Joint structure

Abstract

A joint structure is provided that allows the intersecting joint surfaces of two components to fit together tightly. It comprises: a shell (2) having a first main joint surface (24) and a first secondary joint surface (25) that intersects the first main joint surface (24); a cover (3) having a second main joint surface (34) facing the first main joint surface (24) and a second secondary joint surface (35) facing the first secondary joint surface (25); and a guide portion (4) that, as the first main joint surface (24) and the second main joint surface (34) face each other... The distance between the first sub-joint surface (25) and the second sub-joint surface (35) is gradually shortened, and when the second main joint surface (34) is joined to the first main joint surface (24), the second sub-joint surface (35) can be joined to the first sub-joint surface (25), and the cover (3) is positioned relative to the housing (2); and screws (5) fasten the joined first main joint surface (24) and second main joint surface (34) to each other.

Description

Technical Field

[0001] The present invention relates to a joining structure for joining two components together. Background Technology

[0002] A conventional construction involves joining other components with two three-dimensionally intersecting surfaces to form a closed fit between the opposing surfaces and fixing them together. For example, Patent Document 1 discloses a frame structure that covers the main body of a device with a plurality of covers. The frame has an open end and a robot connection portion that are three-dimensionally intersecting each other in a generally orthogonal manner as joint surfaces. The covers have a first end, a second end, and a lower end. The first and second ends of the covers are joined to the open ends of the frame, and the lower end of the covers is joined to the robot connection portion of the frame.

[0003] Prior technology documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2014-198347 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] In the aforementioned joint structure, when two components are fastened together by tightly fitting their joint surfaces on one side, the fastening force cannot be transmitted because the direction of the fastening force on the other side's joint surface is along the surface direction. Therefore, it is difficult to strengthen the tightness of the joint surface on that other side to achieve a liquid-tight seal. Therefore, a joint structure is desired that allows the three-dimensionally intersecting joint surfaces of the two components to fit together tightly.

[0008] Solution for solving the problem

[0009] One aspect of the joining structure disclosed herein includes: a first member having a first main joining surface and a first secondary joining surface that intersects the first main joining surface three-dimensionally; a second member having a second main joining surface facing the first main joining surface and a second secondary joining surface facing the first secondary joining surface; a guide portion that gradually shortens the distance between the opposing surfaces of the first secondary joining surface and the second secondary joining surface as the distance between the opposing surfaces of the first main joining surface and the second main joining surface decreases, and when the second main joining surface engages with the first main joining surface, the second secondary joining surface can engage with the first secondary joining surface, and the second member is positioned relative to the first member; and a fastening member that fastens the joined first main joining surface and the second main joining surface to each other.

[0010] The effects of the invention

[0011] According to one method, the intersecting surfaces of two components can be made to fit together tightly. Attached Figure Description

[0012] Figure 1 This is a perspective view of a jointed robot with a joint structure applicable to the first embodiment of this disclosure.

[0013] Figure 2 This is an exploded perspective view of the second arm of a multi-joint robot with a joint structure applicable to the first embodiment of the present disclosure, viewed from one direction.

[0014] Figure 3 This is an exploded perspective view of the second arm of a multi-joint robot with a joint structure applicable to the first embodiment of this disclosure, viewed from another direction.

[0015] Figure 4 This is a diagram showing the guide portion of the joining structure according to the first embodiment of this disclosure, and a partial cross-sectional plan view showing the state of the housing with the cover joined to the second arm portion.

[0016] Figure 5 This is a diagram showing the guide portion of the joining structure of the first embodiment of this disclosure, and a partial cross-sectional plan view showing the state in which the housing and cover of the second arm are separated.

[0017] Figure 6 This is a diagram showing a modified example of the guide portion of the first embodiment of this disclosure, and a partial cross-sectional plan view showing the state of the housing with the cover attached to the second arm portion.

[0018] Figure 7 yes Figure 6 Section VII-VII.

[0019] Figure 8 This is a diagram showing a modified example of the guide section of the first embodiment of this disclosure, and a partial cross-sectional top view showing the state in which the housing and cover of the second arm are separated.

[0020] Figure 9 This is an exploded perspective view of the second arm of a multi-joint robot with a joint structure applicable to the second embodiment of the present disclosure, viewed from one direction.

[0021] Figure 10 This is an exploded perspective view of the second arm of a multi-joint robot with a joint structure applicable to the second embodiment of this disclosure, viewed from another direction.

[0022] Figure 11 This is a diagram showing the guide portion of the joining structure according to the second embodiment of this disclosure, and a partial cross-sectional plan view showing the state of the cover joining the housing to the second arm portion.

[0023] Figure 12 This is a diagram showing the guide portion of the joining structure of the second embodiment of this disclosure, and a partial cross-sectional plan view showing the state in which the housing and cover of the second arm are separated.

[0024] Figure 13 This is an exploded perspective view of the second arm of the multi-joint robot to which the third embodiment of the present disclosure is applied, viewed from one direction.

