robot

Abstract

When the built-in portion is housed in the housing portion, movement of the built-in portion relative to the housing portion is suppressed. The robot according to the present application is a robot provided with a built-in portion (13) having a control member and a housing portion (4) housing the built-in portion (13), wherein the housing portion (4) has a protrusion member (15) protruding toward the inside, the built-in portion (13) has a protrusion housing portion (16) housing the protrusion member (15) when the built-in portion (13) is housed in the housing portion (4), and the protrusion member (15) protrudes in a direction parallel to the direction in which the built-in portion (13) is inserted into the housing portion (4).

Description

Technical Field

[0001] This utility model relates to robots. Background Technology

[0002] A desktop robot is an example of a robot, featuring linear motion mechanisms in the X, Y, and Z directions. These mechanisms enable the tool to move in three dimensions relative to the workpiece. Depending on the type of tool installed, a desktop robot performs tasks such as assembling workpieces, applying adhesives to workpieces, fastening screws, welding, and cutting workpieces.

[0003] On the back of a desktop robot, there is sometimes a connector for cable connection. Cables for operating parts such as remote controls or display units, teaching pendants, etc., are connected to the connector. Utility Model Content

[0004] Problems to be solved by utility models

[0005] Among desktop robots, there exists a desktop robot with the following configuration: a built-in section housing control components for controlling the movement of tools, etc.; and a housing section accommodating the built-in section, the built-in section being detachable from the housing section. For example, the built-in section of the desktop robot can be separated from the housing section in the horizontal direction, and the built-in section has a pull-out structure that inserts into the housing section in the horizontal direction. The built-in section is exposed to the outside at the back of the desktop robot, and a connector for cable connection, as described above, is provided at the exposed portion of the built-in section.

[0006] Since the two sides or the upper surface of the built-in part do not contact the inner surface of the housing part, the built-in part is prone to movement in the width or vertical direction of the housing part when it is housed within the housing part. Therefore, the following problem exists: when the connector on the cable side is inserted or removed relative to the connector in the built-in part, the built-in part is unstable and prone to movement, making it difficult to perform connector insertion or removal operations.

[0007] This invention was made in view of the following circumstances, and its purpose is to provide a robot that can suppress the movement of the built-in part relative to the housing part when the built-in part is housed in the housing part.

[0008] Solution for solving the problem

[0009] To solve the above problems, the robot of this utility model adopts the following solution.

[0010] That is, the robot according to this utility model includes: an internal part in which control components are disposed; and a shell part in which the internal part is housed. In the robot, the shell part has a protruding member protruding inward, and the internal part has a protrusion receiving part, which houses the protruding member when the internal part is housed in the shell part.

[0011] According to this configuration, the robot has an internal part and a shell part. Control components are disposed in the internal part, and the internal part is housed in the shell part. The shell part has a protruding member that protrudes inward. Therefore, the protruding member does not protrude to the outside of the shell part. The internal part has a protrusion receiving part that accommodates the protruding member when the internal part is housed in the shell part. At this time, the range of motion of the protrusion receiving part of the internal part is limited by the protruding member of the shell part, thus restricting the movement of the internal part relative to the shell part.

[0012] In the above-described utility model, the protruding member may also protrude in a direction parallel to the direction in which the built-in part is inserted into the housing part.

[0013] According to this configuration, the protruding direction of the protruding member is parallel to the direction in which the inner part is inserted into the housing part, and the protruding member is accommodated in the protrusion receiving part at the same time as the inner part is accommodated into the housing part. Furthermore, the movement of the inner part in the direction perpendicular to the protruding direction of the protruding member, that is, in the direction perpendicular to the direction in which the inner part is inserted into the housing part, is restricted.

[0014] Utility Model Effect

[0015] According to this invention, when the built-in part is housed in the housing part, movement of the built-in part relative to the housing part can be suppressed. Attached Figure Description

[0016] Figure 1 This is a perspective view showing a desktop robot according to one embodiment of the present invention.

[0017] Figure 2 This is a rear view showing a desktop robot according to one embodiment of the present invention.

[0018] Figure 3 This is a partial longitudinal cross-sectional view of a desktop robot according to one embodiment of the present invention, showing the state after the built-in part is pulled forward from the shell part.

[0019] Figure 4 This is a partial cross-sectional view of a desktop robot according to one embodiment of the present invention, showing the state after the built-in part has been pulled forward from the shell part.

