Tool driving device and robot

Abstract

A tool driving device (1) includes a motor (2), a movable section (4) driven by the motor (2) and moving a tool (200), and a bracket (5) mounting the motor (2) and the movable section (4) to a flange (124) at a front end of a wrist of a robot. The bracket (5) includes a first mounting section (7) in the form of a plate mounted to the flange (124), and a second mounting section (8) in the form of a plate mounting the motor (2) and the movable section (4). The movable section (4) is disposed on the side opposite the flange (124) across the first mounting section (7) in the plate thickness direction and on the side opposite the motor (2) across the second mounting section (8) in the plate thickness direction. A wire passage (9) is provided in the first mounting section (7). The wire passage (9) guides a wire (140) routed through a hollow hole (130) in the flange (124) to the motor (2) without being exposed to the movable section (4).

Description

Technical Field

[0001] This disclosure relates to tool drive devices and robots. Background Technology

[0002] A robot is known to have control lines extending from the rear of the second arm through hollow holes in the second arm, first wrist element, second wrist element, and third wrist element, to a tool mounted on the front end of the third wrist element (see, for example, Patent Document 1). The tool is fixed to the third wrist element by a plate-like bracket that is close to the front end face of the third wrist element, and the control lines extending through the hollow holes of the third wrist element pass through the bracket along the thickness direction of the plate and are routed to the tool.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 6572270 Specification Summary of the Invention

[0006] The problem the invention aims to solve

[0007] When a movable part for moving the tool is arranged on the side opposite to the third wrist element, separated by a bracket, it is difficult to cover the control lines penetrating the bracket, leaving the control lines exposed. When the control lines are exposed, in the case of a laser processing tool, the durability of the control lines is reduced due to the adhesion of welding slag and other debris from laser processing. Therefore, it is preferable to avoid exposing the control lines penetrating the hollow hole of the third wrist element during wiring.

[0008] Solution for solving the problem

[0009] One aspect of this disclosure is a tool driving device comprising: a motor; a movable part driven by the motor to move a tool; and a bracket that mounts the motor and the movable part to a flange at the front end of a robot's wrist. The bracket has a plate-shaped first mounting portion mounted on the flange and a plate-shaped second mounting portion mounting the motor and the movable part. The movable part is disposed on a side opposite to the flange along the thickness direction of the plate, separated from the first mounting portion, and on a side opposite to the motor along the thickness direction of the plate, separated from the motor by the second mounting portion. A linear passage is provided in the first mounting portion, which guides a wired linear body through a hollow hole in the flange to the motor without protruding to the movable part side. Attached Figure Description

[0010] Figure 1 This is a side view of a robot illustrating one embodiment of the present disclosure.

[0011] Figure 2 It is Figure 1 A sectional side view showing a portion of the tool drive device of one embodiment of the present invention, which is possessed by the robot.

[0012] Figure 3 It is shown Figure 2 A top view of the tool drive unit.

[0013] Figure 4 It is a driver Figure 2 A top view of an example of the posture of the arm and linkage of a tool drive mechanism.

[0014] Figure 5 It is Figure 2 A modified example of the tool drive device is shown in a side view with a partial section cut out.

[0015] Figure 6 It is shown Figure 5 A top view of the tool drive unit. Detailed Implementation

[0016] The following description, with reference to the accompanying drawings, illustrates one embodiment of the tool drive device 1 and robot 100 of this disclosure.

[0017] The robot 100 of this embodiment includes: a robot body 110 and a tool drive device 1 of this embodiment disposed on the robot body 110.

[0018] The robot body 110, for example, is a 6-axis multi-joint robot, such as... Figure 1 As shown, it includes: a base 111 disposed on the ground, and a gyropod 112 supported in a manner that allows it to rotate relative to the base 111 about a vertical first axis A. Furthermore, the robot body 110 includes: a first arm 113 supported in a manner that allows it to rotate relative to the gyropod 112 about a horizontal second axis B; and a second arm 114 supported in a manner that allows it to rotate relative to the first arm 113 about a third axis C parallel to the second axis B. A hole extending along the direction of the first axis A is provided in the gyropod 112.

