Conveying device and machine tool

Abstract

The present application provides a conveying device and a machine tool that can be made small and light. The conveying device includes a robot hand that holds an object, an arm that conveys the object held by the robot hand, a drive unit that drives the robot hand or the arm, a drive wire that extends from the drive unit, a connector that connects the drive wire to a supply wire that extends from a power supply that supplies power to the drive unit, a hollow base that supports the arm, and a housing chamber that is provided inside the base and houses the connector.

Description

TECHNICAL FIELD

[0001] The present application relates to a conveying device and a machine tool. BACKGROUND

[0002] In recent years, a conveying device that conveys an object such as a conveying tool or a workpiece has been widespread, and a conveying device described in Japanese Patent Application Publication No. 2021-160033 (JP 2021-160033 A) has a robot hand and an arm. The robot hand holds an object. The object held by the robot hand moves in rotation together with the robot hand. The arm conveys the object held by the robot hand to and from, for example, a machine tool.

[0003] When a wire extending from a drive section that drives the robot hand or the arm is connected to a wire extending from a power supply source that supplies power to the drive section via a connector, a foreign matter can adhere to a connection portion of the connector, which can cause a defect (for example, a short circuit).

[0004] The foreign matter refers to, for example, a liquid having electrical conductivity, and is water or cutting oil containing cutting chips. Hereinafter, as the foreign matter, a liquid foreign matter is exemplified, and the liquid foreign matter is simply referred to as a foreign matter unless specifically described.

[0005] When the conveying device has a hollow base that supports the arm, the entire base is sometimes liquid-tightly configured, and the connector is disposed inside the base. The foreign matter does not penetrate inside the base that is liquid-tightly configured. However, since a plurality of members are required to liquid-tightly configure the entire base, it is difficult to achieve a small and light conveying device. SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] An object of the present application is to provide a conveying device and a machine tool that can achieve a small and light size.

[0008] SOLUTION TO PROBLEM

[0009] Technical Solution 1 provides a conveying device, wherein the conveying device has: a robot hand that holds an object; an arm that conveys the object held by the robot hand; a drive section that drives the robot hand or the arm; a drive wire that extends from the drive section; a connector that connects the drive wire to a supply wire extending from a power supply source that supplies power to the drive section; a hollow base that supports the arm; and an accommodation chamber that is provided inside the base and accommodates the connector.

[0010] The drive wire extends from the drive section that drives the robot hand or the arm. In addition, the supply wire extends from the power supply source that supplies power to the drive section. The drive wire and the supply wire are connected to each other via the connector.

[0011] The connector is accommodated in the accommodation chamber provided on the inner side of the hollow base. Since the connector is surrounded by two layers, the connection portion of the connector can be prevented from being attached by foreign matter. Therefore, the entire base does not have to be liquid-tightly configured. That is, the member for configuring the liquid-tight base can be omitted, and thus the number of components can be reduced, thereby achieving a small and light delivery device.

[0012] In the delivery device of Technical Solution 2, the accommodation chamber has a lower surface opening covered by the elastic member, and the drive wire and the supply wire are respectively passed through the elastic member and arranged from the inner side of the accommodation chamber to the outer side of the accommodation chamber.

[0013] The accommodation chamber has a lower surface opening.

[0014] Since the elastic member covers the lower surface opening, foreign matter cannot penetrate into the accommodation chamber through the lower surface opening. Moreover, since the drive wire and the supply wire are respectively passed through the elastic member and hang down from the accommodation chamber, foreign matter cannot penetrate into the accommodation chamber along the drive wire or the supply wire.

[0015] Neither the drive wire nor the supply wire can be broken by external force from the elastic member.

[0016] In the delivery device of Technical Solution 3, the base has an opening for arranging the drive wire and the supply wire from the inner side of the base to the outer side of the base, and the opening is located at a lower side than the accommodation chamber.

[0017] The base has an opening. The drive wire and the supply wire are respectively arranged from the inner side of the base to the outer side of the base through the opening. Since the opening of the base is located at a lower side than the accommodation chamber, foreign matter cannot penetrate into the accommodation chamber through the opening of the base.

[0018] In the delivery device of Technical Solution 4, the arm is hollow, and the arm is provided with a discharge port for discharging liquid that has penetrated into the inner side of the arm.

[0019] The arm is hollow.

[0020] Foreign matter that has penetrated into the inner side of the arm can be discharged to the outer side of the arm through the discharge port. Therefore, the accumulation of foreign matter in the inner side of the arm can be suppressed.

[0021] In the delivery device of Technical Solution 5, the arm can swing and can be stationary at an original position in which the length direction is upward and downward, and the discharge port is located at a lower portion of the arm when the arm is at the original position.

[0022] The discharge port of the arm is located at a lower portion of the arm when the arm is at the original position. By returning the arm to the original position when not delivering, foreign matter that has penetrated into the inner side of the arm can be naturally discharged from the inner side of the arm through the discharge port. Therefore, the accumulation of foreign matter in the inner side of the arm can be further suppressed.

[0023] In the conveyance device of Technical Solution 6, the driving section has water resistance and oil resistance, and the driving wiring has water resistance and oil resistance.

[0024] Since the driving section and the driving wiring each have water resistance and oil resistance, it is not necessary to provide a liquid-proof chamber for accommodating the driving section or a liquid-proof passage through which the driving wiring passes, or the like. Therefore, components for constituting the liquid-proof chamber or the liquid-proof passage, or the like, can be omitted, and the number of components can be reduced, and miniaturization and weight reduction of the conveyance device can be sought.

[0025] In the conveyance device of Technical Solution 7, the driving section includes a motor that drives a robot hand or arm via a speed reduction mechanism, the conveyance device further includes a seal that is interposed between the motor and a member adjacent to the motor or between the speed reduction mechanism and a member adjacent to the speed reduction mechanism to liquid-tightly seal a lubricant interposed between an input shaft and an output shaft of the speed reduction mechanism, and a housing that accommodates the motor, the speed reduction mechanism, and the seal.

[0026] The driving section includes a motor that drives a robot hand or arm via a speed reduction mechanism. A seal is interposed between the motor and a member adjacent to the motor or between the speed reduction mechanism and a member adjacent to the speed reduction mechanism. A housing accommodates the motor, the speed reduction mechanism, and the seal.

[0027] A lubricant is interposed between an input shaft and an output shaft of the speed reduction mechanism. The seal liquid-tightly seals the lubricant, and thus, even if the entire housing is not liquid-tightly constituted, it is possible to prevent the lubricant from leaking out or foreign matter from penetrating between the input shaft and the output shaft of the speed reduction mechanism. That is, components for constituting a liquid-tight housing can be omitted, and thus, the number of components can be reduced, and miniaturization and weight reduction of the conveyance device can be sought.

[0028] The conveyance device of Technical Solution 8 further includes a first connector for a pneumatic tube for driving the robot hand, and a second connector for a signal line for detecting an operation of the robot hand, the arm is hollow, and the first connector and the second connector liquid-tightly penetrate a side wall of the arm and are disposed outside the arm from an inside of the arm.

[0029] Since the first connector and the second connector each liquid-tightly penetrate a side wall of the arm and are disposed outside the arm from an inside of the arm, it is possible to prevent foreign matter from penetrating into the inside of the arm through a portion penetrated by the first connector or the second connector.

[0030] The conveyance device of Technical Solution 9 further includes a cover that liquid-tightly covers the second connector from an inside of the arm, and a signal line that is connected to the second connector inside the cover, the signal line liquid-tightly penetrates the cover and is disposed outside the cover from an inside of the cover.

[0031] The cover liquid-tightly covers the second connector from an inside of the arm. The signal line liquid-tightly penetrates the cover. Therefore, it is possible to prevent foreign matter that has penetrated into the inside of the arm from penetrating into the inside of the cover to adhere to a connecting portion of the connector.

