robot

Abstract

The present invention provides a robot, which can ensure the airtightness inside the second arm and can arrange the cable support component near the interface component. The robot comprises: a base (100); a first arm (10) supported on the base; a second arm (20) supported on the first arm in a manner that allows it to swing around an axis; the second arm has an arm body (25) and a cover (26), the arm body is supported on the first arm in a manner that allows it to swing, and the cover is mounted on the arm body; an interface component (28) mounted on the cover and connected to at least one of a cable (CAa) and a pipe (Pa); a cable support component (50) having one end fixed to the arm body and the other end exposed to the outside of the second arm through a hole (28a) or a cutout provided on the interface component; and a seal that seals between the cable support component and the interface component and allows the cable support component to move relative to the interface component in a direction along the axis.

Description

Technical Field

[0001] The present invention relates to robots. Background Art

[0002] The following horizontal articulated robot is known: it comprises: a base; a first arm supported on the base in a manner that allows it to swing around a first axis; a second arm supported on the first arm in a manner that allows it to swing around a second axis parallel to the first axis; a cylindrical third arm supported on the second arm in a manner that allows it to rotate around an axis parallel to the second axis and move along the axis; and a tool mounted on the lower end of the third arm. For example, Patent Document 1 is as follows.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-218118 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] In the robot, cables and tubes for tools extend outward from the upper surface of the second arm, and the cables and tubes pass through the cylindrical third arm and are connected to the tools at the lower end of the third arm. A cable support component for fixing the cables and tubes is fixed to the second arm so that the cables and tubes extending from the upper surface of the second arm do not swing greatly due to the movement of the robot. The cable support component includes: a bottom surface portion fixed to the bottom surface of the second arm; a pair of vertical extension portions extending upward from both ends of the bottom surface portion; and a horizontal extension portion connecting the upper ends of the pair of vertical extension portions to each other. The cables and tubes are fixed to at least one of the vertical extension portion and the horizontal extension portion using INSULOK or the like.

[0008] In order to improve the working efficiency of the horizontal multi-joint robot, the first arm and the second arm often swing at high speed. Therefore, it is preferred that the cable support member for fixing the cable and the tube on the second arm is lightweight and has rigidity against the swing.

[0009] In order to reduce weight and increase rigidity, it is also possible to shorten the cable support member and fix it to the cover constituting the upper surface of the second arm. For example, it is also possible to fix the short cable support member to a metal interface member fixed to the upper surface of the cover of the second arm. However, since the cover is usually made of plastic, the cable support member cannot be stably fixed to the interface member on the upper surface of the cover when the second arm member swings at a high speed.

[0010] As another solution, the lower end of the cable support component may be fixed to the metal arm body constituting the second arm, and the upper end side of the cable support component may be exposed to the outside of the second arm through a hole provided on the interface component. In most cases, the second arm must be sealed. In order to achieve this sealing, it may be considered to fix the interface component and the cable support component tightly. However, if so constructed, the height position of the interface component relative to the arm body will be fixed. On the other hand, the interface component and the cover also need to be sealed, and the cover and the arm body also need to be sealed. Therefore, if the interface component and the cable support component are fixed tightly, a gap may be generated in any of the sealing parts due to the influence of the dimensional error, assembly error, etc. of each component, and the second arm cannot be sealed.

[0011] In view of the above circumstances, a robot is desired that can ensure airtightness inside the second arm and can arrange the cable supporting member near the interface member.

[0012] Solutions for solving problems

[0013] One embodiment of the present invention is a robot, comprising: a base; a first arm, which is supported on the base in a manner that allows it to swing around a first axis; a second arm, which is supported on the first arm in a manner that allows it to swing around a second axis parallel to the first axis, the second arm having an arm body and a cover, the arm body being supported on the first arm in a manner that allows it to swing around the second axis, and the cover being mounted on the arm body; an interface component, which is mounted on the cover and connected to at least one of a cable and a pipe; a cable support component, one end of which is fixed to the arm body and the other end of which is exposed outside the second arm through a hole or a cutout provided on the interface component; and a seal, which seals between the cable support component and the interface component and allows the cable support component to move relative to the interface component in a direction along the second axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a perspective view of a robot according to one embodiment of the present invention.

[0015] Figure 2 It is a side view of the robot according to this embodiment.

[0016] Figure 3 This is a block diagram of a robot control device according to this embodiment.