[0019] A three-axis wrist unit (wrist) 120 is mounted on the front end of the second arm 114. The wrist unit 120 includes: a first wrist element 121, which is supported relative to the second arm 114 in a manner rotatable about a fourth axis D extending along a plane orthogonal to the third axis C; and a second wrist element 122, which is supported relative to the first wrist element 121 in a manner rotatable about a fifth axis E orthogonal to the fourth axis D. Additionally, the wrist unit 120 includes a third wrist element 123, which is supported relative to the second wrist element 122 in a manner rotatable about a sixth axis F, which is orthogonal to the fifth axis E and intersects both the fourth axis D and the fifth axis E at a single point.

[0020] A hollow hole extending along the fourth axis D is provided in the second arm 114 and the first wrist element 121. A cylindrical hollow portion 121a with a hollow hole and an extension portion 121b extending from the front end of the hollow portion 121a parallel to the fourth axis D are provided in the first wrist element 121.

[0021] The second wrist element 122 is rotatably mounted to the front end of the extension 121b about the fifth axis E. Both the second wrist element 122 and the third wrist element 123 have hollow holes 130 extending along the sixth axis F. Figure 2 As shown, the third wrist element 123 has an annular flange 124, which has a plurality of threaded holes 125 formed circumferentially around the hollow hole 130.

[0022] The tool drive device 1 of this embodiment is a device for supporting the tool 200 and moving it relative to the third wrist element 123. In this embodiment, the tool drive device 1 moves the tool 200 in a two-dimensional direction along a plane including the fifth axis E and the sixth axis F.

[0023] like Figure 2 as well as Figure 3 As shown, the tool drive device 1 includes: two motors 2 and 3; a drive mechanism (movable part) 4 driven by the driving force of each motor 2 and 3; a bracket 5 that mounts the motors 2 and 3 and the drive mechanism 4 to the flange 124; and a motor cover (cover) 6 that covers the motors 2 and 3.

[0024] The bracket 5 is formed into an approximate L-shape by orthogonally arranging the flat first mounting part 7 and the flat second mounting part 8.

[0025] The first mounting portion 7 has a flange mounting surface (first surface) 7a that is in close contact with the flange 124. A groove (line body passage) 9 is provided on the flange mounting surface 7a, extending straight along the flange mounting surface 7a from a position corresponding to the hollow hole 130 provided in the in close contact flange 124 to the motor mounting surface (second surface) 8a of the second mounting portion 8. The groove 9 does not penetrate the first mounting portion 7 in the plate thickness direction and has a groove width and depth dimension sufficient to accommodate a line body 140 passing through the hollow hole 130 of the flange 124.

[0026] Furthermore, in the first mounting portion 7, at a position that does not overlap with the groove 9, a plurality of through holes 10 are provided for bolts 150 that are fastened to the threaded holes 125 of the flange 124 to pass through. By fastening the bolts 150 that pass through the through holes 10 to the threaded holes 125 of the flange 124, the hollow hole 130 of the flange 124 can be aligned with the end of the groove 9, and the flange 124 can be fixed to the flange mounting surface 7a in a tight fit.

[0027] The second mounting section 8 is used to mount motors 2 and 3 and drive mechanism 4. Along the thickness direction of the plate, on both sides of the second mounting section 8, there are motor mounting surfaces 8a for mounting motors 2 and 3, and reducer mounting surfaces 8b for mounting reducer 11. Multiple threaded holes are provided on the motor mounting surface 8a for securing bolts used to mount motors 2 and 3.

[0028] like Figure 2 as well as Figure 3 As shown, the motor cover 6 is formed as a box that covers the two motors 2 and 3 mounted on the motor mounting surface 8a, and is fixed to the motor mounting surface 8a by bolts or the like (not shown).