[0032] Technical Solution 10 provides a machine tool, wherein the machine tool is provided with the conveying device according to any one of the technical solutions described above, and the machine tool processes the workpiece conveyed by the conveying device.

[0033] Thanks to the conveying device according to any one of the technical solutions described above, miniaturization and lightening can be achieved.

[0034] With the conveying device and the machine tool, miniaturization and lightening can be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a perspective view of a machine tool according to an embodiment.

[0036] Figure 2 is a perspective view of an arm device.

[0037] Figure 3 is a sectional view of the arm device.

[0038] Figure 4 is a sectional view of a base.

[0039] Figure 5 is a sectional view of a first housing.

[0040] Figure 6 is a sectional view of a tip end portion of a first arm and a base end portion of a second arm.

[0041] Figure 7 is a perspective view of the second arm and a hand housing viewed from a front side.

[0042] Figure 8 is a perspective view of a second arm body.

[0043] Figure 9 is a sectional view of the vicinity of a first connector and a second connector of the second arm body.

[0044] Figure 10 is a sectional view of the hand housing.

[0045] Figure 11 is a perspective view of the second arm and the hand housing viewed from a rear side.

[0046] Figure 12 is a perspective view for explaining a rotational movement of a hand.

[0047] Figure 13 is a sectional view of the base, the first housing, and the base end portion of the first arm.

[0048] Figure 14 is a sectional view of the first arm, the second arm, and the hand housing. DETAILED DESCRIPTION

[0049] Hereinafter, an embodiment of the present application will be described. In the following description, the up and down, the front and back, and the left and right are shown by arrow marks in the drawings.

[0050] Figure 1 is a perspective view of a machine tool of the embodiment.

[0051] Reference numeral 1 in the drawing is a machine tool, which is installed in a factory. The machine tool 1 is provided with a machine main body 11, a main body cover 12, a conveyance device 13, and a control device 14.

[0052] The machine main body 11 performs cutting work on a workpiece W (to be described later). When working on the workpiece W, the machine main body 11 performs cooling of the workpiece W and cleaning of cutting chips using cutting oil (coolant), and the like. Figure 11

[0053] The main body cover 12 is a wall body that covers a working area in which the machine main body 11 works on the workpiece W from the front, the back, the left, and the right. An opening 121 is provided in the right side wall of the main body cover 12. A door 122 that slides in the front-back direction opens and closes the opening 121.

[0054] The conveyance device 13 is a workpiece exchange device that conveys the workpiece W to and from the inside of the main body cover 12 through the opening 121.

[0055] The control device 14 is provided behind the main body cover 12. The control device 14 is provided with a CPU, a ROM, a RAM, and the like. The CPU loads a control program stored in the ROM into the RAM to execute, thereby controlling the operation of the machine tool 1.

[0056] The conveyance device 13 is provided with a support portion 131 and an arm device 132.

[0057] The support portion 131 is fixed to the lower portion of the right side of the machine main body 11. The support portion 131 supports the arm device 132 in such a manner that the arm device 132 can move in the front-back direction. When the arm device 132 conveys the workpiece W, a drive portion not shown drives the arm device 132 to reciprocate in the front-back direction. Hereinafter, the description related to the front-back movement of the arm device 132 will be omitted.

[0058] The arm device 132 stands from the support portion 131 and is located to the right of the opening 121.

[0059] Figure 2 is a perspective view of the arm device 132, Figure 3 is a sectional view of the arm device 132.

[0060] The arm device 132 is provided with a base 2, a first housing 3, a first arm 4, a second arm 5, and a robot housing 6.

[0061] ​The base 2 constitutes a lower portion of the arm device 132, and the support portion 131 directly supports the base 2 (see Figure 1 ).

[0062] Figure 4 is a cross-sectional view of the base 2.

[0063] The base 2 is rectangular box-shaped extending in the up-and-down direction. The front side wall 2a of the base 2 is openable and closable, and functions as a lid of the base 2.

[0064] The accommodation chamber 21 is provided on the inner side of the base 2. The rear side wall of the accommodation chamber 21 doubles as the rear side wall of the base 2. The accommodation chamber 21 has a front surface opening 211 and a lower surface opening 212. Except for the front surface opening 211 and the lower surface opening 212, the inner side of the accommodation chamber 21 is liquid-tightly partitioned from the outside space. The openable and closable lid plate 22 liquid-tightly covers the front surface opening 211. The lower surface opening 212 is covered by an elastic member 23. The elastic member 23 is, for example, a sponge, and a corner-shaped support 213 fixed to the peripheral portion of the lower surface opening 212 supports the elastic member 23.

[0065] The base 2 has openings 24, 25. The opening 24 is provided at the lower portion of the side wall (in this embodiment, the rear side wall) of the base 2, and is located at a position lower than the accommodation chamber 21. The opening 25 is provided at the bottom wall of the base 2, and is located directly below the lower surface opening 212.

[0066] As shown in Figure 2 and Figure 3 , the first housing 3 is provided integrally with the upper portion of the base 2. The base 2 supports the first housing 3.

[0067] Figure 5 is a cross-sectional view of the first housing 3.

[0068] The first housing 3 is cylindrical with the axis length direction oriented front-to-back. The first housing 3 has a partition wall 301. The partition wall 301 is provided integrally with the inner surface of the first housing 3, and divides the internal space of the first housing 3 into two portions in the front-to-back direction. A through-hole 302 that penetrates the partition wall 301 in the front-to-back direction is provided at the central portion of the partition wall 301.

[0069] A portion of the lower portion of the peripheral wall of the first housing 3, which is located on the front side relative to the partition wall 301, is open. The upper surface of the base 2 is open toward the lower portion of the first housing 3 that is open, and the internal space of the first housing 3 and the internal space of the base 2 are in communication via the openings of the two.

[0070] The first housing 3 has an auxiliary housing 303 (see Figure 2 and Figure 3 ). The auxiliary housing 303 is bottomed cylindrical. The auxiliary housing 303 is fixed to the front portion of the first housing 3 with the bottom surface facing forward and the top surface open facing the front end opening of the first housing 3.

[0071] The first housing 3 houses a first motor 31, a first reduction mechanism 32, and a first coupling 33.

[0072] The first motor 31 is a publicly known electric motor having water resistance and oil resistance. A first motor output shaft 31a of the first motor 31 faces front and back. A main body of the first motor 31 is fixed to the first housing 3 in a range from a front side of the partition wall 301 to the auxiliary housing 303 using an appropriate fixing tool. The first motor output shaft 31a penetrates a through-hole 302 of the partition wall 301 from the front side.

[0073] The first reduction mechanism 32 is a publicly known speed reducer, and includes a first input shaft 321, a first output shaft 322, and a first housing 323. The first input shaft 321 and the first output shaft 322 are coaxial with each other, and each of the shafts faces front and back in a shaft length direction. The first housing 323 is cylindrical, and faces front and back in the shaft length direction. The first housing 323 houses the first input shaft 321 and the first output shaft 322 in a manner that a front end portion of the first input shaft 321 protrudes forward from a front end opening of the first housing 323 and a rear end portion of the first output shaft 322 is exposed from a rear end opening of the first housing 323. The first housing 323 also houses a gear (not shown) for transmitting a rotation of the first input shaft 321 to the first output shaft 322 after reducing the rotation.

[0074] The disc 34 of the first arm 4 covers the rear end opening of the first housing 3 from the rear side (see Figure 2 and Figure 3 ). Hereinafter, a space surrounded by the disc 34, the peripheral wall of the first housing 3, and the partition wall 301 is referred to as a first reduction chamber 35.

[0075] The first housing 323 is located in the first reduction chamber 35. The first housing 323 is fixed to the first housing 3 using an appropriate fixing tool. The first input shaft 321 extends toward the through-hole 302 of the partition wall 301, and is coaxially connected to the first motor output shaft 31a via the first coupling 33.