[0025] Figure 14 This is an exploded perspective view of the second arm of the multi-joint robot to which the third embodiment of the present disclosure is applied, viewed from another direction.

[0026] Figure 15 This is a top view of the second arm of the multi-joint robot according to the third embodiment of this disclosure, showing the shell separated from the front and rear covers. Detailed Implementation

[0027] The following is a reference. Figure 1 The embodiments of this disclosure will be described below.

[0028] Furthermore, the term "approximately" in this specification means an approximate state within the range that can achieve those functions or effects, and does not strictly specify its state, size, direction, location, etc.

[0029] (First Embodiment)

[0030] Figure 1 This diagram shows the appearance of an industrial multi-joint robot 1 with the joining structure applicable to the first embodiment. The multi-joint robot 1 includes: a base 1A; a first arm 1B rotatably supported on the base 1A; a second arm 1D rotatably supported on the front end of the first arm 1B via a joint 1C; and a wrist 1E rotatably supported on the front end of the second arm 1D. Figure 1 In the diagram, S1 represents the axis of rotation of the first arm 1B, S2 represents the axis of rotation of the second arm 1D, and S3 represents the axis of rotation of the wrist 1E. The joining structure of the first embodiment is applied to the second arm 1D.

[0031] like Figure 2 and Figure 3 As shown, the second arm 1D includes a housing 2 as a first component, a cover 3 as a second component, a guide 4, and a screw 5 as a fastening component.

[0032] Furthermore, in Figure 2 and Figure 3In the diagram, arrow L indicates the length direction of the second arm 1D, arrow W indicates the width direction, and arrow T indicates the vertical direction orthogonal to both the length direction L and the width direction W. Furthermore, particularly in the length direction L, L1 indicates the front end side of the second arm 1D, and L2 indicates the rear end side. Furthermore, particularly in the width direction W, W1 indicates the left side where the opening 23 described later is located, and W2 indicates the opposite side.

[0033] The length direction, width direction (or left-right direction), and up-down direction in the following description are based on the symbols respectively. Figure 2 and Figure 3 The length direction L, the width direction W, and the vertical direction T.

[0034] In addition, Figures 4 to 15 The same applies to any of these directions: length L, width W, and vertical T.

[0035] The housing 2 constitutes the main body of the second arm 1D. The housing 2 has a body portion 21 and a fork portion 22 at the front end of the body portion 21. The fork portion 22 includes a pair of parallel protrusions 221. The pair of protrusions 221 are integral with the body portion 21 and protrude towards the front end L1, respectively disposed on the left and right sides of the second arm 1D. The front end of each pair of protrusions 221 is formed into a semi-circular arc shape. A wrist portion 1E is disposed between the pair of protrusions 221, and the aforementioned wrist portion 1E is rotatably supported. An unillustrated drive mechanism for rotating the wrist portion 1E is housed inside the housing 2.

[0036] The housing 2 has an opening 23 on the left W1 side. The opening 23 is provided to cover a protrusion 221 from the middle part of the body part 21 in the longitudinal direction L. The opening 23 is surrounded by a U-shaped first main mating surface 24 facing the side (left W1 side) and a first secondary mating surface 25 facing the front end L1 side. The first main mating surface 24 and the first secondary mating surface 25 intersect three-dimensionally in a substantially orthogonal state.

[0037] The opening 23 includes: a main opening 231, which is surrounded by a first main mating surface 24 and opens to the side (left W1 side); and a secondary opening 232, which is surrounded by a first secondary mating surface 25 and opens to the front end L1 side. The main opening 231 and the secondary opening 232 are continuous. Figure 2 The double-dotted line 233 indicates the boundary between the main opening 231 and the secondary opening 232. A plurality of screw holes 26 are provided at a predetermined location on the first main mating surface 24 of the housing 2.

[0038] The cover 3 is a component fixed to the housing 2 to close the opening 23. The cover 3 has: a flat plate portion 31 having a shape and size that covers the main opening 231; and a U-shaped frame wall portion 32, which extends from the edge of the U-shape of the flat plate portion 31 in the length direction L and rises approximately at a right angle towards the housing 2 side (extending towards the right W2 side). On the inner side of the cover 3 (the housing 2 side), a recess 33 is formed surrounded by the frame wall portion 32. The frame wall portion 32 has a second main engagement surface 34 facing the first main engagement surface 24 of the housing 2 (facing the right W2 side) and engaging with this first main engagement surface 24. In addition, the cover 3 has a second secondary engagement surface 35 facing the first secondary engagement surface 25 of the housing 2 (facing the rear end L2 side) and engaging with this first secondary engagement surface 25.

[0039] A plurality of through holes 36 are provided on the second main mating surface 34 of the frame wall portion 32. The plurality of through holes 36 are respectively positioned corresponding to a plurality of screw holes 26 provided on the first main mating surface 24 of the housing 2. Screws 5, which pass through the plurality of through holes 36, are screwed into the corresponding screw holes 26, thereby securing the cover 3 to the housing 2. When the cover 3 is secured to the housing 2, the opening 23 is closed.

