Jig and method for replacing reducer

Abstract

The present invention provides a jig and a method for replacing a reducer of a robot that can further improve the efficiency of the operation of replacing a reducer. A jig is provided, which is a jig for supporting the reducer when the second element is separated from the first element, with respect to a reducer that connects a first element and a second element of a robot to each other so as to be capable of performing a deceleration action. The jig comprises: a fixed portion that is detachably mounted on the first element or the second element; a movable portion that is mounted on the fixed portion in a manner that allows rotational or linear movement; and a supporting portion that is mounted on the movable portion and suspends and supports the reducer in the direction of gravity.

Description

Technical Field

[0001] The invention relates to a jig for supporting a reducer of a robot and a method for replacing the reducer by using the jig. Background Art

[0002] A jig for supporting a speed reducer provided in a robot in order to replace the speed reducer is known (for example, Japanese Patent Application Laid-Open No. 2013-78815). Further efficiency improvement of the work of replacing the speed reducer of a robot is required. Summary of the invention

[0003] In one aspect of the present disclosure, a jig is provided for supporting a reducer that connects a first element and a second element of a robot to each other so as to be capable of performing a deceleration action when the second element is separated from the first element, wherein the jig comprises: a fixed portion that is detachably mounted on the first element or the second element; a movable portion that is mounted on the fixed portion so as to be rotatable or linearly movable; and a supporting portion that is mounted on the movable portion and suspends and supports the reducer in the direction of gravity.

[0004] In another embodiment of the present disclosure, in a method for replacing a reducer using the above-mentioned jig, a support portion is fixed to the reducer fixed to one of the separated first and second elements, the reducer is removed from one of the first and second elements, the reducer is suspended and supported in the direction of gravity by the support portion, and the reducer supported by the support portion is moved in a manner so as to be separated from one of the first and second elements by moving the movable portion relative to the fixed portion.

[0005] According to the present disclosure, the operator can move the reducer suspended from the support part to move close to and away from the installation part of the robot by moving the movable part. Therefore, it is not necessary to use a heavy machine to move the reducer, so the operation of replacing the reducer can be made efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a perspective view of a robot including a jig and a speed reducer according to an embodiment.

[0007] Figure 2 It is magnified Figure 1 An enlarged view of the main part.

[0008] Figure 3 Indicates the use of Figure 1 The jig shown supports the reducer, and uses the jig to move the reducer from Figure 1 The position shown is moved.

[0009] Figure 4 yes Figure 2An enlarged view of the jig and reducer is shown.

[0010] Figure 5 yes Figure 4 A cross-sectional view of a direct-acting member is shown.

[0011] Figure 6 Indicates the use of Figure 4 The suspension shown allows the reducer to be Figure 4 The position shown is in a state where it has moved downward in the direction of gravity.

[0012] Figure 7 The figure shows a state where a reducer is suspended in the direction of gravity using a jig according to another embodiment.

[0013] Figure 8 It is magnified Figure 7 An enlarged view of the main part.

[0014] Fig. 9 express Figure 7 A cross-sectional view of the movable part and the track part is shown.

[0015] Fig.10 The figure shows a state where a speed reducer is suspended in the gravity direction by a jig according to still another embodiment.

[0016] Fig.11 It is magnified Fig.10 An enlarged view of the main part.

[0017] Fig.12 express Fig.10 sectional view of the engaging portion of the first linear motion member and the rail portion of the guide mechanism.

[0018] Fig.13 express Fig.10 2 is a cross-sectional view of the rail portion of the second linear motion member and the first linear motion member.

[0019] Fig.14 The figure shows a state where a speed reducer is suspended in the gravity direction by a jig according to still another embodiment.

[0020] Fig.15 It is magnified Fig.14 An enlarged view of the main part.

[0021] Fig.16 Indicates that Figure 1 The jig shown is attached to the lower arm of the robot.

[0022] Fig.17 It is magnified Fig.16 An enlarged view of the main part. DETAILED DESCRIPTION

[0023] Hereinafter, the embodiments of the present disclosure will be described in detail based on the accompanying drawings. In addition, in the various embodiments described below, the same elements are marked with the same reference numerals, and repeated descriptions are omitted. In addition, in the following description, top and bottom sometimes represent top and bottom in the direction of gravity (i.e., vertical direction).

[0024] First, refer to Figure 1 to Figure 6 The jig 10 of one embodiment is described. The jig 10 is used to replace the reducer 202 built into the robot 200. In this embodiment, the robot 200 is a vertical multi-joint robot, which includes a base 204, a rotating body 206, a lower arm 208, an upper arm 210, and a wrist 220. The base 204 is fixed to the floor of the work unit. The rotating body 206 is provided on the base 204 in a manner that it can rotate around an axis A1. The axis A1 is parallel to the vertical direction, for example.

[0025] The lower arm 208 has a base end 212 and a top end 214 on the opposite side of the base end 212, and the base end 212 is connected to the rotating body 206 in a manner that can rotate around the axis A2. The axis A2 is orthogonal to the axis A1. The upper arm 210 has a base end 216 and a top end 218 on the opposite side of the base end 216, and the base end 216 is connected to the top end 214 of the lower arm 208 in a manner that can rotate around the axis A3. The axis A3 is parallel to the axis A2.

[0026] The wrist portion 220 is rotatably provided at the top end portion 218 of the upper arm portion 210, and an end effector (welding torch, robot arm, coating material applicator, etc., not shown) for performing a predetermined operation (welding, processing, coating, etc.) on a workpiece is detachably mounted at the top end portion of the wrist portion 220. The wrist portion 220 supports the end effector so that it can rotate.

[0027] A servo motor (not shown) and a reducer (e.g., reducer 202) are built into each component of the robot 200 (i.e., the base 204, the rotating body 206, the lower arm 208, the upper arm 210, and the wrist 220). The reducer connects the first component and the second component of the robot 200 to each other so that a deceleration operation can be performed. The servo motor rotates the first component and the second component relative to each other via the reducer.