[0076] The first motor output shaft 31a rotates in both directions, and a rotation of the first motor output shaft 31a is transmitted to the first input shaft 321. The first output shaft 322 is coaxially fixed to the disc 34. The disc 34 is rotatable integrally with the first output shaft 322 about the first output shaft 322.

[0077] A lubricant is filled in an inside of the first housing 323. The lubricant is interposed between the first input shaft 321 and the first output shaft 322.

[0078] The first housing 3 accommodates a plurality of seals. The plurality of seals are respectively interposed between the first reduction mechanism 32 and members adjacent to the first reduction mechanism 32, thereby sealing lubricant fluid-tightly. Therefore, it is not necessary to construct the entire first housing 3 fluid-tightly. The number and respective arrangement of the seals are not limited.

[0079] In the present embodiment, lubricant can flow out from the front end opening of the first casing 323 to the first reduction chamber 35. The O-ring seal 361 is interposed between the inner surface of the peripheral wall of the first housing 3 and the outer peripheral surface of the front end portion of the first casing 323. The oil seal 362 is interposed between the first input shaft 321 and the opening peripheral portion on the rear side of the through-hole 302 of the partition wall 301.

[0080] With the O-ring seal 361, it is possible to prevent lubricant that has flowed out to the first reduction chamber 35 from flowing rearward along the outer surface of the first casing 323 and leaking from the rear end opening of the first housing 3. With the oil seal 362, it is possible to prevent lubricant that has flowed out to the first reduction chamber 35 from flowing to the front side of the partition wall 301 through the through-hole 302 and leaking from the front end opening or the lower end opening of the first housing 3. With the O-ring seal 361 and the oil seal 362, it is possible to prevent foreign matter from infiltrating the first reduction chamber 35 and mixing with the lubricant.

[0081] As shown in Figure 2 and Figure 3 , the base end portion (lower end in Figure 3 ) of the first arm 4 is adjacent to the rear side of the first housing 3. The base end portion (upper end in Figure 3 ) of the second arm 5 is adjacent to the rear side of the top end portion of the first arm 4. The first arm 4 and the second arm 5 constitute the arm of the present embodiment.

[0082] Figure 5 The cross section of the base end portion of the first arm 4 is also shown. As shown in Figure 2 , Figure 3 , Figure 5 , the base end portion of the first arm 4 integrally has the disc 34. The first arm 4 can rotate integrally with the disc 34. In other words, the base end portion of the first arm 4 is linked to the first housing 3 via the first reduction mechanism 32, and the first arm 4 can swing about the first output shaft 322. The base 2 supports the first arm 4 via the first housing 3.

[0083] The first motor 31 drives the first arm 4 via the first reduction mechanism 32, the first coupling 33, and the disc 34. Since the first reduction mechanism 32 is interposed, the rotation of the first motor output shaft 31a is decelerated and transmitted to the first arm 4. The first arm 4 driven by the first motor 31 swings about the first output shaft 322. The first arm 4 can be stationary at the original position in the length direction upward and downward (refer to Figure 2 and Figure 3). The top end portion of the first arm 4 is able to reciprocate to the left and right around the original position.

[0084] As shown in Figure 2 and Figure 3 , the first arm 4 is provided with a first arm body 41 and a front-stage housing 42. The first arm body 41 is rectangular box-shaped that is long in one direction. The lower end portion of the first arm body 41 is fixed to the disc 34 (refer to Figure 5 ). The front surface of the first arm body 41 is open. The front-stage housing 42 is provided integrally with the upper end portion of the first arm body 41. The front-stage housing 42 is cylindrical that is long in the axial direction. As shown in Figure 3 , the front surface opening of the first arm body 41 and the front end opening of the front-stage housing 42 are covered openably and closably by a first cover plate 43 that is common to both.

[0085] Figure 6 is a sectional view of the top end portion of the first arm 4 and the base end portion of the second arm 5.

[0086] The front-stage housing 42 has a partition wall 421. The partition wall 421 is provided integrally with the inner surface of the front-stage housing 42 and divides the internal space of the front-stage housing 42 into two portions in the front-rear direction. A through-hole 422 that penetrates the partition wall 421 in the front-rear direction is provided at the central portion of the partition wall 421.

[0087] A portion of the lower portion of the peripheral wall of the front-stage housing 42 that is closer to the front side than the partition wall 421 is open. The upper surface of the first arm body 41 is open toward the lower portion of the front-stage housing 42 that is open, and the internal space of the front-stage housing 42 and the internal space of the first arm body 41 are communicated via the openings of both.

[0088] The through-hole 401 is provided at a position closer to the rear side than the partition wall 421 across the lower portion of the peripheral wall of the front-stage housing 42 and the upper surface of the first arm body 41. The axial direction of the through-hole 401 is upward and downward.

[0089] The first arm body 41 accommodates a communication pipe 411. The axial direction of the communication pipe 411 is upward and downward. The communication pipe 411 is fixed to the first arm body 41 in such a manner that the upper end portion of the communication pipe 411 is inserted from the lower side into the through-hole 401. An O-ring 412 is interposed liquid-tightly between the outer peripheral surface of the communication pipe 411 and the inner peripheral surface of the through-hole 401. The internal space of the front-stage housing 42 and the internal space of the first arm body 41 are communicated through the through-hole 401 and the communication pipe 411.

[0090] As shown in Figure 2 and Figure 3 , the second arm 5 is provided with a second arm body 51 and a second housing 52. The second arm body 51 is rectangular box-shaped that is long in one direction. The front surface of the second arm body 51 is open. As shown in Figure 3As shown, the second cover plate 53 covers the front surface opening of the second arm body 51 openably and closably. The second housing 52 is a bottomed cylindrical shape, and is provided integrally with the upper end portion of the second arm body 51 in a manner that the axial direction is oriented front-rear and the front is open.

[0091] As shown, the second housing 52 has a partition wall 521. The partition wall 521 is provided integrally with the inner surface of the second housing 52, and divides the internal space of the second housing 52 into two portions in the front-rear direction. A through-hole 522 penetrates the partition wall 521 in the front-rear direction, and is provided at the central portion of the partition wall 521. Figure 6

[0092] The front end opening of the second housing 52 and the rear end opening of the front-stage housing 42 of the first arm 4 face each other in a manner that the through-holes 422, 522 are coaxial with each other. Hereinafter, the space surrounded by the peripheral wall of the second housing 52, the peripheral wall of the front-stage housing 42, the partition walls 421, 521 will be referred to as a second reduction chamber 70.

[0093] A portion of the lower portion of the peripheral wall of the second housing 52 opens on the rear side from the partition wall 521. The upper surface of the second arm body 51 opens toward the lower portion opening of the second housing 52, and the internal space of the second housing 52 and the internal space of the second arm body 51 are communicated via the openings thereof.

[0094] The first arm 4 and the second arm 5 accommodate a pipe 71 (refer to Figure 3 ). The pipe 71 is a cylindrical shape, and continuously extends from the top end portion of the first arm 4 to the base end portion of the second arm 5 in a manner that the axial direction is oriented front-rear. The front end portion of the pipe 71 is embedded in the through-hole 422 of the partition wall 421. The rear end portion of the pipe 71 is embedded in the through-hole 522 of the partition wall 521. An O-ring 711 is interposed between the outer peripheral surface of the front end portion of the pipe 71 and the inner peripheral surface of the through-hole 422 in a liquid-tight manner. An oil seal 712 is interposed between the outer peripheral surface of the rear end portion of the pipe 71 and the inner peripheral surface of the through-hole 522 in a liquid-tight manner. The pipe 71 is fixed to the partition wall 421, but is not fixed to the partition wall 521.

[0095] The first arm 4 accommodates a second motor 44 (refer to Figure 3 and Figure 5 ). The second motor 44 is a publicly known electric motor having water resistance and oil resistance. The axial direction of a second motor output shaft 44a of the second motor 44 is oriented up-down. The main body of the second motor 44 is fixed to the first arm body 41 in a manner that the second motor output shaft 44a penetrates the communication pipe 411 from the lower side, using appropriate fixing means.