[0017] Figure 4 This is a partial cross-sectional view of the second arm of the robot according to this embodiment.

[0018] Figure 5 It is a cross-sectional view of the second arm of the robot according to this embodiment.

[0019] Figure 6 This is a cross-sectional view of a main part of the second arm of the robot according to this embodiment.

[0020] Figure 7 It is a perspective view of a robot according to a first modified example of the present embodiment.

[0021] Figure 8 It is a cross-sectional view of a main part of the second arm of the robot according to the first modified example of the present embodiment.

[0022] Fig. 9 It is a cross-sectional view of the second arm of the robot according to the second modified example of the present embodiment.

[0023] Description of reference numerals:

[0024] 1: Robot

[0025] 11: First axis motor

[0026] 10: First Arm

[0027] 20: Second Arm

[0028] 22: Second axis motor

[0029] 23: Third axis motor

[0030] 24: Fourth axis motor

[0031] 25: Arm body

[0032] 26: Hood

[0033] 26a: Opening

[0034] 27: First seal

[0035] 28: Interface components

[0036] 28a: Hole

[0037] 28b: Incision

[0038] 29: Second seal

[0039] 30: Third Arm

[0040] 50: Cable support parts

[0041] 51: Arm side parts

[0042] 52: Cable installation parts

[0043] 53: Hood side parts

[0044] 53b: Seals

[0045] 100: Base

[0046] CA: Cable

[0047] P: Tube

[0048] CAa: Front-end cable

[0049] Pa: Front side pipe

[0050] AX1: First axis

[0051] AX2: Second axis DETAILED DESCRIPTION

[0052] Hereinafter, a horizontal articulated robot 1 according to an embodiment of the present invention will be described with reference to the drawings.

[0053] like Figure 1 and Figure 2 As shown, the horizontal articulated robot 1 of the present embodiment includes: a base 100; and a first arm 10 supported on the base 100 in a manner that allows swinging around a first axis AX1 extending in the vertical direction. In addition, the robot 1 includes: a second arm 20 supported on the first arm 10 in a manner that allows swinging around a second axis AX2 extending in the vertical direction; and a third arm 30 supported on the second arm 20. The robot 1 is controlled by a control device 40.

[0054] like Figure 1 and Figure 2 As shown, the base end side of the first arm 10 is supported on the base 100 in a manner that allows it to swing around the first axis AX1, and the base end side of the second arm 20 is supported on the front end side of the first arm 10 in a manner that allows it to swing around the second axis AX2. In addition, the third arm 30 is an axial member extending in the vertical direction, and is supported on the front end side of the second arm 20 in a manner that allows it to move in the vertical direction and to rotate around the axis AX extending in the vertical direction. The base 100 may have a hollow portion and be open downward.

[0055] like Figure 2 As shown, a first axis motor 11 such as a servo motor is installed in the base 100. When the first axis motor 11 is driven, the first arm 10 swings around the first axis AX1. A second axis motor 22 is installed in the second arm 20. The second axis motor 22 is a servo motor or the like for swinging the second arm 20. In addition, a third axis motor 23 is installed in the second arm 20. The third axis motor 23 is a servo motor or the like for moving the third arm 30 along the axis AX. In addition, a fourth axis motor 24 is installed in the second arm 20 for rotating the third arm 30 around the axis AX.

[0056] like Figure 5As shown, the third arm 30 is supported on the front end side of the second arm 20 by means of a ball screw nut 31 and a ball spline nut 32. Since this structure is well known, for example, it is disclosed in Japanese Patent Application Laid-Open No. 2014-4638, and therefore will not be described in detail. For example, the ball screw nut 31 is supported on the front end side of the second arm 20 in a manner that allows it to rotate around the axis AX, and the ball spline nut 32 is also supported on the front end side of the second arm 20 in a manner that allows it to rotate around the axis AX. The ball spline nut 32 and the ball screw nut 31 are arranged in the up and down direction. The rotational force of the third shaft motor 23 is transmitted to the ball screw nut 31 via the belt 31a, thereby causing the ball screw nut 31 to rotate. On the other hand, the rotational force of the fourth shaft motor 24 is transmitted to the ball spline nut 32 via the belt 32a, thereby causing the ball spline nut 32 to rotate.