[0040] In this specification, "having a hole in a surface" means that a hole is provided in a portion of the surface that extends from the surface. "having a protrusion (or similar structure) in a surface" means that a protrusion protrudes from a portion of the surface that includes the surface.

[0041] like Figure 2 As shown, a sealing material 6 made of an elastic material such as rubber is sandwiched between the housing 2 and the cover 3. The sealing material 6 has a shape and size arranged along the first main mating surface 24 and the first secondary mating surface 25 of the housing 2. The sealing material 6 is sandwiched between the first main mating surface 24 and the second main mating surface 34, and between the first secondary mating surface 25 and the second secondary mating surface 35. With the tightening force of the screw 5, the sealing material 6 is forcefully clamped and squeezed by the housing 2 and the cover 3. As a result, the opening 23 is liquid-tightly sealed.

[0042] The guide part 4 has the function of positioning the second main mating surface 34 of the cover 3 against the first main mating surface 24 of the housing 2 when the cover 3 has closed the opening 23 of the housing 2 as described above. In addition, it has the function of positioning the second secondary mating surface 35 of the cover 3 against the first secondary mating surface 25 of the housing 2 and sealing it with a certain degree of pressing pressure.

[0043] like Figure 2 and Figure 3 As shown, the guide portion 4 of the first embodiment includes a plurality of guide protrusions 41 disposed on the second main mating surface 34 of the cover 3, and guide holes 42 disposed on the first main mating surface 24 of the housing 2. Figure 4 As shown, the guide protrusion 41 protrudes to the right (W2 side) and engages with the guide hole 42, which is recessed to the right (W2 side). In this embodiment, as... Figure 3 As shown, a guide protrusion 41 is provided on each of the upper and lower portions of the second main mating surface 34 of the cover 3 extending in the length direction L. Then, the guide hole 42 is as follows... Figure 2 As shown, they are positioned at two locations corresponding to each guide protrusion 41.

[0044] Furthermore, although the number or position of the guide protrusions 41 and guide holes 42 is not limited, from the point of view of improving positioning accuracy, it is advisable to distribute them in multiples.

[0045] like Figure 5 As shown, the guide hole 42 is a generally cylindrical hole with a tapered inner circumferential surface 421 serving as a guide ramp on its opening side. The tapered inner circumferential surface 421 is formed into a conical hole shape with its diameter decreasing towards the depth of the guide hole 42. Additionally, the guide protrusion 41 is generally cylindrical with a tapered outer circumferential surface 411 on its front end side. The tapered outer circumferential surface 411 is formed into a conical shape with its diameter decreasing towards the front end of the guide protrusion 41. The guide protrusion 41 is inserted into and engaged with the guide hole 42 while a portion of the tapered outer circumferential surface 411 slides against a portion of the tapered inner circumferential surface 421.

[0046] According to the guide part 4 of this embodiment, when the opening 23 of the housing 2 is closed by means of the cover 3 as described above, if the cover 3 is continuously brought close to the housing 2 in such a way that the second main mating surface 34 of the cover 3 matches the first main mating surface 24 of the housing 2, then the two guide protrusions 41 will be inserted into the corresponding guide holes 42 of the housing 2.

[0047] Here, as the distance between the first main mating surface 24 of the housing 2 and the second main mating surface 34 of the cover 3 decreases, the guide protrusion 41 is inserted into the guide hole 42. During this insertion process, the guide protrusion 41 is guided by the tapered inner circumferential surface 421 of the guide hole 42, thereby moving the cover 3 toward the first secondary mating surface 25 of the housing 2, and the distance between the first secondary mating surface 25 and the second secondary mating surface 35 gradually decreases. Figure 5 Arrow F1 indicates the direction of movement of cover 3 at that time. As it approaches shell 2, cover 3 will move towards... Figure 5 The first mating surface 25 on the left side (on the rear L2 side of housing 2) moves. Then, when... Figure 4 As shown, when the guide protrusion 41 is fitted into the guide hole 42, and the second main mating surface 34 of the cover 3 is engaged to be tightly fitted to the first main mating surface 24 of the housing 2, the second secondary mating surface 35 of the cover 3 will be engaged to be tightly fitted to the first secondary mating surface 25 of the housing 2.

[0048] If each of the plurality of through holes 36 of the cover 3 matches each of the plurality of screw holes 26 of the housing 2, and screws 5 passing through each through hole 36 are screwed into the screw holes 26, then the second main mating surface 34 of the cover 3 will be pressed by the first main mating surface 24 of the housing 2, resulting in a tightening force. The cover 3 is fixed to the housing 2 by means of this tightening force, but as the guide protrusion 41 engages with the guide hole 42, the cover 3 will move towards the first secondary mating surface 25 of the housing 2, thereby the tightening force will cause the second secondary mating surface 35 of the cover 3 to press against the first secondary mating surface 25 of the housing 2, thus achieving a tight seal.