[0096] ​The first arm 4 houses a pre-stage reduction mechanism 45 and a second coupling 46. The pre-stage reduction mechanism 45 is provided with a pinion 451 and a bevel gear 452. The pinion 451 penetrates the through-hole 401 in such a manner that the tip end portion thereof is located in the second reduction chamber 70 and is coaxially coupled to the second motor output shaft 44a of the second motor 44 via the second coupling 46. The bevel gear 452 is located in the second reduction chamber 70. A tube 71 penetrates the axial center of the bevel gear 452 coaxially. The bevel gear 452 is rotatable about the tube 71 and is engaged with the pinion 451.

[0097] The pre-stage housing 42 and the second housing 52 house a second reduction mechanism 72.

[0098] The second reduction mechanism 72 is a publicly known reducer and is provided with a second input shaft 721, a second output shaft 722, and a second housing 723. The second input shaft 721 and the second output shaft 722 are coaxial to each other and each has an axial direction toward the front and the rear. The second housing 723 is cylindrical and has an axial direction toward the front and the rear. The second housing 723 houses the second input shaft 721 and the second output shaft 722 in such a manner that the tip end portion of the second input shaft 721 is exposed from the front end opening of the second housing 723 and the rear end portion of the second output shaft 722 protrudes rearward from the rear end opening of the second housing 723. The second housing 723 also houses a gear (not shown) for transmitting the rotation of the second input shaft 721 to the second output shaft 722 after reducing the rotation of the second input shaft 721.

[0099] The second housing 723 is located in the second reduction chamber 70 and is fixed to the pre-stage housing 42 using appropriate fixing means. The tube 71 penetrates the axial center of each of the second input shaft 721 and the second output shaft 722 coaxially. The second input shaft 721 and the second output shaft 722 are rotatable about the tube 71, respectively.

[0100] The tip end portion of the second input shaft 721 is fixed to the bevel gear 452 of the pre-stage reduction mechanism 45 coaxially and is rotatable integrally with the bevel gear 452.

[0101] The second motor output shaft 44a rotates in both directions, and the rotation of the second motor output shaft 44a is transmitted to the second input shaft 721 after being reduced via the pinion 451 and the bevel gear 452 of the pre-stage reduction mechanism 45. The second output shaft 722 is fixed to the partition wall 521 of the second housing 52 coaxially, and the second housing 52 is rotatable about the tube 71 integrally with the second output shaft 722. In other words, the base end portion of the second arm 5 is coupled to the tip end portion of the first arm 4 via the second reduction mechanism 72, and the second arm 5 is swingable about the tube 71.

[0102] The second motor 44 drives the second arm 5 via the second coupling 46, the front-stage reduction mechanism 45, and the second reduction mechanism 72. Since the front-stage reduction mechanism 45 and the second reduction mechanism 72 are interposed, the rotation of the second motor output shaft 44a is transmitted to the second arm 5 after two-stage reduction. The second arm 5 driven by the second motor 44 oscillates about the pipe 71. The second arm 5 can be stationary at the original position in the length direction upward and downward (see FIG. 1). Figure 2 and Figure 3 ) The tip end portion of the second arm 5 can reciprocate left and right about the original position.

[0103] The lubricant is filled in the second reduction chamber 70 and the inside of the second housing 723. The lubricant is interposed between the pinion 451 and the bevel gear 452 and between the second input shaft 721 and the second output shaft 722.

[0104] The front-stage housing 42 and the second housing 52 house a plurality of seals. The plurality of seals are interposed between the front-stage reduction mechanism 45 and a member adjacent to the front-stage reduction mechanism 45 or between the second reduction mechanism 72 and a member adjacent to the second reduction mechanism 72, respectively, thereby sealing the filled lubricant liquid-tightly. Therefore, it is not necessary to construct the entire first arm 4 and the entire second arm 5 liquid-tightly. The number of the seals and the respective configurations are not limited.

[0105] In the present embodiment, the O-ring seal 471 is interposed between the rear surface of the partition wall 421 and the front end surface of the second housing 723. The O-ring seal 472 is interposed between the rear surface of the partition wall 521 and the rear end surface of the second housing 723. The oil seal 473 is interposed between the base end portion of the pinion 451 and the inner peripheral surface of the communication pipe 411.

[0106] With the O-ring seals 471 and 472, it is possible to prevent the lubricant filled in the second reduction chamber 70 from leaking out from the rear end opening of the front-stage housing 42 or the front end opening of the second housing 52 along the outer surface of the second housing 723. With the oil seal 473, it is possible to prevent the lubricant filled in the second reduction chamber 70 from seeping into the first arm body 41 through the through-hole 401 and the communication pipe 411 and leaking out from the front surface opening of the first arm body 41. With the O-ring seal 711, it is possible to prevent the lubricant filled in the second reduction chamber 70 from leaking out from the front end opening of the front-stage housing 42 through the through-hole 422. With the oil seal 712, it is possible to prevent the lubricant filled in the second reduction chamber 70 from leaking out from the rear end opening of the front-stage housing 42 through the through-hole 522. With the O-ring seals 471, 472, and 711 and the oil seals 473 and 712, it is possible to prevent foreign matter from seeping into the inside of the second reduction chamber 70 and mixing into the lubricant.

[0107] Figure 7 is a perspective view of the second arm 5 and the robot housing 6 viewed from the front side. In the drawing, the second motor 44 and the second reduction mechanism 72 are omitted.Figure 7 The illustration shows the upper part of the second outer shell 52.

[0108] Two outlets 54 are located at the top of the second arm 5. The two outlets 54 are adjacent to each other on the left and right, and are located at the lower part of the second arm 5 when it is in its original position. The lower part of the second arm 5 in its original position is, for example, a portion lower than the center position in the vertical direction of the second arm 5. In this embodiment, each outlet 54 extends through the vicinity of the lower edge of the second cover plate 53 in the front-rear direction.

[0109] Figure 8 This is a three-dimensional view of the main body 51 of the second arm.

[0110] Six first connectors 55 and four second connectors 56 are located on the second arm body 51.

[0111] Figure 9 This is a cross-sectional view near the first connector 55 and the second connector 56 of the second arm body 51.

[0112] Each first connector 55 is a connector for an air tube. The first connector 55 liquid-tightly penetrates the left side wall of the second arm body 51 with one side located outside the second arm body 51 and the other side located inside the second arm body 51. A seal is located between the first connector 55 and the left side wall of the second arm body 51. An air tube 551 is connected to the outer side (one side) of the first connector 55. An air tube 552 is connected to the inner side (the other side) of the first connector 55.

[0113] The diagram shows one air tube each for air tubes 551 and 552.

[0114] Each second connector 56 is a connector for signal lines. One side of the second connector 56 is located on the outside of the second arm body 51 (see reference). Figure 7 The other side is located inside the second arm body 51 and liquid-tightly penetrates the right side wall of the second arm body 51. A seal is located between the second connector 56 and the right side wall of the second arm body 51. Signal line 561 is connected to the outer side (one side) of the second connector 56. Signal line 562 is connected to the inner side (the other side) of the second connector 56.

[0115] Signal lines 561 and 562 are each shown in the diagram.

[0116] The second arm body 51 houses the cover 57. The cover 57 is a rectangular box with one open side. The cover 57 liquid-tightly covers the four second connectors 56 from the inside of the second arm body 51 with the open side facing the inner surface of the right side wall of the second arm body 51. A seal is located between the periphery of the opening of the cover 57 and the inner surface of the right side wall of the second arm body 51.

[0117] The signal lines 562 penetrate the front wall of the cover 57 liquid-tightly and are arranged from the inner side to the outer side of the cover 57. In the present embodiment, a cord lock 571 having liquid resistance penetrates the front wall of the cover 57 liquid-tightly, and the signal lines 562 penetrate the cord lock 571 liquid-tightly.