[0029] In the second mounting section 8, through holes 12 are provided at the two motor mounting positions, allowing the shafts 2a of motors 2 and 3 to pass through along the plate thickness direction. Multiple threaded holes are provided on the reducer mounting surface 8b, for fastening bolts used to mount the reducer 11.

[0030] like Figure 2 As shown, the drive mechanism 4 includes: two reducers 11 mounted on the reducer mounting surface 8b; and two arms 13, 14 fixed to the output shaft of each reducer 11. In addition, the drive mechanism 4 includes a tool mounting part 15 for mounting the tool 200; and two connecting rods 16, 17 for connecting the tool mounting part 15 and the two arms 13, 14.

[0031] The shafts 2a of the two motors 2 and 3, mounted on the motor mounting surface 8a, are inserted into the corresponding reducers 11 through the through holes 12 of the second mounting part 8, thereby inputting the driving force of the motors 2 and 3 into the reducers 11. Each reducer 11 reduces the rotation of the shafts 2a of each motor 2 and 3 and transmits it to the arms 13 and 14. As a result, the two arms 13 and 14 are driven to rotate around the parallel axes X of the two reducers 11.

[0032] like Figure 3 and 4 As shown, the two arms 13 and 14 and the two links 16 and 17 are connected in a manner that allows them to rotate about an axis Y parallel to the axis X. Furthermore, links 16 and 17 are connected to each other in a manner that allows them to rotate about an axis Z parallel to the axis Y of the tool mounting portion 15.

[0033] like Figure 2 and Figure 3 As shown, when the robot body 110 is stopped, and the two arms 13 and 14 are positioned at their respective angular positions, the tool mounting part 15 is positioned at a location uniquely determined by the angles of the two arms 13 and 14. Figure 2 As shown, tool 200 is, for example, a laser processing tool. The laser processing tool 200 includes: a tool body 210; a nozzle 220 disposed at the front end of the tool body 210; and a connecting portion 230 for connecting an optical fiber 240 to the base end of the tool body 210.

[0034] The laser processing tool 200 has its nozzle 220's axis aligned in a direction orthogonal to a plane including the fifth axis E and the sixth axis F, and is mounted on the tool mounting section 15. When the tool mounting section 15 is moved by the action of the drive mechanism 4, the position of the nozzle 220 of the laser processing tool 200 moves in a direction orthogonal to the axis of the nozzle 220, thereby enabling the laser processing position to change two-dimensionally.

[0035] The following describes the function of the tool drive device 1 and the robot 100 configured in this embodiment.

[0036] The tool drive device 1 is mounted on the robot body 110 by making the flange mounting surface 7a of the first mounting part 7 of the bracket 5 fit tightly against the front end face of the flange 124 of the robot body 110, and by fastening the bolt 150 through the through hole 10 of the first mounting part 7 to the threaded hole 125 of the flange 124.

[0037] In this configuration, within the robot body 110, a control line 140 extends from the rear of the second arm 114, through the hollow holes of the second arm 114 and the first wrist element 121, through the hollow holes 130 of the second wrist element 122 and the third wrist element 123, and extends out from the front end face of the flange 124. Since the groove (line passage) 9 is provided on the flange mounting surface 7a of the first mounting portion 7, the line 140, extending forward from the front end face of the flange 124, extends through the groove 9 from the motor mounting surface 8a of the second mounting portion 8 and connects to motors 2 and 3.

[0038] The groove 9 does not penetrate the first mounting portion 7 in the plate thickness direction. When viewed from the side of the laser processing tool 200 mounted on the tool mounting portion 15, the line body 140 is always kept hidden on the back side of the first mounting portion 7. Furthermore, the portion of the line body 140 extending from the motor mounting surface 8a of the second mounting portion 8 and connected to the motors 2 and 3 is more reliably protected because it is covered by the motor cover 6. Therefore, it has the advantage that even if welding slag or the like scatters due to laser processing, the scattered welding slag or the like will not adhere to the line body 140, preventing a decrease in the durability of the line body 140.