[0028] The robot 200 is provided with a cable 222. Specifically, the cable 222 is led out from the rotating body 206, and a connector (not shown) provided at the top end thereof is connected to a connector (not shown) provided at the base end 216 of the upper arm 210. The cable 222 includes, for example, a signal line for transmitting a signal to a servo motor for driving the wrist 220 or an end effector mounted on the wrist 220. The cable 222 is constrained by a plurality of mounting members 224 provided near each joint.

[0029] The speed reducer 202 connects the lower arm 208 and the upper arm 210 to each other so as to be able to perform a speed reduction operation. Specifically, the speed reducer 202 is interposed between the top end 214 of the lower arm 208 and the base end 216 of the upper arm 210, and its input side is fixed to the top end 214 of the lower arm 208 by a fastener such as a bolt (not shown), and its output side is fixed to the base end 216 of the upper arm 210 by a fastener such as a bolt (not shown).

[0030] In a state where the lower arm 208 and the upper arm 210 are connected via the speed reducer 202, the speed reducer 202 is housed in a hole 228 ( Figure 3 ) and a hole 230 ( Figure 1 , Figure 3 The holes 228 and 230 are circular holes and are arranged concentrically with the axis A3 as the center when the lower arm portion 208 and the upper arm portion 210 are connected.

[0031] The jig 10 is used to suspend and support the reducer 202. By moving the jig 10 while the reducer 202 is suspended, the replacement operation of the reducer 202 is assisted. The jig 10 includes a fixed portion 12, a movable portion 14, and a supporting portion 16. The fixed portion 12 is detachably mounted on the upper arm portion 210. More specifically, the fixed portion 12 is mounted on the base end portion 216 of the upper arm portion 210 using a plurality of fasteners (e.g., bolts) 18.

[0032] like Figure 4 As shown, the fixing portion 12 includes a flat plate-shaped first portion 20 and a flat plate-shaped second portion 22 substantially orthogonal to the first portion 20. A circular recess 20a and a plurality of through holes 20b are formed in the first portion 20. The recess 20a is formed to be recessed inward from the end surface 20c of the first portion 20, and has a radius substantially the same as the radius of the hole 228 formed in the base end portion 216 of the upper arm portion 210.

[0033] In this embodiment, the through holes 20b are arranged along the wall surface 20a, divided into two rows, an inner row close to the wall surface 20a and an outer row farther from the wall surface 20a.

[0034] The second portion 22 has an inner surface 22a on the side facing the first portion 20 and an outer surface 22b on the side opposite to the inner surface 22a, and the mounting members 24 and 26 are fixed to the outer surface 22b. The mounting member 24 defines a bottomed hole 28 when fixed to the outer surface 22b. The mounting member 26 defines a through hole 30 parallel to the hole 28 along the direction of the axis A4 when fixed to the outer surface 22b.

[0035] In this embodiment, a plurality of fasteners 18 are respectively passed through the through holes 20b of the inner row formed in the first portion 20, and are fastened to the fastening holes (specifically, screw holes) 232 formed at the base end portion 216 of the upper arm portion 210, so that the fixing portion 12 is fixed to the base end portion 216 of the upper arm portion 210 in a detachable manner.

[0036] Furthermore, the fixing portion 12 is configured to be attachable to and detachable from the base end portion 216 of the upper arm portion 210 when the lower arm portion 208 and the upper arm portion 210 are connected. Therefore, the first portion 20 of the fixing portion 12 is configured to be insertable into a gap formed between the top end portion 214 of the lower arm portion 208 and the base end portion 216 of the upper arm portion 210 when the lower arm portion 208 and the upper arm portion 210 are connected (in other words, the first portion 20 has a thickness smaller than the gap).

[0037] The fastening holes 232 are used, for example, to fasten a stopper (not shown) for limiting the rotation of the upper arm 210 relative to the lower arm 208, and are arranged at substantially equal intervals around the hole 228 (or around the axis A3) at the base end 216. The through holes 20b of the inner and outer rows of the first portion 20 are arranged at the same intervals as the fastening holes 232.

[0038] Thus, in the present embodiment, the fixing portion 12 is fixed to the upper arm portion 210 using the fastening hole 232 provided in the robot 200 for a predetermined purpose (for example, for fastening a stopper). In addition, when the jig 10 is mounted on a robot of a different type from the robot 200, the through holes 20b of the outer row of the first portion 20 are used for fastening the fasteners 18, so that the jig 10 can be mounted on the different robot. By using the through holes 20b of the inner row and the through holes 20b of the outer row separately, the jig 10 can be applied to different types of robots.

[0039] The movable part 14 is mounted on the fixed part 12 in a manner that allows rotation and linear motion. Specifically, the movable part 14 includes a rotating member 32 and a linear motion member 34. The rotating member 32 is a substantially L-shaped rod member with a circular cross section, and is mounted on the fixed part 12 in a manner that allows rotation around an axis A4. The axis A4 is substantially orthogonal to the rotation axis A3 of the upper arm part 210.

[0040] The rotating member 32 includes a first arm 32a extending linearly along the axis A4 and a second arm 32b extending linearly in a direction perpendicular to the axis A4. The first arm 32a is rotatably received in the hole 28 of the mounting member 24 and the through hole 30 of the mounting member 26, and is rotatably mounted to the fixed portion 12 via the mounting members 24 and 26. A pair of stoppers 36 are provided on the second arm 32b. The stoppers 36 are arranged to be separated from each other and protrude outward from the second arm 32b.