[0020] Figure 5This is a side view showing the protruding member and protrusion receiving portion of a desktop robot according to one embodiment of the present invention.

[0021] Figure 6 This is a side view showing the protruding member and protrusion receiving portion of a desktop robot according to one embodiment of the present invention, showing the state after the built-in portion is pulled forward from the housing portion.

[0022] Figure 7 This is a top view showing the protruding member and protrusion receiving portion of a desktop robot according to one embodiment of the present invention.

[0023] Figure 8 This is a top view showing the protruding member and protrusion receiving part of a desktop robot according to one embodiment of the present invention, showing the state after the built-in part is pulled forward from the shell part.

[0024] Figure 9 This is a rear view (viewed from the outside of the housing portion) of a desktop robot according to one embodiment of the present invention, showing the protruding member and protrusion receiving portion.

[0025] Figure 10 This is a front view (viewed from the inside of the housing) of a protruding member and protruding receiving portion of a desktop robot according to one embodiment of the present invention.

[0026] Figure 11 This is a rear view showing a protruding member of a desktop robot according to one embodiment of the present invention.

[0027] Figure 12 This is a front view showing a protruding component of a desktop robot according to one embodiment of the present invention.

[0028] Figure 13 This is a rear view showing the protrusion receiving portion of a desktop robot according to one embodiment of the present invention.

[0029] Figure 14 This is a front view showing the protrusion receiving portion of a desktop robot according to one embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures

[0031] 1: Desktop robot

[0032] 2: Main body

[0033] 4: Casing section

[0034] 4A, 4B: Openings

[0035] 5: Support section

[0036] 6: Pallet Section

[0037] 7: Workbench

[0038] 8: Unit

[0039] 9: Tool fixing part

[0040] 10: Cover

[0041] 11: Bottom

[0042] 12: Front surface

[0043] 13: Internal Part

[0044] 14: Rear panel

[0045] 15: Protruding components

[0046] 16: Protruding Receiving Section

[0047] 17: Vertical section

[0048] 18: Top part

[0049] 19: Connector

[0050] 20: Switch. Detailed Implementation

[0051] Hereinafter, a desktop robot 1 (robot) according to one embodiment of the present invention will be described with reference to the accompanying drawings.

[0052] like Figures 1 to 4 As shown, the desktop robot 1 includes a main body 2. The desktop robot 1 uses linear motion mechanisms in the X, Y, and Z directions within the main body 2 to move the tool and workpiece, enabling the tool to move in three dimensions relative to the workpiece. Depending on the type of tool installed, the desktop robot 1 performs operations such as assembling workpieces, applying adhesives to workpieces, fastening screws, welding, and cutting workpieces.

[0053] The main body 2 includes a housing 4, a support 5, and a tray 6. The workpiece to be processed is placed on the worktable 7 of the housing 4, and a tool corresponding to the processing of the workpiece is installed on the tool fixing part 9 of the support 5. The tool can perform operations on the workpiece (e.g., assembling workpieces together, applying adhesives to the workpiece, screwing, welding, cutting the workpiece, etc.).

[0054] The housing 4 has a worktable 7, for example, in the shape of a flat plate, on its upper surface. The worktable 7 moves in the front-rear direction of the main body 2 via an X-axis mechanism provided on the housing 4. The X-axis mechanism is driven by a motor. The workpiece to be processed is mounted on the worktable 7.

[0055] The support portion 5 is fixed to the housing portion 4 and includes a unit 8. The unit 8 moves in the left-right direction of the main body portion 2 via a Y-axis mechanism provided on the support portion 5. The Y-axis mechanism is driven by a motor.

[0056] Unit 8 includes a tool fixing part 9, which moves vertically in the main body 2 via a Z-axis mechanism provided on unit 8. The Z-axis mechanism is driven by a motor. Tools such as screwdrivers or soldering irons are mounted in the tool fixing part 9.

[0057] like Figures 2 to 4 As shown, the housing portion 4 includes, for example, a cover portion 10, which is a casting, with its upper surface and four sides integrally formed; and a bottom portion 11, which is a metal plate forming the bottom surface. The housing portion 4 is formed by assembling the cover portion 10 and the bottom portion 11. On the front surface of the housing portion 4, as... Figure 1 , Figure 3 as well as Figure 4 As shown, an inner part 13 is formed with an opening 4A to accommodate a tray part 6.