[0057] The third arm 30 is a ball screw spline shaft, and a spiral ball screw groove (not shown) and a spline groove (not shown) are provided on the outer peripheral surface of the third arm 30. The ball screw groove engages with the metal ball of the ball screw nut 31, and the spline groove engages with the metal ball of the ball spline nut 32.

[0058] Therefore, when the ball screw nut 31 is rotated by the third shaft motor 23 , the third arm 30 moves along the axis AX, and when the ball spline nut 32 is rotated by the fourth shaft motor 24 , the third arm 30 rotates around the axis AX.

[0059] like Figure 3 As shown, the control device 40 includes: a processor 41 such as a CPU; a display device 42; a storage unit 43 having a non-volatile memory, ROM, and RAM; an input device 44 such as a keyboard, a touch panel, and an operating panel; a transceiver 45 for sending and receiving signals; and a servo controller 46 respectively connected to each motor 11, 22, 23, and 24.

[0060] The storage unit 43 stores a system program 43a, which assumes the basic functions of the control device 40. In addition, the storage unit 43 stores an action program 43b. Based on the action program 43b, the control device 40 sends control instructions for controlling each motor 11, 22, 23, 24 to the servo controller 46, and sends power, control instructions, etc. to the drive device 33a (hand tool 33) provided at the lower end of the third arm 30. Figure 3 ), thereby causing the robot 1 to work. The driving device 33a is a motor or the like.

[0061] The robot 1 and the control device 40 are connected by a plurality of cables CA such as signal lines and power lines, a tube P for supplying fluid, etc. In the present embodiment, a power supply device (not shown) for supplying power to each motor 11, 22, 23, 24 is provided in the control device 40, but the power supply device may be provided separately from the control device 40.

[0062] like Figure 2 As shown, one end side of a part of the cable CA and a part of the pipe P is arranged in the base 100 , and the other end side thereof is arranged in the second arm 20 .

[0063] Multiple cables CA and parts of multiple pipes P can be connected via Figure 2 The pipe C shown is led from the base 100 to the second arm 20. In addition, Figure 2 In addition, the pipeline C is not shown.

[0064] like Figure 1 and Figure 2 As shown, the second arm 20 includes: an arm body 25 supported by the first arm 10 in a manner capable of swinging around the second axis AX2; and a cover 26 mounted on the arm body 25.

[0065] The arm body 25 is made of metal, for example, and supports the third arm 30. The arm body 25 may be formed of other materials as long as it can support the third arm 30. In the present embodiment, the arm body 25 includes: motors 22 to 24, a ball screw nut 31, a ball spline nut 32, and brackets and components for fixing these to the arm body 25.

[0066] In this embodiment, the two-axis motor 22, the three-axis motor 23, and the four-axis motor 24 are fixed to the upper surface side of the arm body 25. The side of the arm body 25 to which the motors 22 to 24 are fixed is covered by the cover 26. That is, the motors 22 to 24 are arranged in the space S surrounded by the arm body 25 and the cover 26.

[0067] like Figure 4 and Figure 5 As shown, a first seal 27 is installed on the periphery of the arm body 25 on the side where the motors 22 to 24 are fixed, and the first seal 27 is arranged between the arm body 25 and the cover 26. The first seal 27 is made of, for example, a material having rubber-like elasticity and has a shape along the periphery of the arm body 25. The material having rubber-like elasticity is rubber, silicon, etc.

[0068] like Figure 4 and Figure 5As shown, an opening 26a is formed in a part of the cover 26, and an interface component 28 is mounted on the periphery of the opening 26a using a plurality of bolts (fastening components) B. The opening 26a is closed by mounting the interface component 28 on the cover 26. The interface component 28 is made of metal, for example, and has a plurality of connection portions 28c, each of which protrudes on one surface and the other surface in the thickness direction. Each connection portion 28c is a connector for a cable CA, a pipe P, etc. In this embodiment, one surface in the thickness direction is a surface on the side of the space S.

[0069] As described above, the other ends of a portion of the cable CA and a portion of the pipe P are arranged in the second arm 20, and the other ends of the portion of the cable CA and the portion of the pipe P are connected to the connection portion 28c, respectively. Figure 4 ). In addition, one end of the front end cable CAa and one end of the front end tube Pa are respectively connected to the connection portion 28c of the other surface in the thickness direction of the interface component 28. The other end side of the front end cable CAa and the other end side of the front end tube Pa are inserted into the third arm 30, and the other end of the front end cable CAa and the other end of the front end tube Pa are connected to the tool 33.