[0118] As shown in Figure 2 , Figure 3 , Figure 7 , the robot hand housing 6 is provided integrally with the top end portion of the second arm 5. The top end portion of the second arm 5 supports the robot hand housing 6.

[0119] Figure 10 is a sectional view of the robot hand housing 6.

[0120] As shown in Figure 7 , Figure 8 , Figure 10 , the robot hand housing 6 is in the shape of a cylinder whose axis length direction is oriented frontward and rearward. As shown in Figure 7 and Figure 10 , the second cover plate 53 of the second arm 5 covers not only the front surface opening of the second arm body 51 but also the front end opening of the robot hand housing 6 openably and closably. The rear half portion of the robot hand housing 6 protrudes rearward from the outer surface of the lower end portion of the second arm body 51.

[0121] As shown in Figure 10 , the robot hand housing 6 has a partition wall 601.

[0122] The partition wall 601 is provided integrally with the inner surface of the robot hand housing 6 and divides the internal space of the robot hand housing 6 into two portions in the front-rear direction. A through-hole 602 penetrates the partition wall 601 in the front-rear direction and is provided at the central portion of the partition wall 601.

[0123] The robot hand housing 6 has a disc 61. The disc 61 covers the rear end opening of the robot hand housing 6 from the rear side. The illustrated disc 61 has a disc body with a central portion opening and a cap that covers the central opening of the disc body liquid-tightly. Hereinafter, the space surrounded by the disc 61, the peripheral wall of the robot hand housing 6, and the partition wall 601 is referred to as a robot hand reduction chamber 62.

[0124] The robot hand housing 6 accommodates a robot hand motor 63 and a robot hand reduction mechanism 64.

[0125] The robot motor 63 is a publicly known electric motor having water resistance and oil resistance. The robot motor 63 has a longitudinal direction of a robot motor output shaft 63a oriented in the front-rear direction, and orthogonal to a length direction of the second arm 5. A main body of the robot motor 63 is positioned at a position further forward than the partition wall 601, and is fixed to the robot housing 6 using an appropriate fixing tool. The robot motor output shaft 63a penetrates the through-hole 602 of the partition wall 601 from the front side.

[0126] The robot reduction mechanism 64 is a publicly known speed reducer, and has a robot input shaft 641, a robot output shaft 642, and a robot housing 643. The robot input shaft 641 and the robot output shaft 642 are coaxial with each other, and each has a longitudinal direction oriented in the front-rear direction. The robot housing 643 is cylindrical, and has a longitudinal direction oriented in the front-rear direction. The robot housing 643 houses the robot input shaft 641 and the robot output shaft 642. A front end portion of the robot input shaft 641 is exposed from a front end opening of the robot housing 643, and a rear end portion of the robot output shaft 642 is exposed from a rear end opening of the robot housing 643. The robot housing 643 also houses a gear (not shown) for transmitting a rotation of the robot input shaft 641 to the robot output shaft 642 after reducing the rotation of the robot input shaft 641.

[0127] The robot housing 643 is positioned in the robot reduction chamber 62. The robot housing 643 is fixed to the robot housing 6 using an appropriate fixing tool. The robot input shaft 641 is cylindrical. The robot motor output shaft 63a is inserted inside the robot input shaft 641, and the robot motor output shaft 63a and the robot input shaft 641 are coaxially linked to each other. Since a coupling is not interposed between the robot motor output shaft 63a and the robot input shaft 641, the robot motor 63 and the robot reduction mechanism 64 are closer to each other in the front-rear direction than the first motor 31 and the first reduction mechanism 32 (see FIG. 2). Figure 5

[0128] The robot motor output shaft 63a rotates in the forward and reverse directions, and a rotation of the robot motor output shaft 63a is transmitted to the robot input shaft 641. The robot output shaft 642 is coaxially fixed to the disc 61. The disc 61 is rotatable integrally with the robot output shaft 642 with the robot output shaft 642 as a center.

[0129] A lubricant is filled inside the robot housing 643. The lubricant is interposed between the robot input shaft 641 and the robot output shaft 642.

[0130] ​The robot-use housing 6 accommodates a plurality of seals. The plurality of seals are respectively interposed between the robot-use motor 63 and a member adjacent to the robot-use motor 63 or between the robot-use reduction mechanism 64 and a member adjacent to the robot-use reduction mechanism 64, thereby sealing the filled lubricant liquid-tightly. Therefore, it is not necessary to construct the entire robot-use housing 6 liquid-tightly. The number and respective arrangement of the seals are not limited.

[0131] In the present embodiment, the lubricant can flow out from the front end opening and the rear end opening of the robot-use housing 643 to the robot-use reduction chamber 62, respectively. The O-ring seal 651 is interposed between the rear surface of the partition wall 601 and the front end surface of the robot-use housing 643. The O-ring seal 652 is interposed between the robot-use output shaft 642 and the inner surface of the disk 61. The oil seal 653 is interposed between the robot-use motor output shaft 63a and the inner peripheral surface of the through-hole 602.

[0132] With the O-ring seals 651, 652, it is possible to prevent the lubricant flowing out to the robot-use reduction chamber 62 from leaking out from the rear end opening of the robot-use housing 6. With the oil seal 653, it is possible to prevent the lubricant flowing out to the robot-use reduction chamber 62 from leaking out from the front end opening of the robot-use housing 6 through the through-hole 602. With the O-ring seals 651, 652 and the oil seal 653, it is possible to prevent foreign matter from penetrating into the inside of the robot-use reduction chamber 62 and mixing into the lubricant.

[0133] Figure 11 is a perspective view of the second arm 5 and the robot-use housing 6 viewed from the rear side.

[0134] The arm device 132 is provided with the robot unit 8. The illustration of the robot unit 8 in Figure 2 and Figure 3 is omitted.

[0135] The robot-use housing 6 supports the robot unit 8. The robot unit 8 is provided with a base plate 81, two drive sections 82, and two robots 83 (refer to the description of Figure 12 ).

[0136] The base plate 81 is fixed to the outer surface of the disk 61 of the robot-use housing 6 in a manner that both surfaces face the front and the rear. The base plate 81 can rotate integrally with the disk 61 with the robot-use output shaft 642 of the robot-use reduction mechanism 64 as the center.

[0137] Two projecting sections 811 project outward from the edge section of the base plate 81. The projecting directions of the two projecting sections 811 are orthogonal to each other, respectively.

[0138] Two drive units 82 correspond one-to-one with two extension units 811, and two robotic arms 83 correspond one-to-one with two drive units 82. Hereinafter, the assembly of one extension unit 811, drive unit 82, and robotic arm 83 will be described, but the assembly of the other extension unit 811, drive unit 82, and robotic arm 83 has the same structure.

[0139] The drive unit 82 is a known cylinder with water and oil resistance, and has two rods 821. The main body of the drive unit 82 is fixed to the extension 811 by a suitable fixing device. The two rods 821 can protrude or retract in opposite directions relative to the main body of the drive unit 82.

[0140] The robotic arm 83 faces the outer peripheral surface of the rear half of the robotic arm housing 6 (the portion protruding rearward from the second arm 5). The robotic arm 83 has two gripping plates 831. One of each gripping plate 831 is fixed to one of each of the two rods 821 of the drive unit 82, and the two gripping plates 831 are connected and separated by the protrusion or retraction of the two rods 821. By clamping the workpiece W with the two adjacent gripping plates 831, the robotic arm 83 holds the workpiece W.

[0141] When the substrate 81 and the disk 61 rotate together, the robot arm 83 rotates and moves around the robot arm output shaft 642 of the robot arm reduction mechanism 64.

[0142] Figure 12 This is a three-dimensional diagram used to illustrate the rotational movement of the robotic arm 83.