[0058] like Figure 2 and Figure 3 As shown, the tray portion 6 has a front surface portion 12 and an internal portion 13 that is built into the housing portion 4.

[0059] In the tray section 6, the front surface section 12 and the inner section 13 are integrally formed, and the tray section 6 formed by the integral front surface section 12 and the inner section 13 can be pulled forward relative to the housing section 4.

[0060] After the tray 6 is pulled forward, it moves toward the inside of the housing 4, causing the built-in part 13 to be accommodated inside the housing 4. When the tray 6 is pulled forward of the housing 4, the user can perform maintenance on the control components provided in the built-in part 13, the X-axis mechanism provided inside the housing 4, and so on.

[0061] When the front surface portion 12 is housed within the housing portion 4 by the built-in portion 13 of the tray portion 6, it is located on the front side of the housing portion 4. The front surface portion 12 is provided with connectors, switches related to the operation of the main body portion 2 or the tool, a display portion, an emergency stop button, etc.

[0062] The built-in section 13 is housed inside the housing section 4. Control components such as a control section and a storage section are provided in the built-in section 13 to control the movement of tools, etc. The control section controls the drive of motors, etc., or controls the display section. The worktable 7 or unit 8 and tool fixing section 9 move by the drive of the motors, etc., controlled by the control section. The storage section stores programs or various information for enabling the control section to perform various controls.

[0063] like Figures 2 to 4 As shown, the built-in part 13 has a rear panel 14, on which a connector 19, a switch 20, etc., are disposed. The connector 19 and the switch 20 are electrically connected to a control component disposed in the built-in part 13. An opening 4B is formed on the back of the housing part 4, through which the rear panel 14 of the built-in part 13 is exposed. Thus, the connector 19 disposed on the rear panel 14 is also exposed through the opening 4B.

[0064] Next, refer to Figures 5 to 14 The protruding member 15 and the protruding receiving portion 16 involved in this embodiment will be described. Furthermore, Figure 5 and Figure 6 This is a side view of the protruding member 15 and the protruding receiving portion 16. Figure 7 and Figure 8 This is a top view of the protruding member 15 and the protruding receiving portion 16 viewed from the top surface. Figure 9 , Figure 11 as well as Figure 13 This is a rear view of the protruding member 15 and the protruding receiving portion 16, viewed from the outside of the housing portion 4. Figure 10 , Figure 12 as well as Figure 14 This is a front view of the protruding member 15 and the protruding receiving portion 16 viewed from the inside side of the housing portion 4.

[0065] In this embodiment, such as Figures 2 to 4 As shown, the protruding member 15 and the protruding receiving portion 16 are provided on the rear side of the housing portion 4. One protruding member 15 and one protruding receiving portion 16 are provided on each side, for a total of two. Furthermore, in this invention, the location or number of the protruding member 15 and the protruding receiving portion 16 are not limited to this example.

[0066] A protruding member 15 is provided in the housing portion 4. The protruding member 15 is formed, for example, by bending a portion of the bottom 11 of the housing portion 4, which is a plate-like member. Figure 6 As shown, the tip of the protruding member 15 protrudes inward rather than outward. Therefore, the tip of the protruding member 15 does not protrude to the outside of the housing portion 4.

[0067] The protruding member 15 protrudes in a direction parallel to the direction in which the inner part 13 is inserted into the housing part 4. Thus, as... Figures 5 to 8 As shown, while the built-in portion 13 is accommodated in the housing portion 4, the protruding member 15 is accommodated in the protrusion receiving portion 16. In addition, the movement of the built-in portion 13 in the direction perpendicular to the protrusion direction of the protruding member 15, that is, in the direction perpendicular to the direction in which the built-in portion 13 is inserted into the housing portion 4, is restricted.

[0068] like Figures 9 to 12 As shown, the protruding member 15 has a vertical portion 17 and a top portion 18.

[0069] The vertical portion 17 is provided vertically relative to the bottom 11 of the housing portion 4 and protrudes from the opening 4B formed on the back side of the housing portion 4. When the back panel 14 of the built-in portion 13 reaches the back side of the housing portion 4, the position of the outer surface of the back panel 14 is as follows: Figure 5 The position shown is aligned with the outer surface of the vertical part 17, making it flush.