[0070] A second seal 29 is installed around the periphery of the opening 26a, and the second seal 29 is disposed between the cover 26 and the interface member 28. The second seal 29 is made of, for example, a material having rubber-like elasticity, and has a shape along the periphery of the opening 26a of the cover 26. The material having rubber-like elasticity is rubber, silicon, etc. Figure 4 As shown, a portion 28 d of the interface member 28 may be fixed to the arm body 25 using a bolt B.

[0071] like Figure 1 , Figure 5 as well as Figure 6 As shown, a hole 28a is formed on the interface member 28, which penetrates the interface member 28 in the thickness direction. On the other hand, an arm side member 51 having a substantially cylindrical shape is arranged in the hole 28a. The arm side member 51 is made of metal in the present embodiment, but other materials can also be used if the strength can be ensured. One end of the arm side member 51 is fixed to the arm body 25 by a bolt B or the like as a fastening member, and the other end side of the arm side member 51 passes through the hole 28a and is exposed outside the second arm 20.

[0072] like Figure 1 , Figure 5 As shown in FIGS. 1 and 1 , one end of the cable mounting member 52 is fixed to the other end of the arm side member 51 using a fastening member such as a bolt B, and the cable mounting member 52 extends from the one end toward the other end mainly in the direction along the second axis AX2.

[0073] like Figure 1As shown, the front end cable CAa and the front end tube Pa are fixed to the other end of the cable mounting member 52 using a fixing member F such as a binding band called INSULOK. More specifically, the front end cable CAa and the front end tube Pa are fixed between the connection portion 28c and the third arm 30 at the other end of the interface member 52.

[0074] In this embodiment, the cable mounting member 52 is formed by bending a metal plate-shaped member. A fixing portion 52a extending in a direction perpendicular to the second axis AX2 is formed at the other end of the cable mounting member 52, and the front end cable CA and the front end pipe P are fixed to the fixing portion 52a.

[0075] In the present embodiment, the cable supporting member 50 is composed of an arm-side member 51 and a cable mounting member 52 .

[0076] like Figure 5 and Figure 6 As shown, a cover side component 53 is fixed to one surface of the interface component 28 in the thickness direction by using a plurality of bolts B as a fastening component. The cover side component 53 is made of metal, plastic, etc., and has a ring shape. The cover side component 53 is arranged at a position corresponding to the hole 28a of the interface component 28, and the hole of the cover side component 53 is aligned with the hole 28a of the interface component 28. The cover side component 53 and the interface component 28 are sealed by using a sealing component not shown in the figure. A sealing groove 53a is provided on the inner peripheral surface of the cover side component 53, and the sealing groove 53a is provided on the entire circumference of the inner peripheral surface of the cover side component 53. A sealing member 53b is arranged in the sealing groove 53a, and the sealing member 53b is an O-ring or an oil seal.

[0077] The arm side member 51 of the cable support member 50 is inserted into the cover side member 53, and the seal 53b contacts the outer peripheral surface of the arm side member 51. On the other hand, the outer diameter of the arm side member 51 is smaller than the inner diameter of the hole 28a of the interface member 28 and the inner diameter of the hole of the cover side member 53. The seal 53b seals between the arm side member 51 and the cover side member 53, and the seal 53b allows the arm side member 51 to move relative to the interface member 28 and the cover side member 53 in the direction along the second axis AX2.

[0078] In the above embodiment, the other end of the arm side member 51 is exposed from the hole 28a provided in the interface member 28. Figure 7 As shown, the interface member 28 is provided with a cutout 28b, and the cover 26 is provided with a cutout 26b at a position corresponding to the cutout 28b, and the other end of the arm side member 51 is exposed from the cutout 26b and the cutout 28b. Figure 7 and Figure 8As shown, a sealing member 53 b such as an oil seal is fixed at a position corresponding to the cutouts 26 b and 28 b of the interface component 28 and / or the cover 26 .

[0079] For example, the seal 53b is fixed to the metal sheet 28d of the interface component 28 by welding. In this case, the interface component 28 and the cover 26 are also sealed with the arm side component 51 by the seal 53b. In addition, the arm side component 51 can move in the direction along the second axis AX2 relative to the interface component 28 and the cover 26. Instead of fixing the seal 53b as described above, the cover side component 53 can also be fixed to the interface component 28, and the cover side component 53 and the arm side component 51 are sealed by the seal 53b.