[0143] like Figure 11 and Figure 12 As shown, even when the robotic arm 83 rotates and moves, the outer peripheral surfaces of the robotic arm 83 and the rear half of the robotic arm housing 6 are always opposite each other.

[0144] The robotic arm motor 63 drives the robotic arm 83 via the robotic arm reduction mechanism 64. Because the robotic arm reduction mechanism 64 is installed, the rotation of the robotic arm motor output shaft 63a is transmitted to the robotic arm 83 after deceleration. The robotic arm 83, driven by the robotic arm motor 63, rotates and moves along the outer circumferential surface of the rear half of the robotic arm housing 6.

[0145] The following describes the steps for changing workpiece W based on the arm device 132. A robotic arm 83 holds a workpiece W located outside the main body cover 12. The first arm 4 and the second arm 5 transport the workpiece W held by the robotic arm 83 towards the inside of the main body cover 12. Another robotic arm 83 holds another workpiece W located inside the main body cover 12. A robotic arm 83 places a workpiece W inside the main body cover 12. The first arm 4 and the second arm 5 transport the other workpiece W held by the other robotic arm 83 towards the outside of the main body cover 12. As described above, the arm device 132 changes the workpiece W.

[0146] Because the second arm 5 is not liquid-tight, foreign matter can sometimes seep into the inside of the second arm 5. By returning the second arm 5 to its original position when not conveying the workpiece W, the foreign matter that has seeped into the inside of the second arm 5 will be naturally discharged from the inside of the second arm 5 through the discharge port 54. Therefore, it is possible to prevent the accumulation of foreign matter on the inside of the second arm 5.

[0147] The outlet 54 only needs to be located at the top of the second arm 5 (especially the lower part of the second arm 5 when it is in the original position), so it is not limited to being located on the second cover plate 53. For example, it can also be located on the peripheral wall of the robot arm housing 6.

[0148] When foreign objects accumulate on the inside of the second arm 5, the weight of the second arm 5 increases, which may adversely affect the movement of the second arm 5. Therefore, it is desirable that the discharge port 54 be located at the lower end of the second arm 5 in its original position. However, since there are no particular problems other than the increased weight of the second arm 5, if the increased weight caused by the foreign objects accumulating in the second arm 5 does not adversely affect the movement of the second arm 5, the location of the discharge port 54 is not limited to the lower end of the second arm 5.

[0149] The second arm 5 and the rear half of the manipulator housing 6 form one side and the other side of an L-shape. Since the manipulator 83 rotates and moves around the rear half of the manipulator housing 6, the space inside the L-shape (the space enclosed by the second arm 5 and the rear half of the manipulator housing 6) can be effectively utilized. Therefore, interference between the workpiece W held by the manipulator 83 and surrounding objects (e.g., components constituting the machine tool 1) during workpiece transport can be suppressed.

[0150] like Figure 2 and Figure 3 As shown, the arm assembly 132 includes a flexible tube 73. The flexible tube 73 is connected to the base end of the first arm 4 and the side wall (rear side wall in this embodiment) of the base 2 on the outside of the first housing 3. The flexible tube 73 includes an I-shaped upper tube 731 and an L-shaped lower tube 732. The upper tube 731 hangs down from the first arm 4, and the lower tube 732 is fixed to the upper tube 731 and the base 2, respectively.

[0151] like Figure 3 and Figure 5 As shown, the through hole 402 penetrates the wall of the first arm 4 and is located at the base end of the first arm 4. The upper end of the upper tube 731 passes through the through hole 402, and the upper end of the upper tube 731 is fixed to the first arm 4 with its upper end opening located inside the first arm 4.

[0152] like Figure 3 and Figure 4As shown, one end of the lower tube 732 is inserted into the opening 24 of the rear side wall of the base 2 with the other end opening upward. The lower end of the upper tube 731 is connected to the other end of the lower tube 732.

[0153] like Figure 3 As shown, the internal space of the base 2 and the internal space of the first arm 4 are connected by a flexible tube 73.

[0154] Because the first arm 4 is not liquid-tight, foreign matter may sometimes seep into the inside of the first arm 4. By returning the first arm 4 to its original position when not conveying the workpiece W, the foreign matter that has seeped into the inside of the first arm 4 will be naturally discharged from the inside of the first arm 4 through the through hole 402 or the flexible tube 73. Therefore, it is possible to prevent the accumulation of foreign matter on the inside of the first arm 4.

[0155] Next, the wiring of the arm device 132 will be explained.

[0156] Figure 9 The signal lines 561 and 562 shown are used, for example, to detect the movement of the robotic arm 83, and each is water-resistant and oil-resistant. Signal line 561 extends from a connection terminal for connection to a detection unit (not shown) (e.g., an encoder installed on the first motor 31, second motor 44, or robotic arm motor 63), and its tip is liquid-tightly connected to the outer side of the second connector 56. One end of signal line 562 is connected to the inner side of the second connector 56. Since foreign matter will not seep into the inside of the cover 57, it is not necessary to liquid-tightly connect signal line 562 and the second connector 56, nor is it necessary to liquid-tightly form the entire second arm 5.

[0157] The signal line 562 is arranged from the inside of the cover 57 to the outside of the cover 57 via the rope buckle 571, passing through the inside of the second arm body 51 and facing upward.

[0158] Figure 13 It is a cross-sectional view of the base end of the base 2, the first outer shell 3, and the first arm 4.

[0159] Figure 14 This is a cross-sectional view of the first arm 4, the second arm 5, and the outer casing 6 for the robotic arm.

[0160] like Figure 14 As shown, the signal line 562 passes sequentially from the inside of the second arm body 51 through the inside of the second housing 52, the tube 71, the front housing 42, and the first arm body 41, and is disposed inside the flexible tube 73.

[0161] like Figure 13As shown, signal line 562 passes downward through the inside of flexible tube 73, forward through opening 24, enters the inside of base 2, passes through elastic member 23, and upward through lower surface opening 212, and is disposed in receiving chamber 21. Signal connector 563 is provided at the other end of signal line 562. Receiving chamber 21 accommodates signal connector 563.

[0162] like Figure 4 As shown, the receiving chamber 21 houses the signal connector 564. Signal connectors 563 and 564 are interconnected. The signal connector 564 is located at one end of the signal line 565. The other end of the signal line 565 is connected to the control device 14. The signal line 565 is disposed in the receiving chamber 21 from the control device 14 via the opening 25 and the elastic member 23.

[0163] For example, the detection signals used to detect the movement of the robotic arm 83 are transmitted to the control device 14 in sequence through signal lines 561, 562, and 565.

[0164] For example, an operator inserts their hand into the receiving chamber 21 through the front surface opening 211 to connect the corresponding connectors. After the connection work is completed, the operator closes the cover 22. Because the elastic member 23 covers the lower surface opening 212, foreign objects will not seep into the receiving chamber 21 through the lower surface opening 212. Figure 4 and Figure 13 As shown, since signal lines 562 and 565 pass through the elastic member 23 and hang down from the receiving chamber 21, foreign objects will not seep into the receiving chamber 21 along the signal lines 562 and 565. Therefore, it is not necessary to connect the signal connectors 563 and 564 in a liquid-tight manner, nor is it necessary to form the entire base 2 in a liquid-tight manner.

[0165] Signal lines 562 and 565 will not break due to external force from the elastic member 23.

[0166] If a conductive foreign object is attached to the connection portion of signal connectors 563 and 564, leakage may occur.

[0167] Figure 9 The air pipes 551 and 552 shown are, for example, drive wiring for supplying air to the drive unit 82 to drive the robot arm 83. Air pipe 551 extends from the drive unit 82 toward the second arm 5. The top end of air pipe 551 is liquid-tightly connected to the outer side of the first connector 55. One end of air pipe 552 is connected to the inner side of the first connector 55. Air pipe 552 is disposed inside the flexible tube 73 from the inside of the second arm body 51 via the same path as when the signal line 562 is disposed.