[0070] The top end 18 is formed by bending from the vertical portion 17 and protrudes towards the inside of the housing portion 4, and is received in the protrusion receiving portion 16. Thus, although the vertical portion 17 of the protruding member 15 protrudes from the opening 4B on the back side of the housing portion 4, the top end 18 does not protrude from the opening 4B, but faces towards the inside of the housing portion 4. Figure 6 As shown, the top end 18 of the protruding member 15 is parallel to the horizontal plane of the bottom 11 of the housing part 4.

[0071] like Figure 9 , Figure 10 , Figure 13 as well as Figure 14 As shown, a protrusion receiving portion 16 is provided in the inner portion 13. The protrusion receiving portion 16 is formed, for example, by cutting a notch in the inner portion 13 of the plate-like member and bending a portion of the inner portion 13. Figure 10 As shown, the protrusion receiving portion 16 has a shape corresponding to the top end portion 18 of the protrusion member 15.

[0072] like Figure 5 As shown, when the built-in portion 13 is accommodated in the housing portion 4 to the extent that the back panel 14 of the built-in portion 13 reaches the back side of the housing portion 4, the protrusion receiving portion 16 of the built-in portion 13 accommodates the protruding member 15 of the housing portion 4. In this state, the range of movement of the protrusion receiving portion 16 of the built-in portion 13 is limited by the protruding member 15 of the housing portion 4, thus restricting the movement of the built-in portion 13 relative to the housing portion 4.

[0073] The upper surface 15a and lower surface 15b of the top portion 18 of the protruding member 15 (see reference) Figure 11 and Figure 12 The upper surface 16a and lower surface 16b of the inner surface of the opening of the protrusion receiving portion 16 can respectively abut against the protrusion receiving portion 16. (Refer to...) Figure 13 and Figure 14 The gap between the protruding member 15 and the protruding receiving part 16 is set by adjusting the plate thickness of the top part 18 of the protruding member 15 or the opening height of the protruding receiving part 16, and the allowable vertical movement distance of the built-in part 13 is determined.

[0074] The sides 15c and 15d of the top portion 18 of the protruding member 15 (refer to) Figure 11 and Figure 12 The sides 16c and 16d can abut against the rectangular opening. The gap between the protruding member 15 and the protruding receiving part 16 is set by adjusting the width of the top end 18 of the protruding member 15 or the opening width of the protruding receiving part 16, and the allowable movement distance in the left and right direction is determined. Here, sides 15c and 16c are the sides located at the center of the main body 2 in the left and right direction (width direction), and sides 15d and 16d are the sides located at the ends of the main body 2 in the left and right direction.

[0075] In this embodiment, where one protruding member 15 and one protruding receiving portion 16 are provided on each side of the main body 2, for a total of two, the leftward movement of the built-in portion 13 is suppressed by the contact between the side surface 15c of the right protruding member 15 and the side surface 16c of the protruding receiving portion 16, and the rightward movement of the built-in portion 13 is suppressed by the contact between the side surface 15c of the left protruding member 15 and the side surface 16c of the protruding receiving portion 16. Alternatively, the movement of the built-in portion 13 to the left can be suppressed by the contact between the side surface 15d of the left protruding member 15 and the side surface 16d of the protruding receiving portion 16, and the rightward movement of the built-in portion 13 to the right can be suppressed by the contact between the side surface 15d of the right protruding member 15 and the side surface 16d of the protruding receiving portion 16. Furthermore, in the main body 2, when only one protruding member 15 and protruding receiving portion 16 are provided, the movement of the inner part 13 in the left and right directions is suppressed by the contact between the two sides 15c and 16d of the protruding member 15 and the two sides 16c and 16d inside the protruding receiving portion 16.

[0076] As described above, the built-in portion 13 has a protrusion receiving portion 16, which receives the protruding member 15 when the built-in portion 13 is received in the housing portion 4. At this time, since the movement range of the protrusion receiving portion 16 of the built-in portion 13 is limited by the protruding member 15 of the housing portion 4, the movement of the built-in portion 13 relative to the housing portion 4 is restricted. By narrowing the gap between the protruding member 15 and the protrusion receiving portion 16, the movement of the built-in portion 13 relative to the housing portion 4 when the built-in portion 13 is received in the housing portion 4 is suppressed.