[0039] By housing the line 140 extending from the front end face of the flange 124 within the groove 9, the front end face of the flange 124 can be tightly fitted against the flange mounting surface 7a surrounding the groove 9, thereby reliably fixing the tool drive device 1 to the robot body 110. The optical fiber 240, connected to the laser processing tool 200, passes through the hollow hole of the first wrist element 121, but does not pass through the hollow holes 130 of the second wrist element 122 and the third wrist element 123, instead connecting to the connection portion 230 of the laser processing tool 200 from the outside of the wrist unit 120. By not including the optical fiber 240 within the line 140 passing through the hollow hole 130 and the groove 9, bending of the optical fiber 240 can be prevented.

[0040] In addition, it is desirable to reduce the load on the wrist unit 120 of the robot body 100 by installing the tool drive device 1 at the front end of the wrist unit 120 of the robot body 110.

[0041] To solve the above problems, the tool driving device 1 of this embodiment has the following structure.

[0042] That is, the tool drive device 1 includes: motors 2 and 3; a movable part 4, which is driven by motors 2 and 3 to move the tool 200; and a bracket 5, which mounts motors 2 and 3 and the movable part 4 to a flange 124 at the front end of the wrist unit 120 of the robot 100. The bracket 5 includes a plate-shaped first mounting part 7 mounted on the flange 124 and a plate-shaped second mounting part 8 mounted on motors 2 and 3 and the movable part 4. The movable part 4 is located on the side opposite to the flange 124 in the plate thickness direction, separated by the first mounting part 7, and on the side opposite to the motors 2 and 3 in the plate thickness direction, separated by the second mounting part 8. The tool 200 is located on the side opposite to the motors 2 and 3, separated by the central axis of the flange 124.

[0043] According to the tool drive device 1 and robot 100 of this embodiment, two motors 2 and 3 are fixed to the motor mounting surface 8a of the second mounting portion 8 of the L-shaped bracket 5. In addition, two reducers 11 that reduce the rotation of the two motors 2 and 3 are also fixed to the reducer mounting surface 8b of the second mounting portion 8 of the L-shaped bracket 5.

[0044] Furthermore, motors 2 and 3 and reducer 11 are arranged on one side relative to the plane containing the fifth axis E and the sixth axis F.

[0045] Additionally, the two arms 13 and 14, driven by the two reducers 11, and the two connecting rods 16 and 17 rotate in a direction along the plane that includes the fifth axis E and the sixth axis F.

[0046] Furthermore, the tool body 210 of the laser processing tool 200, which is mounted on the tool mounting section 15, is positioned on the side opposite to the motors 2 and 3 and the reducer 11, across a plane containing the fifth axis E and the sixth axis F.

[0047] Motors 2 and 3, as well as reducer 11, arms 13 and 14, connecting rods 16 and 17, and tool body 210 have relatively large weight.

[0048] Therefore, according to this embodiment, the combined center of gravity of arms 13 and 14, and connecting rods 16 and 17 is positioned close to the plane including the fifth axis E and the sixth axis F. Furthermore, since motors 2 and 3, reducer 11, and tool body 210 are positioned on opposite sides across the plane including the fifth axis E and the sixth axis F, it is also possible to position the combined center of gravity of motors 2 and 3, reducer 11, and tool body 210 close to the plane including the fifth axis E and the sixth axis F.

[0049] As a result, by balancing the weight distribution around the sixth axis F, the load applied to the third wrist element 123 during acceleration and deceleration driven by rotation around the sixth axis F can be reduced. Furthermore, since the two arms 13 and 14, driven by larger acceleration and deceleration, and the two connecting rods 16 and 17 are positioned near the plane including the fifth axis E and the sixth axis F, the reaction forces acting on the first wrist element 121, the second wrist element 122, and the third wrist element 123 can be suppressed to a lower level during operation.

[0050] Furthermore, in this embodiment, a dual-axis device in which two arms 13 and 14 are driven by two motors 2 and 3 is exemplified as the tool driving device 1, but it is not limited to this and a device with more than one axis can also be used.