[0049] In this embodiment, a sealing material 6 is sandwiched between the housing 2 and the cover 3. The portion of the sealing material 6 sandwiched between the first main mating surface 24 of the housing 2 and the second main mating surface 34 of the cover 3, and the portion sandwiched between the first secondary mating surface 25 of the housing 2 and the second secondary mating surface 35 of the cover 3—that is, the entire sealing material 6—is forcefully clamped and compressed by the tightening force of the screw 5. As a result, the opening 23 is liquid-tightly sealed.

[0050] The tightening force of screw 5 is directed in the direction of screw insertion, which is approximately orthogonal to the first main mating surface 24 of housing 2. Therefore, generally, no tightening force is generated that causes the first secondary mating surface 25 and the second secondary mating surface 35, which are approximately orthogonal to the first main mating surface 24 and intersect three-dimensionally, to come into close contact with each other. However, in this embodiment, if the cover 3 is brought close to housing 2, the cover 3 moves towards the first secondary mating surface 25 of housing 2 by means of the guide part 4. Therefore, the tightening force of screw 5 will cause the second secondary mating surface 35 of cover 3 to press against the first secondary mating surface 25 of housing 2. Therefore, if the cover 3 is fixed to housing 2 by means of screw 5, the second main mating surface 34 of cover 3 can be tightly joined to the first main mating surface 24 of housing 2, and the second secondary mating surface 35 of cover 3 can also be easily joined to the first secondary mating surface 25 of housing 2.

[0051] Alternatively, the guide protrusion 41 can be disposed on the first main mating surface 24 of the housing 2, and the guide hole 42 can be disposed on the second main mating surface 34 of the cover 3. Or, the guide protrusion 41 and the guide hole 42 can be disposed on the side of the housing 2, and the corresponding guide hole 42 and guide protrusion 41 can be disposed on the side of the cover 3.

[0052] The first embodiment described above will have the following effects.

[0053] A first embodiment of the joining structure for the second arm 1D of a multi-joint robot 1 includes: a housing 2 having a first main joining surface 24 and a first secondary joining surface 25 that intersects the first main joining surface 24 three-dimensionally; a cover 3 having a second main joining surface 34 facing the first main joining surface 24 and a second secondary joining surface 35 facing the first secondary joining surface 25; a guide 4 that gradually shortens the distance between the first secondary joining surface 25 and the second secondary joining surface 35 as the distance between the first main joining surface 24 and the second main joining surface 34 decreases, and when the second main joining surface 34 engages with the first main joining surface 24, the second secondary joining surface 35 can engage with the first secondary joining surface 25, and the cover 3 is positioned relative to the housing 2; and a screw 5 that fastens the engaged first main joining surface 24 and the second main joining surface 34 to each other.

[0054] Therefore, by means of a screw 5 screwed in in one direction, the three-dimensionally intersecting mating surfaces of the housing 2 and the cover 3 can be made to fit together, that is, to make any one of the mating surfaces of the first main mating surface 24 of the housing 2 and the second main mating surface 34 of the cover 3, and the first secondary mating surface 25 of the housing 2 and the second secondary mating surface 35 of the cover 3 fit together.

[0055] In the first embodiment, the guide portion 4 includes: a guide protrusion 41 disposed on one of the first main engagement surface 24 and the second main engagement surface 34; and a guide hole 42 disposed on the other of the first main engagement surface 24 and the second main engagement surface 34 for engaging the guide protrusion 41. The guide hole 42 has a tapered inner peripheral surface 421 that moves the second member toward the first secondary engagement surface 25 as the guide protrusion 41 is continuously engaged.

[0056] Therefore, the guide section 4 can be constructed with a simple structure.

[0057] In the first embodiment, sealing material 6 is respectively sandwiched between the first main mating surface 24 of the housing 2 and the second main mating surface 34 of the cover 3, and between the first secondary mating surface 25 of the housing 2 and the second secondary mating surface 35 of the cover 3.

[0058] The sealing material 6 is not only the portion sandwiched between the first main mating surface 24 of the housing 2 and the second main mating surface 34 of the cover 3, but also, as described above, the portion sandwiched between the first secondary mating surface 25 of the housing 2 and the second secondary mating surface 35 of the cover 3, is also forcefully clamped and squeezed by the tightening force of the screw 5. As a result, the entire opening 23 is liquid-tightly sealed.

[0059] Figures 6-8 This illustrates a modified example of the guide protrusion and guide hole constituting the guide portion 4 of the first embodiment described above. In the modified example, the cover 3 has a guide protrusion 45 instead of the guide protrusion 41 of the first embodiment, and the housing 2 has a guide hole 44 instead of the guide hole 42 of the first embodiment.

[0060] Figure 6 and Figure 7 This indicates that the guide protrusion 45 is engaged with the guide hole 44.