[0041] The direct-acting member 34 is provided on the second arm 32b in a direct-acting manner. Figure 4 and Figure 5 As shown, the linear motion member 34 includes a main body 38, a rolling element 40 rotatably provided inside the main body 38, and a suspension member 42 fixedly provided on the lower side of the main body 38. The main body 38 is a hollow member having a cylindrical inner peripheral surface 38a.

[0042] The rolling element 40 is, for example, a ball (or roller), and is rotatably provided on the inner peripheral surface 38a of the main body 38 so as to protrude inwardly from the inner peripheral surface 38a. The second arm 32b penetrates the interior of the main body 38 so as to abut against each rolling element 40, whereby the linear motion member 34 can linearly move along the second arm 32b.

[0043] The movement of the linear motion member 34 relative to the second arm 32b is restricted by a pair of stoppers 36 provided to the second arm 32b. The linear motion member 34 is prevented from moving to the first arm 32a and from falling off from the top end of the second arm 32b by these stoppers 36. The suspension member 42 is a so-called eye bolt or the like, and is provided so as to protrude downward from the lower side of the main body 38.

[0044] The support portion 16 is mounted on the movable portion 14, and suspends and supports the reducer 202 in the direction of gravity. Specifically, the support portion 16 has a suspension device 44 and a mounting member 46. The suspension device 44 is a device such as a so-called chain pulley, and has a suspension wire 48, a storage portion 50, and hooks 52 and 54. The suspension wire 48 is a high-strength linear member such as a metal chain or a high-strength cable that can withstand the gravity of the reducer 202.

[0045] The storage portion 50 is hollow, and the suspension wire 48 is wound and stored therein. Specifically, a winding core 56 is rotatably provided inside the storage portion 50, and the suspension wire 48 is wound around the winding core 56. A handle 56a protruding to the outside of the storage portion 50 is provided at one end of the winding core 56, and the operator can rotate the winding core 56 by holding the handle 56a and rotating it.

[0046] If the operator moves the handle 56a from Figure 4 The state shown is rotated to one side, then Figure 6 As shown in FIG. 5 , the suspension wire 48 wound on the winding core 56 is drawn out from the storage portion 50, and the hook 54 suspended from the top of the suspension wire 48 moves downward. Figure 6 When the state shown is rotated in the other direction, the suspension wire 48 is wound around the winding core 56 and the hook 54 is moved upward.

[0047] The hook 52 is fixedly provided on the outer peripheral surface of the housing portion 50. The hook 52 is a substantially C-shaped member formed of metal or the like, and is suspended from the suspension member 42. On the other hand, the hook 54 is fixedly provided on the top end of the suspension wire 48. The hook 54 is a substantially C-shaped member formed of metal or the like, similarly to the hook 52.

[0048] The mounting member 46 includes a first member 58, a second member 60, and a suspension member 62. The first member 58 is substantially L-shaped, and includes a first arm 58a and a second arm 58b substantially orthogonal to the first arm 58a. The second arm 58b extends downward from the other end of the first arm 58a. The suspension member 62 is fixedly provided on the upper surface of one end of the first arm 58a. The suspension member 62 is a so-called eye bolt or the like, and is provided in a manner protruding upward from one end of the first arm 58a. The suspension member 62 is suspended from the hook 54.

[0049] like Figure 2 and Figure 4 As shown, the second member 60 is a substantially rectangular flat plate member extending longitudinally to the left and right. A long hole 60a and a plurality of fastening holes (screw holes, etc.) 60b are formed in the second member 60. The long hole 60a extends longitudinally to the left and right. The fastening holes 60b are divided into two rows on the upper side and the lower side of the long hole 60a, and are arranged in a manner arranged along the long hole 60a.

[0050] The second arm 58b of the first member 58 is fixed to the second member 60 by a pair of fasteners (bolts, etc.) 64. The pair of fasteners 64 respectively penetrate a pair of through holes (not shown) formed in the second arm 58b, one fastener 64 is fastened to the fastening hole 60b configured on the upper side of the long hole 60a, and the other fastener 64 is fastened to the fastening hole 60b configured on the lower side of the long hole 60a. In this way, the first member 58 and the second member 60 are firmly fixed to each other. In addition, by changing the pair of fastening holes 60b used to fasten the fasteners 64, the position of the second member 60 relative to the first member 58 can be adjusted left and right.

[0051] The mounting member 46 is mounted on the reducer 202 in a detachable manner. Figure 2 As shown, a pair of fasteners (bolts, etc.) 66 are arranged at the left and right sides of the second arm 58b, one fastener 66 on the right side passes through the long hole 60a, and the other fastener 66 on the left side passes through a through hole (not shown) formed in the second member 60 in a manner separated from the left side of the long hole 60a. And, the pair of fasteners 66 are fastened to a pair of fastening holes (not shown) provided in the speed reducer 202 by using their top ends.

[0052] In this way, the mounting member 46 is firmly fixed to the reducer 202. Figure 3 and Figure 4 When the reducer 202 is separated from the upper arm 210 as shown, the support portion 16 can suspend and support the reducer 202 in the gravity direction. In addition, the distance between the pair of fasteners 66 can be adjusted by the long hole 60a, so the mounting member 46 can be mounted on reducers of various diameters having fastening holes formed at various intervals.

[0053] Next, a method for replacing the reducer 202 of the robot 200 using the jig 10 is described. First, the operator fixes the fixing portion 12 of the jig 10 to the base end portion 216 of the upper arm 210 using the fastener 18 while the lower arm 208 and the upper arm 210 are connected. Next, the operator removes the fastener fastening the lower arm 208 and the reducer 202 while lifting the upper arm 210 using a heavy machine such as a crane (not shown), thereby separating the lower arm 208 from the reducer 202.

[0054] The results, such as Figure 1 As shown, the upper arm 210 and the reducer 202 fixed to the base end 216 of the upper arm 210 are separated from the lower arm 208, and the upper arm 210 and the reducer 202 are suspended from the heavy machine. At this time, the heavy machine can also suspend the upper arm 210 in a manner that the axis A4 of the jig 10 is substantially parallel to the vertical direction.