[0168] Further, the air tubes 551, 552 are not limited to the driving section 82, and the air tubes 551, 552 can also be used to supply air to an air brake, not shown. The air brake brakes the robot arm 83.

[0169] As shown in Fig. 9, the air tube 552 enters the inside of the base 2 via the inside of the flexible tube 73 and the opening 24. In the inside of the base 2, the other end of the air tube 552 is connected to one side of an air connector 553. The air connector 553 is a connector for an air tube, and is provided, for example, on the inner surface of the left side wall of the base 2 and on the lower side of the accommodation chamber 21. Figure 13

[0170] As shown in Fig. 9, the other end of the air tube 554 is connected to the other side of the air connector 553. The other end of the air tube 554 is connected to a compressor, not shown, provided in the factory. The air tube 554 is arranged in the inside of the base 2 via the opening 25. Figure 4

[0171] The air compressed by the compressor passes through the air tubes 554, 552, 551 in this order and reaches the driving section 82.

[0172] When a solid foreign matter is caught between the first connector 55 and the air tube 552 or between the air connector 553 and the air tubes 552, 554, air leakage can occur. However, the solid foreign matter is less likely to enter the inside of the second arm 5 or the inside of the base 2. Therefore, it is not necessary to cover the first connector 55 from the inside of the second arm 5 with the same cover as the cover 57 or to accommodate the air connector 553 in the accommodation chamber 21.

[0173] Further, it is possible to cover the first connector 55 from the inside of the second arm 5 with the same cover as the cover 57 or to accommodate the air connector 553 in the accommodation chamber 21.

[0174] As shown in Fig. 9, a first cable 311 for supplying power to the first motor 31 extends from the first motor 31. The first cable 311 enters the inside of the base 2 from the inside of the auxiliary housing 303 through the inside of the first housing 3, and is arranged in the accommodation chamber 21 after being wound around the lower side of the accommodation chamber 21, penetrating the elastic member 23 and passing through the lower surface opening 212 upward. A power supply connector 312 is provided at the top end of the first cable 311. The accommodation chamber 21 accommodates the power supply connector 312. Figure 13 As shown in Fig. 9, a first cable 311 for supplying power to the first motor 31 extends from the first motor 31. The first cable 311 enters the inside of the base 2 from the inside of the auxiliary housing 303 through the inside of the first housing 3, and is arranged in the accommodation chamber 21 after being wound around the lower side of the accommodation chamber 21, penetrating the elastic member 23 and passing through the lower surface opening 212 upward. A power supply connector 312 is provided at the top end of the first cable 311. The accommodation chamber 21 accommodates the power supply connector 312.

[0175] Figure 4 ​​​As shown, the receiving chamber 21 houses the power supply connector 313. Power supply connectors 312 and 313 are interconnected. The power supply connector 313 is located at one end of the first power supply cable 314. The other end of the first power supply cable 314 is connected to a power source (not shown) provided by the machine tool 1. The first power supply cable 314 is disposed in the receiving chamber 21 from the power source via the opening 25 and the elastic member 23.

[0176] Power is supplied to the first motor 31 via the first power supply cable 314 and the first cable 311.

[0177] like Figure 14 As shown, a second cable 441 for supplying power to the second motor 44 is connected to the second motor 44. The second cable 441 is disposed inside the first arm body 41 and inside the flexible tube 73.

[0178] like Figure 13 As shown, the second cable 441 is disposed in the receiving chamber 21 via the inner side of the flexible tube 73 and the elastic member 23. A power supply connector 442 is disposed at the top end of the second cable 441. The receiving chamber 21 accommodates the power supply connector 442.

[0179] like Figure 4 As shown, the receiving chamber 21 houses the power supply connector 443. Power supply connectors 442 and 443 are interconnected. Power supply connector 443 is located at one end of the second power supply cable 444. The second power supply cable 444 is routed in the same manner as the first power supply cable 314. Power is supplied to the second motor 44 via the second power supply cable 444 and the second cable 441.

[0180] like Figure 14 As shown, a torsion-resistant cable 631 for supplying power to the robot arm motor 63 is connected to the robot arm motor 63. The torsion-resistant cable 631 is disposed in the receiving chamber 21 via the inside of the robot arm housing 6 and the inside of the flexible tube 73 (see reference). Figure 13 ).

[0181] like Figure 13 As shown, a power connector 632 is located at the top end of the torsion-resistant cable 631. A receiving chamber 21 houses the power connector 632.

[0182] like Figure 4 As shown, the housing 21 houses the power supply connector 633. Power supply connectors 632 and 633 are interconnected. The power supply connector 633 is located at one end of the power supply cable 634 for the robot arm. The power supply cable 634 for the robot arm is wired in the same way as the first power supply cable 314. Power is supplied to the robot arm motor 63 via the power supply cable 634 for the robot arm and the torsion-resistant cable 631.

[0183] The first cable 311, the first power supply cable 314, the second cable 441, the second power supply cable 444, the twist-resistant cable 631, and the power supply cable for the robot arm 634 each have water resistance and oil resistance.

[0184] It is desirable that the power supply connectors 312, 313, the power supply connectors 442, 443, the signal connectors 563, 564, and the power supply connectors 632, 633 are each supported by an unillustrated support fixed to the inner surface of the accommodation chamber 21.

[0185] It is desirable that the second cable 441, the signal line 562, and the twist-resistant cable 631 are bundled on the inner side of the base 2 between the elastic member 23 and the opening 24. A bundle portion, for example, a plate-shaped one, extends downward from the lower portion of the support 213, and the second cable 441, the signal line 562, and the twist-resistant cable 631 each pass through a through-hole provided in the bundle portion.

[0186] Since the first arm 4 and the second arm 5 swing with respect to each other, the twist-resistant cable 631 disposed on the inner side of both sometimes twists. However, since the twist-resistant cable 631 has strong twist resistance, the risk of disconnection due to twisting can be reduced. For the same reason, the air tube 552 and the signal line 562 each also desirably have twist resistance.

[0187] The second arm 5 swings with respect to the first housing 3, but since the twist-resistant cable 631 and the second cable 441 each bypass the first housing 3 and are disposed on the base 2, they do not twist. Since the first housing 3 and the base 2 do not swing with respect to each other, the first cable 311 of both does not twist. As a result of the above, the first cable 311 and the second cable 441 do not disconnect due to twisting, and neither of them has to have twist resistance.

[0188] The twist-resistant cable 631 and the second cable 441 pass from the inner side of the first arm 4 to the inner side of the base 2 via the flexible tube 73 on the outer side of the first housing 3. Therefore, the portions of the twist-resistant cable 631 and the second cable 441 each passing through the outer side of the first housing 3 can be protected by the flexible tube 73, and the risk of disconnection can be reduced.

[0189] The accommodation chamber 21 provided on the inner side of the base 2 accommodates the power supply connectors 312, 313, the power supply connectors 442, 443, the signal connectors 563, 564, and the power supply connectors 632, 633 (hereinafter referred to as the connectors).

[0190] Since the connectors are surrounded by two layers, the attachment of foreign matter to the connecting portions of the connectors can be suppressed (and further, the attachment of foreign matter having conductivity that causes electric leakage can be suppressed).

[0191] Hereinafter, the first cable 311, the first power supply cable 314, the second cable 441, the second power supply cable 444, the twist-resistant cable 631, and the power supply cable for the robot hand 634 are referred to as wiring members. Each of the wiring members penetrates the elastic member 23 and hangs down from the accommodation chamber 21, and thus foreign matter does not intrude into the accommodation chamber 21 along the wiring members. The wiring members are arranged from the inner side to the outer side of the base 2 through the openings 24, 25. Since the openings 24, 25 of the base 2 are positioned at a lower side than the accommodation chamber 21, foreign matter does not intrude into the accommodation chamber 21 through the openings 24, 25 of the base 2.

[0192] Based on the above results, it is not necessary to construct the entire base 2 liquid-tightly.