[0061] The cross-section of the guide hole 44 of housing 2 is rectangular, as shown below. Figure 8 As shown, the second arm 1D on its inner wall has a guide slope 441 at the front end L1 side. The guide slope 441 extends along the vertical T direction of the second arm 1D toward the rear end L2 side, that is, toward the first secondary mating surface 25, and is inclined relative to the first main mating surface 24.

[0062] The guide protrusion 45 of the cover 3 has a rectangular cross-section, such as... Figure 8 As shown, it has an inclined surface 451 on the front end L1 side of the second arm 1D. The inclined surface 451 is inclined in such a way that it slides towards the guide inclined surface 441 when the guide protrusion 45 is inserted into the guide hole 44.

[0063] According to this modified example, during the process of inserting the guide protrusion 45 into the guide hole 44 to make it fit, the inclined surface 451 of the guide protrusion 45 slides on the guide inclined surface 441 of the guide hole 44, thereby the cover 3 will gradually move towards the first secondary mating surface 25 of the housing 2, and the opposing distance between the first secondary mating surface 25 and the second secondary mating surface 35 will also gradually shorten. Figure 8 Arrow F2 indicates the direction of movement of cover 3 at that time. Then, when... Figure 6 As shown, when the guide protrusion 45 is fitted into the guide hole 44, and the second main mating surface 34 of the cover 3 is engaged to be tightly fitted to the first main mating surface 24 of the housing 2, the second secondary mating surface 35 of the cover 3 will be engaged to be tightly fitted to the first secondary mating surface 25 of the housing 2.

[0064] Therefore, according to this modified example, a screw 5 that is screwed in one direction can be used to make any one of the following mating surfaces closely fit together: the first main mating surface 24 of the housing 2 and the second main mating surface 34 of the cover 3, and the first secondary mating surface 25 of the housing 2 and the second secondary mating surface 35 of the cover 3.

[0065] The second and third embodiments will now be described. The second and third embodiments have many of the same configurations as the first embodiment described above. Therefore, when referring to the accompanying drawings, the same reference numerals are used for the same constituent elements as in the first embodiment, and their descriptions are omitted or simplified; mainly only the differences are described.

[0066] (Second Implementation)

[0067] refer to Figures 9-12 The second embodiment will now be described. The second embodiment differs from the first embodiment in that the configuration of the guide unit 4 is different.

[0068] like Figure 9 and Figure 10 As shown, the guide portion 4 of the second embodiment includes: a plurality of first guide holes 46 disposed on the first main mating surface 24 of the housing 2; a plurality of second guide holes 47 disposed on the second main mating surface 34 of the cover 3 corresponding to each of the first guide holes 46; and a guide piece 48 fitted into both corresponding first guide holes 46 and second guide holes 47. In this embodiment, one first guide hole 46 is disposed in each vertical portion of the first main mating surface 24 extending in the longitudinal direction L. Correspondingly, one second guide hole 47 is disposed in each vertical portion of the second main mating surface 34 extending in the longitudinal direction L.

[0069] Furthermore, although the number or position of the first guide hole 46 and the second guide hole 47 is not limited, from the point of view of improving positioning accuracy, it is advisable to distribute them in multiples.

[0070] Figure 11 This indicates the state in which the guide plate 48 is fitted into both the first guide hole 46 and the second guide hole 47. Both the first guide hole 46 and the second guide hole 47 are approximately cylindrical holes with the same inner diameter. The first guide hole 46 is recessed to the right (W2 side). The second guide hole 47 is recessed to the left (W1 side).

[0071] The axis of the first guide hole 46 is along the plane formed by the length direction L and the width direction W of the second arm 1D, but the axis tilts towards the rear end L2 side, that is, towards the first sub-joint surface 25, as it moves deeper. Then, the axis of the second guide hole 47 is set to be parallel to the axis of the first guide hole 46 when the cover 3 is fixed to the housing 2.

[0072] In the second embodiment, the guide portion 4 is used to close the opening 23 by bringing the cover 3 close to the housing 2 after the guide piece 48 is fitted into one of the first guide holes 46 and the second guide holes 47. For example, the guide piece 48 is fitted into the first guide hole 46 of the housing 2, and the cover 3 is brought close to the housing 2 so that the second guide hole 47 of the cover 3 is fitted into the guide piece 48.

[0073] In the early stage when the guide plate 48 enters the second guide hole 47, the second secondary mating surface 35 of the cover 3 and the first secondary mating surface 25 of the housing 2 are separated by a gap. Then, as the guide plate 48 continues to be fitted into the second guide hole 47, the second main mating surface 34 of the cover 3 approaches the first main mating surface 24 of the housing 2, and the cover 3 is guided by the guide plate 48 to gradually move towards the first secondary mating surface 25 of the housing 2, and the distance between the opposing sides of the first secondary mating surface 25 and the second secondary mating surface 35 continues to shorten. Figure 12Arrow F3 indicates the direction of movement of cover 3 at that time. Then, as... Figure 11 As shown, when the second main mating surface 34 of the cover 3 is engaged to a state that is tightly fitted to the first main mating surface 24 of the housing 2, the second secondary mating surface 35 of the cover 3 will be engaged to a state that is tightly fitted to the first secondary mating surface 25 of the housing 2.