[0055] Here, the operator performs the operation of separating the upper arm 210 from the lower arm 208 while the cable 222 is connected to the connector provided at the base end 216. Therefore, the upper arm 210 separated from the lower arm 208 is suspended from the heavy machine at a position separated from the lower arm 208 within a range in which the cable 222 is connected to the connector.

[0056] Next, the operator fixes the mounting member of the support portion 16 to the speed reducer 202 fixed to the upper arm portion 210 using the fastener 66. Next, the operator removes the fastener fastening the upper arm portion 210 and the speed reducer 202 to separate the speed reducer 202 from the upper arm portion 210. Thus, the speed reducer 202 is suspended and supported by the support portion 16 in the direction of gravity.

[0057] Here, when the speed reducer 202 is suspended from the support 16, the center of gravity of the speed reducer 202 and the suspension fixture 62 of the mounting member 46 are aligned in the gravity direction. To achieve such alignment between the center of gravity of the speed reducer 202 and the suspension fixture 62, the first member 58 is configured in a substantially L-shape.

[0058] According to this structure, when the reducer 202 is suspended from the support portion 16, the reducer 202 can be prevented from tilting relative to the gravity direction, and the reducer 202 can be supported in a stable posture. In addition, by changing the fastening hole 60b for fastening the fastener 64 and adjusting the position of the second member 60 relative to the first member 58 in the left and right directions, the reducer 202 can be more effectively prevented from tilting relative to the gravity direction.

[0059] Next, the operator moves the movable part 14 relative to the fixed part 12 to move the speed reducer 202 supported by the support part 16 away from the upper arm part 210. Specifically, the operator moves the rotating member 32 of the movable part 14 from Figure 1 and Figure 2 Rotate the position shown to Figure 3 and Figure 4 Position shown.

[0060] As a result, the support portion 16 and the speed reducer 202 supported by the support portion 16 move in the horizontal direction away from the upper arm portion 210. In this way, the rotating member 32 of the movable portion 14 rotates relative to the fixed portion 12 to move the support portion 16 and the speed reducer in the horizontal direction. Figure 3 and Figure 4 The rotating member 32 is Figure 1 and Figure 2 The positions shown are examples rotated by approximately 180°.

[0061] Here, the operator can move the reducer 202 in the horizontal direction along the second arm 32b by linearly moving the linear member 34 as needed. Specifically, the operator applies a force in the horizontal direction to, for example, the reducer 202 or the support portion 16. In this way, the linear member 34 of the movable portion 14 moves linearly along the second arm 32b, thereby moving the reducer 202 and the support portion 16 together in the horizontal direction.

[0062] In this way, the linear motion member 34 can linearly move relative to the fixed portion 12 to move the support portion 16 and the speed reducer 202 in the horizontal direction. According to this structure, when the operator wants to further move the speed reducer 202 away from the fixed portion 12 (or when the operator wants to move it closer to the fixed portion 12) after the rotation of the rotating member 32, the position of the speed reducer 202 can be adjusted in the horizontal direction as needed.

[0063] After rotating the rotating member 32, the operator Figure 4 In the state shown, the handle 56a of the suspension device 44 is rotated in one direction to lead the suspension wire 48 out from the receiving portion 50. As a result, Figure 6 As shown, the mounting member 46 and the speed reducer 202 suspended from the top of the suspension wire 48 by the hook 54 can be moved downward. As an example, the operator operates the suspension device 44 to move the speed reducer 202 downward until it is placed on the floor of the work unit.

[0064] Next, the worker removes the fastener 66 that fixes the mounting member 46 and the speed reducer 202, and removes the mounting member 46 from the speed reducer 202. Next, the worker fixes the new speed reducer 202 to the mounting member 46 using the fastener 66. Next, the worker rotates the handle 56a of the suspension device 44 in the other direction.

[0065] By this action, the suspension wire 48 is wound on the winding core 56, and the mounting member 46 and the new speed reducer 202 are moved from Figure 6 Move upward to the position shown Figure 4 In this way, the suspension device 44 can make the mounting member 46 and the speed reducer 202 reciprocate along the gravity direction. In this way, the new speed reducer 202 is suspended and supported by the support part 16 in the gravity direction.

[0066] Next, the operator moves the movable portion 14 relative to the fixed portion 12 to move the new speed reducer 202 supported by the support portion 16 toward the upper arm portion 210. Specifically, the operator moves the rotating member 32 of the movable portion 14 from Figure 3 and Figure 4 Rotate the position shown to Figure 1 and Figure 2 Position shown.

[0067] As a result, the new speed reducer 202 can be arranged at the base end portion 216 of the upper arm portion 210 as the mounting portion of the speed reducer 202. At this time, the operator may adjust the position of the new speed reducer 202 by moving the new speed reducer 202 in the horizontal direction along the second arm 32b by means of the linear motion member 34 as needed, and may position the new speed reducer 202 at the base end portion 216 of the upper arm portion 210.

[0068] Next, the operator fixes the output side of the new speed reducer 202 to the base end 216 of the upper arm 210 using a fastener, and then fixes the input side of the new speed reducer 202 to the top end 214 of the lower arm 208. In this way, the operator can replace the speed reducer 202 using the jig 10.

[0069] As described above, according to the present embodiment, the operator can move the reducer 202 suspended from the support portion 16 so as to approach and leave the reducer mounting portion (the base end portion 216 in the present embodiment) of the robot 200 by moving the movable portion 14. According to this structure, it is not necessary to use a heavy machine to move the reducer 202, so the work of replacing the reducer 202 can be made more efficient.

[0070] Furthermore, according to the present embodiment, the speed reducer 202 can be moved while being stably suspended and supported by the support portion 16. Therefore, the operator can more safely replace the speed reducer 202, which is a heavy object with a relatively large weight.