[0193] As described above, it is not necessary to construct the entire base 2, the entire first housing 3, the entire first arm 4, the entire second arm 5, and the entire housing for the robot hand 6 liquid-tightly. Since members for liquid-tightly constructing each of the portions can be omitted, the number of components can be reduced and the conveyance device 13 can be made small and light.

[0194] In addition, the first motor 31, the second motor 44, the motor for the robot hand 63, the wiring members, the signal lines 561, 562, 565, and the air tubes 551, 552, 554 each have water resistance and oil resistance. Therefore, it is not necessary to provide a liquid-proof chamber or a liquid-proof passage or the like for protecting them from foreign matter. Therefore, members for constructing the liquid-proof chamber or the liquid-proof passage or the like can be omitted, and thus the number of components can be reduced and the conveyance device 13 can be made small and light.

[0195] The wiring members are not broken by external force from the elastic member 23.

[0196] Since the base 2 is not constructed liquid-tightly, foreign matter sometimes intrudes into the inner side of the base 2. In addition, foreign matter sometimes intrudes into the inner side of the base 2 from the first arm 4 through the flexible tube 73. The foreign matter that has intruded into the inner side of the base 2 is naturally discharged from the inner side of the base 2 through the opening 25. Therefore, the accumulation of foreign matter in the inner side of the base 2 can be suppressed.

[0197] With the conveyance device 13 described above, the housing for the robot hand 6 provided between the robot hand 83 and the second arm 5 accommodates the motor for the robot hand 63 and the speed reduction mechanism for the robot hand 64.

[0198] Since the second arm 5 does not accommodate the motor for the robot hand 63, the designer of the conveyance device 13 can decide the width (length in the front-rear direction) of the second arm 5 and the size of the motor for the robot hand 63 independently of each other. That is, the degree of freedom in the design of the conveyance device 13 is improved.

[0199] Since the width of the second arm 5 can be made sufficiently narrow, it is not necessary to restrict the size, shape, or orientation of the workpiece W held by the robot 83, and the like. That is, the degree of freedom of the workpiece W to be conveyed is improved.

[0200] Since it is not necessary to use a small robot motor 63 for the purpose of making the width of the second arm 5 narrow, a large robot motor 63 having sufficient output torque can be used. Therefore, it is not necessary to interpose a plurality of speed reduction mechanisms between the robot motor 63 and the robot 83 in order to compensate for the lack of output torque of the robot motor 63. That is, it is possible to seek the miniaturization and weight reduction of the conveying device 13 and the reduction in the number of components.

[0201] Since both the first arm 4 and the second arm 5 are lightweight, the torque required to drive the first arm 4 to which the second arm 5 is linked is small. Therefore, it is not necessary to interpose a plurality of speed reduction mechanisms between the first motor 31 and the first arm 4 in order to compensate for the lack of output torque of the first motor 31. That is, it is possible to seek the miniaturization and weight reduction of the conveying device 13 and the reduction in the number of components.

[0202] Further, the conveying device 13 is not limited to a workpiece exchange device. The conveying device 13 can also convey an object other than the workpiece W (for example, a tool).

Claims

1. A conveying device (13), wherein, The conveying device (13) includes: A robotic arm (83) that holds an object (W); Arms (4, 5) transport the objects held by the robotic arm; Drive unit (31, 44, 63) that drives the robotic hand or the arm; Drive wiring (311, 441, 631) extends from the drive unit; Connectors (312, 313, 442, 443, 632, 633) for connecting the drive wiring to supply wiring (314, 444, 634) extending from a power supply source that supplies power to the drive unit; A hollow base (2) supports the arm; as well as A receiving chamber (21), located inside the base, is provided to accommodate the connector. The receiving chamber has a lower surface opening (212) covered by an elastic member (23). The drive wiring and the supply wiring respectively pass through the elastic member and are disposed on the outside of the receiving chamber from the inside of the receiving chamber.

2. The conveying device according to claim 1, wherein, The base has openings (24, 25) for distributing the drive wiring and the supply wiring from the inside of the base to the outside of the base, respectively. The opening is located below the receiving chamber.

3. A conveying device (13), wherein, The conveying device (13) includes: A robotic arm (83) that holds an object (W); Arms (4, 5) transport the objects held by the robotic arm; Drive unit (31, 44, 63) that drives the robotic hand or the arm; Drive wiring (311, 441, 631) extends from the drive unit; Connectors (312, 313, 442, 443, 632, 633) for connecting the drive wiring to supply wiring (314, 444, 634) extending from a power supply source that supplies power to the drive unit; A hollow base (2) supports the arm; as well as A receiving chamber (21), located inside the base, is provided to accommodate the connector. The base has openings (24, 25) for distributing the drive wiring and the supply wiring from the inside of the base to the outside of the base, respectively. The opening is located below the receiving chamber.

4. The conveying device according to claim 1 or 3, wherein, The conveying device also features: A first connector (55) for the air pipe, used to drive the robotic arm; and The second connector (56) for the signal line is used to detect the movement of the robotic arm. The arm is hollow. The first connector and the second connector are liquid-tightly inserted through the sidewall of the arm and disposed on the outside of the arm from the inside of the arm.

5. The conveying device according to claim 4, wherein, The conveying device also features: A cover (57) that liquid-tightly covers the second connector from the inside of the arm; and Signal line (562), which connects to the second connector on the inside of the cover, The signal line is liquid-tightly inserted through the cover and disposed on the outside of the cover from the inside of the cover.

6. A conveying device (13), wherein, The conveying device (13) includes: A robotic arm (83) that holds an object (W); Arms (4, 5) transport the objects held by the robotic arm; Drive unit (31, 44, 63) that drives the robotic hand or the arm; Drive wiring (311, 441, 631) extends from the drive unit; Connectors (312, 313, 442, 443, 632, 633) for connecting the drive wiring to supply wiring (314, 444, 634) extending from a power supply source that supplies power to the drive unit; A hollow base (2) that supports the arm; and A receiving chamber (21), located inside the base, is provided to accommodate the connector. The conveying device also features: The first connector (55) for the air pipe is used to drive the robotic arm; A second connector (56) for signal lines, used to detect the movements of the robotic arm; A cover (57) that liquid-tightly covers the second connector from the inside of the arm; and Signal line (562), which connects to the second connector on the inside of the cover, The arm is hollow. The first connector and the second connector are liquid-tightly inserted through the sidewall of the arm and disposed on the outside of the arm from the inside of the arm. The signal line is liquid-tightly inserted through the cover and disposed on the outside of the cover from the inside of the cover.

7. The conveying device according to claim 1, 3, or 6, wherein, The arm is hollow. The arm is provided with a drain outlet (54) for discharging liquid that has seeped into the inside of the arm.

8. The conveying device according to claim 7, wherein, The arm is capable of swinging and can remain stationary in its original vertical position along its length. The outlet is located at the lower part of the arm when the arm is in the original position.

9. The conveying device according to claim 1, 3, or 6, wherein, The drive unit is water-resistant and oil-resistant, and the drive wiring is water-resistant and oil-resistant.

10. The conveying device according to claim 1, 3, or 6, wherein, The drive unit includes motors (31, 44, 63) that drive the robotic hand or the arm via reduction mechanisms (32, 45, 72, 64). The conveying device also features: Seals (361, 362, 471, 472, 473, 651, 652, 653), located between the motor and a component adjacent to the motor, or between the reduction mechanism and a component adjacent to the reduction mechanism, thereby fluidly sealing the lubricant between the input shaft (321, 451, 721, 641) and the output shaft (322, 452, 722, 642) of the reduction mechanism; and The housing (3, 42, 52, 6) houses the motor, the reduction gear and the seal.

11. A machine tool (1), wherein, The machine tool is equipped with the conveying device as described in any one of claims 1, 3, and 6. The machine tool processes the workpieces conveyed by the conveying device.

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