[0074] The guide portion 4 of the second embodiment includes: a first guide hole 46 disposed on the first main mating surface 24 of the housing 2; a second guide hole 47 disposed on the second main mating surface 34 of the cover 3; and a guide piece 48 fitted into both the first guide hole 46 and the second guide hole 47. The first guide hole 46 and the second guide hole 47 extend in a direction that allows the cover 3 to move toward the first secondary mating surface 25 of the housing 2 as the guide piece 48 is continuously fitted.

[0075] Thus, by means of a screw 5 screwed in one direction, any one of the following mating surfaces can be made to fit tightly together: the first main mating surface 24 of the housing 2 and the second main mating surface 34 of the cover 3, and the first secondary mating surface 25 of the housing 2 and the second secondary mating surface 35 of the cover 3.

[0076] (Third Implementation)

[0077] refer to Figures 13-15 The third embodiment will now be described. The third embodiment differs from the first embodiment in that the configuration of the second arm 1D is different.

[0078] like Figure 13 and Figure 14 As shown, the portion of the second arm 1D at the front end L1 side in the third embodiment has the same configuration as in the first embodiment, namely, it has a fork 22 supporting the wrist 1E, an opening 23, and a cover 3 that closes the opening 23. Furthermore, the guide portion 4 is the same as in the first embodiment, having a plurality of (in this case, two) guide holes 42 on the first main mating surface 24 of the housing 2, and guide protrusions 41 corresponding to the guide holes 42 on the second main mating surface 34 of the cover 3. The opening 23 and the cover 3 in the third embodiment are shorter than those in the first embodiment.

[0079] The second arm portion 1D in the third embodiment also has an opening 27 that opens to the side (left W1 side) on the rear end L2 side, and a cover 7 that closes the opening 27. Hereinafter, the opening 23 and the cover 3 on the front end L1 side will be referred to as the front opening 23 and the front cover 3, respectively, and the opening 27 and the cover 7 on the rear end L2 side will be referred to as the rear opening 27 and the rear cover 7, respectively.

[0080] The rear opening 27 opens to the same side (left W1 side) as the front opening 23. The rear opening 27 is surrounded by a first main mating surface 84 and a first secondary mating surface 85 facing the rear end L2 side. The first main mating surface 84 is formed by a pair of upper and lower portions extending in the length direction L and a portion extending in the vertical direction T towards the rear end. The first main mating surface 84 and the first secondary mating surface 85 intersect three-dimensionally in a substantially orthogonal state. A plurality of screw holes 26 are provided on the first main mating surface 84. The rear cover 7 is fixed to the housing 2 by screws 5 that are screwed into the screw holes 26, just like the front cover 3.

[0081] The rear opening 27 includes: a main opening 281, which is surrounded by a first main mating surface 84 and opens to the side (left W1 side); and a secondary opening 282, which is surrounded by a first secondary mating surface 85 and opens to the rear end L2 side. The main opening 281 and the secondary opening 282 are continuous. Figure 14 The double-dotted line 283 indicates the boundary between the main opening 281 and the secondary opening 282. A plurality of screw holes 26 are provided at a predetermined location on the first main mating surface 84.

[0082] The rear cover 7, which closes the rear opening 27, has: a flat plate portion 71 having a shape and size that covers the main opening 281; and a frame wall portion 72 that extends approximately at a right angle (towards the right W2 side) from the edge of the flat plate portion 71 extending in the length direction L and the edge of the rear end portion towards the housing 2 side. A recess 73 surrounded by the frame wall portion 72 is formed on the inner side of the rear cover 7 (housing 2 side). The frame wall portion 72 has a second main mating surface 74 that faces the first main mating surface 84 of the housing 2 (facing the right W2 side) and engages with this first main mating surface 84. Furthermore, the rear cover 7 has a second secondary mating surface 75 that faces the first secondary mating surface 85 of the housing 2 (facing the front end L1 side) and engages with this first secondary mating surface 85.

[0083] The main body 21 of the housing 2 has a middle wall portion 211 extending to the side (left W1 side) from the first main mating surfaces 24 and 84 between the rear opening 27 and the front opening 23. The inner side of the middle wall portion 211 communicates with the interior of the main body 21. A space is provided inside the middle wall portion 211, which opens to the secondary openings 232 and 282 respectively, and communicates with the recess 33 of the front cover 3 and the recess 73 of the rear cover 7 when fixed to the housing 2.