[0071] In addition, the fixing part 12 can be attached to and detached from the components (in this embodiment, the upper arm 210) of the robot 200. According to this structure, the operator can use the fastening hole 232 provided in the robot 200 for a predetermined purpose (for example, for fastening a stopper) to fix the fixing part 12 to the upper arm 210. Therefore, an additional jig or the like for fixing the jig 10 is not required, and the operator can easily and quickly attach and detach the fixing part 12 to the components of the robot 200.

[0072] In addition, in the present embodiment, the fixing portion 12 is configured to be detachable relative to the upper arm 210 in a state where the lower arm 208 and the upper arm 210 are connected. According to this structure, the jig 10 can be mounted on the upper arm 210 before the upper arm 210 is lifted by a heavy machine, thereby improving the work efficiency. In addition, when the fixing portion 12 is mounted in a state where the lower arm 208 and the upper arm 210 are connected, the recess 20a formed in the fixing portion 12 can be used to avoid interference between the fixing portion 12 and the components of the reducer 202 or the robot 200.

[0073] In addition, in the present embodiment, the fixing portion 12 is fixed to the base end portion 216, which is a portion of the upper arm portion 210 close to the rotation axis A3 (i.e., the reducer 202) with respect to the lower arm portion 208. According to this structure, the jig 10 and the reducer 202 can be arranged close to each other, so that each component of the jig 10 (movable portion 14, support portion 16) can be miniaturized.

[0074] In addition, in the present embodiment, the movable portion 14 rotates relative to the fixed portion 12 under the action of the rotating member 32 to move the support portion 16 in the horizontal direction. According to this structure, the operator can move the reducer 202, which is a heavy object, simply and with a relatively small force. In addition, in the present embodiment, the movable portion 14 has a direct-acting member 34 in addition to the rotating member 32, so that the support portion 16 moves in the horizontal direction in a rotating and direct-acting manner relative to the fixed portion 12. According to this structure, the operator can move the reducer 202 suspended from the support portion 16 in multiple directions and adjust the position of the reducer 202 more finely.

[0075] In addition, in this embodiment, the operator can reciprocate the mounting member 46 in the direction of gravity by operating the suspension device 44. According to this structure, the range in which the speed reducer 202 can be moved can be expanded, and the efficiency of the speed reducer 202 replacement operation can be further improved.

[0076] Next, refer to Figure 7 to Figure 9 A jig 70 according to another embodiment will be described. The jig 70 includes a fixing portion 72, a guide mechanism 74, a movable portion 76, and a support portion 16. The fixing portion 72 is detachably attached to a base end portion 216 of an upper arm portion 210 using a plurality of fasteners 18.

[0077] like Figure 8 As shown in FIG. 1 , the fixing portion 72 is a flat plate member bent into a substantially L-shape, and includes a first portion 78 and a second portion 80 substantially orthogonal to the first portion 78. The first portion 78 is configured to extend upward from the base end portion 216, and a circular recess 78a and a plurality of through holes 78b are formed in the first portion 78. The recess 78a is formed at the lower end of the first portion 78, and has a radius substantially the same as the radius of the hole 228 formed in the base end portion 216 of the upper arm portion 210.

[0078] The through holes 78b are arranged along the wall surface 78a that defines and forms the recessed portion 78a. In the present embodiment, the through holes 78b are arranged along the wall surface 78a in two rows, an inner row close to the wall surface 78a and an outer row farther from the wall surface 78a than the inner row. The second portion 80 has an inner surface 80a facing the first portion 78 and an outer surface 80b on the opposite side to the inner surface 80a.

[0079] In this embodiment, a plurality of fasteners 18 are respectively passed through the through holes 78b of the inner row formed in the first portion 78 and fastened to the fastening holes 232 formed in the base end portion 216 of the upper arm portion 210, so that the fixing portion 72 is fixed to the base end portion 216 of the upper arm portion 210 in a detachable manner.

[0080] The fixing portion 72 is configured similarly to the fixing portion 12 described above so as to be attachable to and detachable from the base end portion 216 of the upper arm portion 210 in a state where the lower arm portion 208 and the upper arm portion 210 are connected. Therefore, the first portion 78 of the fixing portion 72 has a thickness smaller than a gap formed between the top end portion 214 of the lower arm portion 208 and the base end portion 216 of the upper arm portion 210 when the lower arm portion 208 and the upper arm portion 210 are connected, and can be inserted into the gap.

[0081] The guide mechanism 74 includes a rail portion 82, support arms 84 and 86, and an end plate 88. The rail portion 82 extends along the axis A5, and its base end is fixed to the outer surface 80b of the second portion 80, and its tip end is fixed to the end plate 88. The axis A5 is substantially parallel to the rotation axis A3 of the upper arm 210.

[0082] like Fig. 9 As shown, the rail portion 82 includes: an upper wall portion 82a; a pair of side wall portions 82b extending downward from both end edges of the upper wall portion 82a in a manner opposite to each other; and a pair of flange portions 82c protruding from the pair of side wall portions 82b. A concave portion 82d having a substantially T-shaped cross section is formed inside the rail portion 82 by the upper wall portion 82a, the side wall portion 82b, and the flange portion 82c.

[0083] like Figure 8 As shown, the support arm 84 is arranged on one side of the rail portion 82 in a manner separate from the rail portion 82, and its base end portion is fixed to the outer surface 80b of the second portion 80, and its top end portion is fixed to the end plate 88. On the other hand, the support arm 86 is arranged on the other side of the rail portion 82 in a manner separate from the rail portion 82, and its base end portion is fixed to the outer surface 80b of the second portion 80, and its top end portion is fixed to the end plate 88. The support arms 84 and 86 extend linearly along the axis A5. The end plate 88 extends in a direction orthogonal to the axis A5, and connects the rail portion 82 and the support arms 84 and 86 to each other as a whole.

