown in FIG. 3 also has a rotational position detector composed of a potentiometer or the like connected to the output shaft 100, as in the case of FIG. The rotational positions of the horizontal arm 4 and the vertical arm 3 can be detected.

As described above in detail based on the embodiments shown in the drawings, the electric painting robot according to the present invention is a work robot that has a completely explosion-proof structure despite being electric. By installing a rotational drive transmission/disconnection device between the output shaft of the reducer to which the rotation of the electric motor is transmitted and the output shaft arm, it is possible to disconnect the electric motor and output shaft arm during so-called CP teaching. This allows the arm to move easily.
Furthermore, since the rotational position detector and the output shaft arm are connected, the position of the output shaft arm can be detected even when the motor is not rotating.

In the above embodiment, the motor unit is provided at the hand, but it is also possible to attach the motor unit shown in FIG. 3 to the base of each arm and drive the hand by a chain or shaft. In addition, in FIGS. 2 and 3, P is a ventilation hole with the outside, and the casing of the motor unit is not sealed, and it is also possible to allow flexible air to pass through the motor, which further enhances the effects of the present invention. It is valid.

[Brief explanation of drawings]

Fig. 1 shows the overall structure of the robot according to the present invention; a is a top view, b is a side view, c is a rear view, and Fig. 2 is a hand motor unit; a is a sectional view; 3 is a side view, c is an enlarged explanatory view showing the engaged state of the pneumatic clutch portion, and FIG. 3 shows a motor unit for the arm, a is a cross-sectional view thereof, and b is a side view of a. In the drawing, 6, 7, 9, 10, 11 are motor units, 50, 102 are electric motors, 55, 103
is a reducer, 56, 57, 104, 106 are clutch plates, 58, 105 are springs, 59, 100
is an output shaft arm, 60, 61, 109, 110 are pneumatic pistons, 63 is a rotational position detection device, 69 is a coupling, 70, 116 is a pneumatic hose, 7
1,112 is an air supply hose, 72,113 is an air exhaust hose, 75,119 is an output shaft, 7
8,120 is a thrust bearing.

Claims (1)

[Claims] 1. In a work robot in which an air supply hose and an air exhaust hose are connected to a motor unit housing an electric motor, and an air pressure monitoring device for detecting air pressure is built into the air unit, the rotation of the electric motor is transmitted. An electric painting robot characterized in that a rotational drive transmission/disconnection device is provided between an output shaft of a speed reducer and an output shaft arm, and a rotational position detector is connected to the rotational shaft of the output shaft arm.