[0084] The internal storage of housing 2 allows for... Figure 1The drive unit 90 shown is for rotating the wrist 1E. The drive unit 90 includes: a driven pulley 91 at the front end L1; a drive pulley 92 at the rear end L2; and a transmission belt 93, which is wound around and mounted on the driven pulley 91 and the drive pulley 92, transmitting the rotation of the drive pulley 92 to the driven pulley 91. The transmission belt 93 extends in the length direction L. The driven pulley 91 is connected to the rotation axis of the wrist 1E. The wrist 1E rotates in response to the rotation of the driven pulley 91. The drive unit 90 drives the drive pulley 92 to rotate using a motor (not shown), and the rotation of the drive pulley 92 is transmitted to the driven pulley 91 by the transmission belt 93, causing the wrist 1E to rotate.

[0085] The drive unit 90 is disposed within the housing 2 near the front opening 23 and the rear opening 27. The drive belt 93 is disposed inside the intermediate wall 211 and passes through the front secondary opening 232 and the rear secondary opening 282.

[0086] At least a portion of the drive unit 90 is disposed further outward (left W1 side) than the first main engagement surface 24 and the first main engagement surface 84 of the housing 2. Specifically, at least a portion of the driven pulley 91 is disposed further outward (left W1 side) than the first main engagement surface 24 and the first main engagement surface 84. At least a portion of the drive pulley 92 is disposed further outward (left W1 side) than the first main engagement surface 24 and the first main engagement surface 84. Furthermore, at least a portion of the transmission belt 93, together with the driven pulley 91 and the drive pulley 92, is disposed further outward (left W1 side) than the first main engagement surface 24 and the first main engagement surface 84.

[0087] If at least a portion of the drive unit 90 is positioned further outward (left W1 side) than the first main mating surface 24 and the first main mating surface 84, the storage space inside the housing 2 will be more spacious. When there are other storage devices, there are advantages such as increased freedom in the configuration of these other storage devices and ease of maintenance of the drive unit 90 or other storage devices.

[0088] The rear cover 7 is positioned and engaged with the housing 2 by means of the same guide portion 4 as in the first embodiment to close the rear opening 27. The guide portion 4 of the third embodiment has the function of positioning the second main engagement surface 74 of the rear cover 7 against the first main engagement surface 84 of the housing 2 when the rear opening 27 is closed by the rear cover 7. Furthermore, it has the function of positioning the second secondary engagement surface 75 of the rear cover 7 against the first secondary engagement surface 85 of the housing 2 and sealing it with a certain degree of pressing pressure.

[0089] The guide portion 4 of the third embodiment includes a plurality of guide protrusions 41 disposed on the second main engagement surface 74 of the rear cover 7, and guide holes 42 disposed on the first main engagement surface 84 of the housing 2. The guide protrusions 41 are fitted into the guide holes 42. One guide hole 42 is disposed on each of the vertical portions of the first main engagement surface 84 extending in the length direction L. The guide protrusions 41 are disposed at two locations corresponding to the guide holes 42.

[0090] According to the guide part 4 of the third embodiment, when the rear opening 27 is closed by means of the rear cover 7, if the rear cover 7 is continuously brought close to the housing 2 in such a way that the second main mating surface 74 of the rear cover 7 matches the first main mating surface 84 of the housing 2, then the two guide protrusions 41 will be inserted into the corresponding guide holes 42 of the housing 2.

[0091] Here, as the distance between the first main mating surface 84 of the housing 2 and the second main mating surface 74 of the rear cover 7 decreases, the guide protrusion 41 is inserted into the guide hole 42 in the same way as in the first embodiment. During this process, the rear cover 7 moves towards the front end L1 side, that is, towards the first secondary mating surface 85, and the distance between the first secondary mating surface 85 and the second secondary mating surface 75 gradually decreases. Figure 15 Arrow F4 indicates the direction of movement of the rear cover 7 at that time. As it approaches the housing 2, the rear cover 7 will move towards... Figure 15 The first secondary mating surface 85 on the right side moves. Then, when the guide protrusion 41 is fitted into the guide hole 42, and the second main mating surface 74 of the rear cover 7 is engaged to a state that is tightly fitted to the first main mating surface 84 of the housing 2, the second secondary mating surface 75 of the rear cover 7 will be engaged to a state that is tightly fitted to the first secondary mating surface 85 of the housing 2.

[0092] Furthermore, although the illustrations are omitted, the third embodiment includes a method similar to the first embodiment, in which a sealing material made of an elastic material such as rubber is sandwiched between the housing 2 and the rear cover 7 to achieve a liquid-tight seal. That is, the sealing material has a shape and size arranged along the first main mating surface 84 and the first secondary mating surface 85, and is sandwiched between the first main mating surface 84 and the second main mating surface 74, and between the first secondary mating surface 85 and the second secondary mating surface 75.

[0093] According to the third embodiment, the intermediate wall portion 211 is not a solid wall throughout its thickness; instead, a space is left on its inner side connecting to the secondary opening portion 232 on the front side and the secondary opening portion 282 on the rear side. This reduces the increase in weight. Furthermore, the increased storage space within the housing 2 allows for greater flexibility in the configuration of the drive unit 90.