[0084] The movable portion 76 is guided by the guide mechanism 74 and moves linearly along the axis A5 relative to the fixed portion 72. Fig. 9 As shown, the movable portion 76 includes: a main body 90 extending in the up-down direction; a flange 92 protruding from the upper end of the main body 90 to both sides; and an annular suspension member 94 provided to the lower end of the main body 90 .

[0085] The flange 92 is received in the recess 82d of the rail 82. A plurality of rollers 96 are interposed between the flange 92 and the flange 82c. The rollers 96 are provided on the rail 82 so as to be rotatable about an axis perpendicular to the axis A5 and arranged in a row along the axis A5.

[0086] The flange 92 is engaged with the eaves 82c via the roller 96, thereby preventing the movable part 76 from falling off the rail part 82, and the guide mechanism 74 smoothly guides the movable part 76 to move linearly along the axis A5. The suspension member 94 is a so-called eye bolt or the like. The main body 90, the flange 92, and the suspension member 94 are integrated with each other to form the movable part 76 as a single member.

[0087] The support portion 16 is mounted on the movable portion 76. Specifically, Figure 8 As shown, the hook 52 of the support part 16 is suspended from the suspension member 94 of the movable part 76, whereby the support part 16 is suspended from the movable part 76. The movable part 76 moves linearly relative to the fixed part 12, so that the support part 16 and the speed reducer 202 supported by the support part 16 move in the horizontal direction.

[0088] The operator can move the reducer 202 suspended from the support portion 16 so as to approach and leave the reducer mounting portion (base end portion 216) of the robot 200 by linearly moving the movable portion 76 of the jig 70. According to this structure, as with the jig 10 described above, there is no need to use a heavy machine to move the reducer 202, so the work of replacing the reducer 202 can be made more efficient.

[0089] Next, refer to Figure 10 to Figure 13 A jig 100 according to another embodiment will be described. The jig 100 is different from the jig 70 described above in terms of a movable portion 102. Specifically, Fig.11 As shown, the movable portion 102 includes a first linear motion element 104 and a second linear motion element 106 .

[0090] The first direct-acting member 104 is mounted on the fixed portion 72 via the guide mechanism 74, and is guided by the guide mechanism 74 to move linearly along the axis A5 relative to the fixed portion 72. Specifically, the first direct-acting member 104 includes: a rail portion 108; and engaging portions 110, 112, and 114, which are fixedly provided on the upper surface 108e of the rail portion 108 in a manner protruding upward from the upper surface 108e of the rail portion 108.

[0091] The track portion 108 extends along an axis A6 that is orthogonal to the axis A5. Fig.13As shown, the rail portion 108 includes: an upper wall portion 108a; a pair of side walls 108b extending downward from both end edges of the upper wall portion 108a in a manner opposite to each other; and a pair of flanges 108c protruding from the pair of side walls 108b. A concave portion 108d having a substantially T-shaped cross section is formed inside the rail portion 108 by the upper wall portion 108a, the side walls 108b, and the flanges 108c.

[0092] Refer again Fig.11 The engaging portion 110 is disposed at a substantially central portion of the upper surface 108e of the rail portion 108 and engages with the rail portion 82 in a linearly movable manner. Fig.12 As shown, the engaging portion 110 includes a main body 116 and flanges 118 protruding from the upper end of the main body 116 to both sides. The main body 116 extends upward from the upper surface 108e of the rail portion 108. The flange 118 is received in the recess 82d of the rail portion 82, and the roller 96 is interposed between the flange 118 and the flange 82c of the rail portion 82.

[0093] like Fig.11 As shown, the engaging portion 112 is disposed on one side of the engaging portion 110 in a manner separate from the engaging portion 110, and has a through hole 112a. The through hole 112a accommodates the support arm 84 so as to be slidable. On the other hand, the engaging portion 114 is disposed on the other side of the engaging portion 110 in a manner separate from the engaging portion 110, and has a through hole 114a. The support arm 86 so as to be slidable is accommodated in the through hole 114a.

[0094] In addition, in order to make the support arms 84 and 86 slide smoothly, rolling elements, low friction materials, lubricants, etc. can also be provided inside the through holes 112a and 114a. In this way, the engaging portions 110, 112, 114 engage with the rail portion 82 and the support arms 84 and 86, respectively, so that the first linear motion member 104 is guided so as not to fall off from the guide mechanism 74 but to move linearly along the axis A5.

[0095] The second direct-acting member 106 is movably mounted on the first direct-acting member 104, and is guided by the rail portion 108 of the first direct-acting member 104 to move linearly relative to the fixed portion 72 along the axis A6. Fig.13 As shown, the second linear motion member 106 has a main body 90, a flange 92, and a hanger 94 similar to the movable portion 76 described above. A plurality of rollers 120 are interposed between the flange 92 of the second linear motion member 106 and the flange 108c of the rail portion 108.

[0096] The rollers 120 are provided on the rail portion 108 so as to be rotatable about an axis perpendicular to the axis A6 (i.e., parallel to the axis A5), and are arranged along the axis A6. The flange portion 92 of the second linear motion member 106 is engaged with the flange portion 108c via the rollers 120, so that the second linear motion member 106 is prevented from falling off the rail portion 108, and the second linear motion member 106 is guided by the rail portion 108 to move linearly along the axis A6.

[0097] The support portion 16 is mounted on the movable portion 102. Specifically, Fig.10 and Fig.11 As shown, the hook 52 of the support portion 16 is suspended from the suspension member 94 of the second direct-acting member 106, whereby the support portion 16 is suspended from the second direct-acting member 106. The first direct-acting member 104 is linearly moved along the axis A5, and the second direct-acting member 106 is linearly moved along the axis A6, so that the movable portion 102 moves the support portion 16 and the speed reducer 202 supported by the support portion 16 in the horizontal direction along the axes A5 and A6.