[0080] In addition, in the above-mentioned embodiment, the cable support member 50 is shown to be composed of the arm side member 51 and the cable installation member 52. Alternatively, the cable support member 50 may also have only the arm side member 51. In this case, the arm side member 51 is slightly lengthened, and the front end cable CAa and the front end tube Pa are fixed to the other end of the arm side member 51 using the fixing member F. In addition, when the cable support member 50 is composed of the arm side member 51 and the cable installation member 52, the upper end side of the cable support member 50 can be made lighter, and the design freedom of the upper end side of the cable support member 50 is improved.

[0081] In this embodiment, the interface member 28 is mounted on the cover 26 of the second arm 20. In addition, one end of the cable support member 50 is fixed to the arm body 25 of the second arm 20, and the cable mounting member 52 as the other end of the cable support member 50 passes through the hole 28a or the cutout 28b provided in the interface member 28 and is exposed to the outside of the second arm 20. In addition, the seal 53b seals between the cable support member 50 and the interface member 28.

[0082] Therefore, the sealing inside the second arm 20 can be ensured, and the cable support member 50 can be arranged near the interface member 28. In addition, since the seal 53b allows the cable support member 50 to move in the direction along the second axis AX2 relative to the interface member 28, the sealing by the first seal 27, the sealing by the second seal 29, and the sealing by the seal 53b can be ensured even if there are dimensional errors, assembly errors, etc. of the various parts. This contributes to ensuring the sealing inside the second arm 20.

[0083] In addition, in the present embodiment, the cable support member 50 includes an arm side member 51 and a cable mounting member 52. One end of the arm side member 51 is fixed to the arm body 25, and the other end is exposed outside the second arm 20 through the hole 28a or the cutout 28b. One end of the cable mounting member 52 is fixed to the arm side member 51, and the cable CAa, the pipe Pa, etc. are mounted on the other end side. This structure improves the design freedom of the cable mounting member 52 and can achieve lightweight cable mounting member 52.

[0084] In addition, in the present embodiment, an annular cover side member 53 is mounted at a position corresponding to the hole 28a or the notch 28b of the interface member 28, and a seal 53b seals between the cover side member 53 and the cable support member 50. In this structure, the cover side member 53 and the interface member 28 can be sealed simply and reliably, and the cover side member 53 and the cable support member 50 can be sealed reliably.

[0085] In addition, in the present embodiment, the seal 53b is an O-ring or an oil seal. This structure is advantageous in that the seal between the interface component 28 and the cable support component 50 can be achieved inexpensively and reliably.

[0086] In addition, if Fig. 9 As shown, the arm side member 51 may also have a base 51a. In this case, the components of the second arm 20 can be arranged below the base 51a. In addition, one end of the arm side member 51 may also be fixed to a bracket, a component, etc. that fixes the motor 22, 23, 24, etc. to the arm body 25.

Claims

1. A robot, characterized in that: have: Base; a first arm supported on the base in a manner capable of swinging about a first axis; a second arm supported on the first arm in a manner that allows it to swing around a second axis parallel to the first axis, the second arm comprising an arm body and a cover, the arm body being supported on the first arm in a manner that allows it to swing around the second axis, the cover being mounted on the arm body; An interface component mounted on the cover and connected to at least one of the cable and the pipe; a cable supporting member, one end of which is fixed to the arm body and the other end of which passes through a hole or a cutout provided on the interface member and is exposed outside the second arm; as well as a sealing member, which seals between the cable support member and the interface member, The cable support member is movable relative to the interface member in a direction along a second axis.

2. The robot according to claim 1, characterized in that: The cable supporting component has: an arm side member, one end of which is fixed to the arm body, and the other end of which passes through the hole or the cutout to be exposed outside the second arm; as well as A cable mounting member has one end fixed to the arm-side member and at least one of the cable and the tube fixed to the other end.

3. The robot according to claim 1 or 2, characterized in that: An annular cover side member is installed at a position of the interface member corresponding to the hole or the cutout. The sealing member seals between the cover-side member and the cable supporting member.

4. The robot according to claim 1 or 2, characterized in that: The sealing element is an O-ring or an oil seal.

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