[0094] This disclosure is not limited to the above-described embodiments and may be appropriately modified.

[0095] As a guide part of this disclosure, it can be configured in any way as long as the opposing distance between the first secondary joint surface 25 of the housing 2 and the second secondary joint surface 35 of the cover 3 is gradually shortened as the opposing distance between the first main joint surface 24 of the housing 2 and the second main joint surface 34 of the cover 3 is shortened, and it can be positioned during jointing.

[0096] While screws are used as fastening components, other fastening components such as rivets can be used instead.

[0097] Although the first and second components disclose a housing 2 and a cover 3 constituting the arm of a multi-joint robot, the joining structure of the first and second components disclosed herein is not limited to this, and any joining structure that joins two three-dimensionally intersecting joining surfaces together is applicable.

[0098] Explanation of reference numerals in the attached figures

[0099] 2. Housing (first component); 3. Cover (second component); 4. Guide part; 5. Screw (fastening component); 6. Sealing material; 24, 84, first main mating surface; 25, 85, first secondary mating surface; 34, 74, second main mating surface; 35, 75, second secondary mating surface; 41, guide protrusion; 42, guide hole; 46, first guide hole; 47, second guide hole; 48, guide plate; 421, conical inner circumferential surface (guide slope); 441, guide slope.

Claims

1. A joining structure comprising: The first component has a first main mating surface and a first secondary mating surface that intersects the aforementioned first main mating surface in a three-dimensional manner; The second component has a second main mating surface facing the first main mating surface and a second secondary mating surface facing the first secondary mating surface; Guidance unit; and A fastening member that fastens the already joined first main mating surface and the aforementioned second main mating surface together. in, The aforementioned guidance unit includes: A guide protrusion, disposed on one of the aforementioned first main mating surface and the aforementioned second main mating surface; and A guide hole, which is provided on the other of the aforementioned first main mating surface and the aforementioned second main mating surface, is used to allow the aforementioned guide protrusion to engage. The aforementioned guide hole has at least a guide slope that slopes toward the aforementioned first or second mating surface of the aforementioned first or second member where the guide hole is located, as it extends toward the depth of the aforementioned guide hole. The aforementioned guide protrusion has at least an inclined surface that is tilted in such a way that the aforementioned guide protrusion slides on the aforementioned guide ramp when the aforementioned guide protrusion is inserted into the aforementioned guide hole. The configuration is such that, during the process of inserting the aforementioned guide protrusion into the aforementioned guide hole, at least a portion of the aforementioned inclined surface of the aforementioned guide protrusion slides between itself and at least a portion of the aforementioned guide inclined surface of the aforementioned guide hole. Alternatively, the aforementioned guidance section may include: The first guide hole is disposed on the aforementioned first main mating surface; A second guide hole is disposed on the aforementioned second main mating surface; and The guide plate is fitted into both the aforementioned first guide hole and the aforementioned second guide hole. The direction of the axis of the aforementioned first guide hole tilts towards the direction of the aforementioned first mating surface as it moves deeper into the aforementioned first guide hole. The axis of the aforementioned second guide hole is set to be parallel to the axis of the aforementioned first guide hole when the aforementioned second component is fixed to the aforementioned first component. The aforementioned guide piece is configured to continuously fit into the aforementioned first guide hole and the aforementioned second guide hole. As a result, the guide portion gradually shortens the opposing distance between the first and second sub-joint surfaces as the opposing distance between the first and second main joint surfaces decreases. Furthermore, when the second main joint surface engages with the first main joint surface, the second sub-joint surface can engage with the first sub-joint surface, and the second member is positioned relative to the first member. The aforementioned guide portion causes the aforementioned second member to move in a direction parallel to the aforementioned first main mating surface.

2. The joining structure according to claim 1, wherein, In the case where the aforementioned guide portion includes the aforementioned guide protrusion disposed on one of the aforementioned first main mating surface and the aforementioned second main mating surface, and the aforementioned guide hole disposed on the other of the aforementioned first main mating surface and the aforementioned second main mating surface for fitting the aforementioned guide protrusion, As the aforementioned guide protrusion continuously engages with the aforementioned guide hole, the aforementioned second component moves toward the aforementioned first mating surface.

3. The joining structure according to claim 1, wherein, In the case where the aforementioned guide portion includes the aforementioned first guide hole disposed on the aforementioned first main mating surface, the aforementioned second guide hole disposed on the aforementioned second main mating surface, and the aforementioned guide piece fitted into both the aforementioned first guide hole and the aforementioned second guide hole, The aforementioned first guide hole and the aforementioned second guide hole extend in the direction that causes the aforementioned second component to move toward the aforementioned first mating surface as the aforementioned guide piece continues to engage.

4. The joining structure according to any one of claims 1 to 3, wherein, Sealing materials are respectively sandwiched between the first main mating surface and the second main mating surface, and between the first secondary mating surface and the second secondary mating surface.

Images