[0098] According to this embodiment, the operator can move the reducer 202 suspended from the support portion 16 so as to approach and move away from the reducer mounting portion (base end portion 216) of the robot 200 by linearly moving the movable portion 102 of the jig 100. According to this structure, as with the jig 10 described above, there is no need to use a heavy machine to move the reducer 202, so the work of replacing the reducer 202 can be made more efficient.

[0099] In addition, in the present embodiment, the movable portion 102 includes a first linear motion member 104 that can linearly move along the axis A5 and a second linear motion member 106 that can linearly move along the axis A6. According to this structure, the operator can more finely adjust the position of the reducer 202 by moving the reducer 202 suspended from the support portion 16 in multiple directions.

[0100] Next, refer to Fig.14 and Fig.15 A jig 130 according to another embodiment will be described. The jig 130 is different from the jig 10 described above in terms of a movable portion 132. Specifically, the movable portion 132 includes a first rotating member 32, a supporting member 134, a second rotating member 136, and a linear motion member 34. The first rotating member 32 is similar to the jig 10 described above, and is supported by a mounting member 24 ( Figure 2 ) and the mounting member 26 are mounted on the fixing portion 12 in a rotatable manner.

[0101] The support member 134 is substantially L-shaped and includes a first portion 138 and a second portion 140 orthogonal to the first portion 138. The first portion 138 extends substantially parallel to the second arm 32b of the first rotating member 32, and includes a receiving hole 138a extending linearly along the extending direction of the first portion 138. The top end of the second arm 32b is received in the receiving hole 138a in a manner that is non-rotatable relative to the first rotating member 32, whereby the support member 134 is fixed to the first rotating member 32.

[0102] In addition, the first part 138 may be fixed to the second arm 32b by a fastener such as a bolt so as to be unable to rotate relative to the second arm 32b, or the second arm 32b and the receiving hole 138a may be formed into a polygon so as to be unable to rotate relative to the wall surface of the receiving hole 138a. The second part 140 is formed integrally with the first part 138 and extends linearly upward from one end of the first part 138. The receiving hole 140a extending linearly in the extension direction of the second part 140 is formed in the second part 140.

[0103] The second rotating member 136 is mounted on the first rotating member 32 in a manner that allows rotation around the axis A7. Specifically, the second rotating member 136 includes a first arm 136a that extends linearly along the axis A7 and a second arm 136b that extends linearly in a direction orthogonal to the axis A7. The lower end of the first arm 136a is rotatably received in a receiving hole 140a formed in the second portion 140 of the support member 134. Thus, the second rotating member 136 can rotate around the axis A7. The axis A7 is parallel to the axis A4 and rotates around the axis A4 as the first rotating member 32 rotates.

[0104] The second arm 136b is formed to be in contact with the rolling element 40 ( Figure 5 ) penetrates the interior of the main body 38 of the linear motion member 34 in a manner of abutting against the second arm 136b, thereby enabling the linear motion member 34 to linearly move along the second arm 136b. Fig.15 In the illustrated embodiment, the pair of stoppers 36 described above are not shown, but in order to limit the moving range of the linear motion member 34 , a pair of stoppers 36 may be provided on the second arm 136 b similarly to the jig 10 described above.

[0105] The support portion 16 is mounted on the direct-acting member 34 of the movable portion 132. In the present embodiment, the first rotating member 32 rotates around the axis A4, the second rotating member 136 rotates around the axis A7, and the direct-acting member 34 moves along the second arm 136b, so that the movable portion 132 moves the support portion 16 and the speed reducer 202 supported by the support portion 16 in the horizontal direction.

[0106] According to this embodiment, the operator can move the reducer 202 suspended from the support portion 16 so as to approach and move away from the reducer mounting portion (base end portion 216) of the robot 200 by moving the movable portion 132 of the jig 130. According to this structure, as with the jig 10 described above, there is no need to use a heavy machine to move the reducer 202, so the work of replacing the reducer 202 can be made more efficient.

[0107] In addition, in this embodiment, the movable part 132 has a first rotating member 32 rotating around the axis A4 and a second rotating member 136 rotating around the axis A7. According to this structure, the operator can easily rotate the speed reducer 202 as a heavy object in two directions with relatively small force, and can finely adjust the position of the speed reducer 202.

[0108] In the above-mentioned embodiment, the jig 10, 70, 100, 130 is fixed to the base end portion 216 of the upper arm portion 210. However, the jig 10, 70, 100, 130 is not limited to this, and the jig 10, 70, 100, 130 can also be fixed to the top end portion 214 of the lower arm portion 208. Fig.16 and Fig.17 middle.

[0109] exist Fig.16 and Fig.17 In the illustrated embodiment, the fixing portion 12 of the jig 10 is detachably fixed to the top end 214 of the lower arm portion 208 using the fastener 18. For example, a fastening hole (not shown) for a predetermined purpose (e.g., for fastening a stopper) is formed in the top end 214 of the lower arm portion 208, and the fixing portion 12 can be fixed to the top end 214 by passing the fastener 18 through the through hole 20b of the fixing portion 12 and fastening it to the fastening hole.

[0110] In this form, similarly to the above-described embodiment, the operator can move the reducer 202 suspended from the support portion 16 to approach and move away from the reducer mounting portion (base end portion 216) by moving the movable portion 14 of the jig 10. In addition, it is understood that the jig 70, 100, or 130 can also be fixed to the top end portion 214 of the lower arm portion 208 in the same manner.