[0051] In addition, a tool drive device 1 is shown that rotates the drive arms 13 and 14 by motors 2 and 3, but a tool drive device that moves the tool 200 linearly can also be used.

[0052] In addition, in this embodiment, a groove 9 provided on the flange mounting surface 7a is exemplified as a linear passage, but instead, as shown below... Figure 5 and Figure 6 As shown, a perforated passage (through hole) 20 can also be used. The passage 20 opens at two locations on the flange mounting surface 7a corresponding to the hollow hole 130 of the flange 124 and on the motor mounting surface 8a, and extends along the first mounting portion 7. By using a passage 20 with a cross-sectional shape that allows the connector provided at the end of the line body 140 to pass through, the line body 140 can be guided into the motor housing 6 without the line body 140 being exposed on the back side of the first mounting portion 7. In addition, by using the flange 124 to close the opening on the flange mounting surface 7a side, dust can be prevented from entering the motor housing 6.

[0053] In addition, the laser processing tool 200 is shown as an example of a tool, but it can also be equipped with any other tool.

[0054] In addition, the robot body 110 is an example of a vertical 6-axis multi-joint robot, but it is not limited to this and other robot forms can also be used.

[0055] Explanation of reference numerals in the attached figures:

[0056] 1: Tool drive device

[0057] 2, 3: Motor

[0058] 4: Drive mechanism (movable part)

[0059] 5: Bracket

[0060] 6: Motor cover (cover)

[0061] 7: First Installation Section

[0062] 7a: Flange mounting surface (first surface)

[0063] 8: Second Installation Department

[0064] 8a: Motor mounting surface (second side)

[0065] 9: Groove (Linear passageway)

[0066] 20: Access routes (through holes, linear access routes)

[0067] 100: Robot

[0068] 120: Wrist Unit (Wrist)

[0069] 124: Flange

[0070] 130: Hollow hole

[0071] 140: Linear Font

[0072] 200: Laser processing tools

Claims

1. A tool driving device, characterized in that, have: motor; The movable part, driven by the motor, moves the tool; and A support frame that mounts the motor and the movable part to a flange at the front end of the robot's wrist. The bracket includes a plate-shaped first mounting portion mounted on the flange, and a plate-shaped second mounting portion extending in a direction orthogonal to the direction of extension of the first mounting portion and mounting the motor and the movable part. The movable part is located on the side opposite to the flange, separated from the first mounting part along the plate thickness direction, and on the side opposite to the motor, separated from the second mounting part along the plate thickness direction. A linear passage is provided in the first mounting portion, which is configured to accommodate a linear body for wiring through a hollow hole passing through the flange. The linear passage is arranged along the direction of the first mounting portion, so that the linear body is guided to the motor without being exposed to the movable portion side.

2. The tool driving device according to claim 1, characterized in that, The first surface of the first mounting part, where the flange is tightly abutted, and the second surface of the second mounting part, where the motor is fixed, are arranged adjacent to each other. The linear passage is a groove formed along the first surface from the position corresponding to the hollow hole of the flange that is close to the first surface to the second surface.

3. The tool driving device according to claim 1, characterized in that, The first surface of the first mounting part, where the flange is tightly abutted, and the second surface of the second mounting part, where the motor is fixed, are arranged adjacent to each other. The linear passage is a through hole that is located at a position corresponding to the hollow hole of the flange that is close to the first surface and the opening on the second surface, and penetrates the interior of the first mounting part.

4. The tool driving device according to claim 2 or 3, characterized in that, It has a cover to cover the motor; The linear passage opens on the second surface at the location covered by the cover.

5. The tool driving device according to any one of claims 1 to 3, characterized in that, The movable part supports the tool by positioning its center of gravity on the side opposite to the motor, across the central axis of the flange.

6. The tool driving device according to claim 4, characterized in that, The movable part supports the tool by positioning its center of gravity on the side opposite to the motor, across the central axis of the flange.

7. A robot, characterized in that, The tool driving device is provided with any one of claims 1 to 6.

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