[0077] Since the two sides or the upper surface of the built-in portion 13 do not contact the inner surface of the housing portion 4, when the built-in portion 13 is housed in the housing portion 4, the built-in portion 13 is easy to move in the width direction or the vertical direction of the housing portion 4 (for example, it can move about 10mm to 20mm). In this regard, by providing the protruding member 15 and the protruding receiving portion 16 as in this embodiment, the built-in portion 13 is stable when the connector on the cable side is inserted or removed relative to the connector 19 of the built-in portion 13, and the built-in portion 13 becomes less likely to move (less likely to wobble), thus improving work efficiency.

[0078] Conventionally, movement of the built-in portion 13 is sometimes suppressed by providing a protruding member on the back panel 14 of the built-in portion 13, which abuts against the opening 4B formed in the cover portion 10 of the housing portion 4. The built-in portion 13 slides over the bottom 11 of the housing portion 4. Therefore, the position of the protruding member conventionally provided on the back panel 14 varies from one manufactured product to another due to assembly errors that occur when assembling the cover portion 10 and the bottom 11 of the housing portion 4. Consequently, in order to make the protruding member abut against the opening 4B formed in the cover portion 10 of the housing portion 4, laborious adjustments such as changing the bending angle of the protruding member are required.

[0079] In contrast, in this embodiment, the protruding member 15 is provided to the bottom 11 of the housing portion 4, and the protruding receiving portion 16 is provided to the inner portion 13 that slides above the bottom 11. Therefore, the positions of the protruding member 15 and the protruding receiving portion 16 are determined independently of the assembly of the cover portion 10 and the bottom 11 of the housing portion 4, and are set almost exactly as designed. Thus, the gap between the protruding member 15 and the protruding receiving portion 16 can be managed without being affected by assembly errors that occur during the assembly of the cover portion 10 and the bottom 11. As a result, manufacturing work is simplified, and the movement (wobbling) of the inner portion 13 relative to the housing portion 4 when the inner portion 13 is received in the housing portion 4 is reliably suppressed.

[0080] Conventionally, when a protruding member is provided on the back panel 14 of the inner part 13 and abuts against the opening 4B formed in the cover part 10 of the housing part 4, the protruding member protrudes outward from the back panel 14. If the protruding member is made of steel plate (SECC) or the like, when rust forms on the cut surface, the rust will be exposed to the outside.

[0081] In contrast, the protruding member 15 in this embodiment protrudes inward rather than outward. Therefore, even if the protruding member 15 is formed of steel plate (SECC) or the like, it is easy to cut at the cut surface 18A (see reference). Figure 6 , Figure 7 , Figure 8 , Figure 10 as well as Figure 12Even if rust forms, the top portion 18 with the cut surface 18A will not be exposed to the outside. As a result, even if rust forms on the cut surface 18A, the appearance remains unchanged, thus maintaining an aesthetically pleasing appearance and preventing rust from adhering to other items.

[0082] In addition, such as Figure 2 As shown, to illustrate the purpose of connector 19, text is sometimes printed on the back panel 14 using screen printing or similar methods. In cases where the protruding member protrudes outwards from the back panel 14 as is common practice, the printing press may interfere with the protruding member, making it difficult to print text near it. In contrast, in this embodiment, since the protruding member 15 protrudes inwards rather than outwards, the printing press does not interfere with it, allowing text to be printed at any position on the outer surface of the back panel 14.

[0083] Furthermore, in the above embodiments, the case where the built-in part 13 is pulled forward relative to the housing part 4 or accommodated inside the housing part 4 by the pull-out structure has been described, but the present invention is not limited to this example. For example, the present invention can also be applied when the housing part 4 has an opening on the upper surface side and has a structure for taking out or storing the box-shaped built-in part 13 in the vertical direction. In this case, since the housing part 4 has a protruding member 15 protruding inward, and the built-in part 13 has a protruding receiving part 16, the protruding receiving part 16 accommodates the protruding member 15 when the built-in part 13 is accommodated in the housing part 4, and thus the range of movement of the protruding receiving part 16 of the built-in part 13 is also limited by the protruding member 15 of the housing part 4, so the movement of the built-in part 13 relative to the housing part 4 is restricted.

Claims

1. A robot, possessing: The built-in part, which houses the control components; and The housing portion, which accommodates the internal portion, The robot is characterized in that, The housing portion has a protruding member that extends inward. The built-in portion has a protrusion receiving portion, which receives the protruding member when the built-in portion is received in the housing portion.

2. The robot according to claim 1, characterized in that, The protruding member protrudes in a direction parallel to the direction in which the built-in part is inserted into the housing part.

Images