[0111] In addition, in order to make the rotation of the rotating member 32 or 136 smooth, rolling elements, low friction materials, lubricants, etc. may be provided in the hole 28 of the mounting member 24, the through hole 30 of the mounting member 26, or the receiving hole 140a. Figure 1 and Figure 2The position shown in the figure is rotated by a predetermined angle (e.g., 180°) to lock the locking mechanism of the rotating member 32. Such a locking mechanism can have a first engaging portion provided to the rotating member 32 and a second engaging portion provided to the mounting member 24 or 26, such as a snap-fit ​​mechanism.

[0112] Similarly, in the jig 130, a locking mechanism for locking the second rotating member 136 at a predetermined angle relative to the second portion 140 of the supporting member 134 may be provided. Such a locking mechanism may include a first engaging portion provided to the second rotating member 136 and a second engaging portion provided to the second portion 140, such as a snap-fit ​​mechanism.

[0113] In addition, in the jig 10, a locking mechanism for locking the direct-acting member 34 at a predetermined position relative to the second arm 32b may be provided. Similarly, in the jig 70 (or 100), a locking mechanism for locking the movable portion 76 (or the engaging portion 110) at a predetermined position relative to the rail portion 82 may be provided. In addition, in the jig 100, a locking mechanism for locking the second direct-acting member 106 at a predetermined position relative to the rail portion 108 may be provided. The locking mechanisms for the direct-acting member 34, the movable portion 76, the engaging portion 110, or the second direct-acting member 106 may be snap-fit ​​mechanisms, or may be composed of a pair of magnets that attract each other.

[0114] In addition, in the above-mentioned embodiment, the case where the fixing portion 12 is fixed to the upper arm portion 210 or the lower arm portion 208 by the fastener 18 is described. However, any member or structure may be adopted as long as the fixing portion 12 can be fixed to the upper arm portion 210 or the lower arm portion 208. For example, the fixing portion 12 may be fixed to the upper arm portion 210 or the lower arm portion 208 by engaging the first engaging portion formed on the fixing portion 12 with the second engaging portion formed on the upper arm portion 210 or the lower arm portion 208. Similarly, any member or structure may be adopted instead of the fastener 64 or 66.

[0115] In addition, the suspension device 44 may be omitted from the support portion 16, and the mounting member 46 may be directly fixed to the movable portion 14, 76, 102, 132. In addition, the direct-acting member 34 may be omitted from the movable portion 14 or 132. In addition, the direct-acting member 34 may also have a low-friction material or a lubricant instead of the rolling element 40. In addition, the mounting member 46 is not limited to the above-mentioned form, and can have any structure as long as it can be mounted on the speed reducer 202. Similarly, the fixed portion 12, 72 is not limited to the above-mentioned form, and can have any structure as long as it can be mounted on the upper arm portion 210 or the lower arm portion 208.

[0116] In addition, in the above-mentioned embodiment, the following case is described: in order to replace the reducer 202 for connecting the lower arm 208 and the upper arm 210, the jig 10, 70, 100, 130 is installed on the lower arm 208 or the upper arm 210. However, this is not limited to this, and the jig 10, 70, 100, 130 can also be used to replace any reducer that connects the first component and the second component of the components of the robot 200 to each other so that they can perform a deceleration operation, such as a reducer that connects the rotating body 206 and the lower arm 208 so that they can perform a deceleration operation, or a reducer that connects the upper arm 210 and the wrist 220 so that they can perform a deceleration operation.

[0117] As mentioned above, although this disclosure was described by embodiment, the said embodiment is not intended to limit the invention concerning a claim.

Claims

1. A jig for supporting a reducer that connects a first element and a second element of a robot to each other so as to be capable of performing a deceleration action when the second element is separated from the first element, wherein: The fixture has: a fixing portion detachably mounted on the first element or the second element; a first rotating member rotatably mounted on the fixed portion, the first rotating member comprising a first arm rotatably mounted on the fixed portion about a first axis and extending along the first axis, and a second arm extending from the first arm in a direction orthogonal to the first axis; as well as a support portion that is moved by the first rotating member and suspends and supports the reducer in the direction of gravity, The first arm moves the support portion around the first axis by rotating relative to the fixed portion around the first axis.

2. The jig according to claim 1, wherein: When the first axis is arranged parallel to the vertical direction, the first arm rotates relative to the fixed portion to move the support portion in the horizontal direction.

3. The jig according to claim 1, wherein: Also features: a second rotating member rotatably mounted on the first rotating member to move the support portion; The second rotating member includes a third arm mounted on the second arm so as to be rotatable about a second axis parallel to the first axis and extending along the second axis, and a fourth arm extending from the third arm in a direction orthogonal to the second axis. The third arm moves the support portion around the second axis by rotating relative to the second arm around the second axis.

4. The jig according to any one of claims 1 to 3, wherein: A linear motion member is further provided which linearly moves relative to the fixing portion to move the support portion in the horizontal direction.

5. The jig according to any one of claims 1 to 3, wherein: The support portion includes a mounting member that is detachably mounted to the speed reducer and reciprocates along the gravity direction.

6. The jig according to claim 4, wherein: The support portion includes a mounting member that is detachably mounted to the speed reducer and reciprocates along the gravity direction.

7. A method for replacing a reducer, which is a method for replacing the reducer using the jig according to any one of claims 1 to 6, wherein: fixing the support portion to the speed reducer fixed to one of the separated first element and the second element; The reducer is removed from one of the first element and the second element, and the reducer is suspended and supported in the gravity direction by the support portion; By rotating the first rotating member relative to the fixed portion, the speed reducer supported by the supporting portion is moved so as to be separated from one of the first element and the second element.

8. The method for replacing a reducer according to claim 7, wherein: After the speed reducer is moved, the speed reducer is removed from the support portion, a new speed reducer is fixed to the support portion, and the new speed reducer is suspended and supported by the support portion in the direction of gravity. The first rotating member is rotated relative to the fixed portion, thereby moving the new speed reducer supported by the supporting portion toward one of the first element and the second element. The new speed reducer is fixed to one of the first element and the second element.

Images