Robot

Abstract

To provide a desktop robot capable of reducing a projection amount of a connector shell in a state where the connector shell of a cable of an operation device is connected to a body part.SOLUTION: A desktop robot 1 includes a recessed part 11 which is formed in a shape recessed facing inside in a body part 2 and in which a connector 12 connectable to an operation device for operating a tool installed in the body part 2 is installed. In the recessed part 11, a length from an end part of the body part 2 to the connector 12 is equal to or longer than a length of a connector shell of a cable of the operation device.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a robot.

Background Art

[0002] A desktop robot is an example of a robot and has linear motion mechanisms in three directions: the X direction, the Y direction, and the Z direction. The linear motion mechanisms enable the tool to move three-dimensionally relative to the workpiece. Depending on the type of tool attached, the desktop robot performs operations such as assembling workpieces, applying adhesives, tightening screws, soldering, and cutting workpieces.

[0003] When the desktop robot is used as a so-called semi-automatic machine, the operator may work near the desktop robot, and the workpiece before processing may be placed on the robot main body by the operator, or the workpiece after processing may be removed from the robot main body. In addition, the desktop robot has an ON / OFF switch, an operation changeover switch, and a display unit installed on the front panel, and the operation may be performed on the front panel by the operator.

[0004] Patent Document 1 below discloses that the operation unit is electrically connected to the robot main body by a cable and is detachable from the robot main body. The operation unit is provided with an operation switch, a light emitting unit, and an emergency stop button.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] When an operating device (such as an operating unit and a display unit like a remote control, a teaching pendant, etc.) can be connected to the desktop robot by a cable, a main body side connector for cable connection is provided on the front, side, back, etc. of the desktop robot. And a connector is also provided at the tip of the cable, and the connector at the tip of the cable is covered by a connector shell made of metal or plastic.

[0007] When a main body side connector is provided on the front of the desktop robot and the cable is connected, the connector shell at the tip of the cable is fixed in a state of protruding from the front of the desktop robot. Therefore, when the desktop robot is installed on the workbench, if the frontmost part of the desktop robot is close to the end of the workbench, the connector shell and the cable may be located outside the end of the workbench.

[0008] In this state, the operator may contact the connector shell without noticing the presence of the connector shell, which may cause injury to the operator or damage to the connector. Also, if the desktop robot is installed deeper into the workbench so that the connector shell and the cable do not protrude outside the workbench, the effective space of the workbench will be reduced.

[0009] The present invention has been made in view of such circumstances, and an object thereof is to provide a robot capable of reducing the protruding amount of the connector shell of the cable of the operating device in a state where the connector shell of the cable of the operating device is connected to the main body portion.

Means for Solving the Problems

[0010] In order to solve the above problems, the robot of the present invention employs the following means. That is, the robot according to the present invention includes a recess formed in a concave shape toward the inside of the main body portion, and a recess provided with a main body side connector that can be connected to an operating device for operating a tool installed in the main body portion. In the recess, the length from the end of the main body portion to the main body side connector is equal to or greater than the length of the connector shell of the cable of the operating device.

[0011] According to this configuration, the recess is formed in a concave shape in the main body portion toward the inside of the main body portion, and a main body side connector connectable to an operating device for operating a tool installed in the main body portion is installed in the recess. The tool can perform operations on the workpiece installed in the main body portion (for example, assembly of workpieces, application of adhesives, etc. to the workpiece, screwing, soldering, cutting of the workpiece, etc.). In the recess, the length from the end of the main body portion to the main body side connector is equal to or greater than the length of the connector shell of the cable of the operating device. The main body side connector can be connected to the connector shell. Thereby, when the connector shell of the cable is connected to the main body side connector, since the connector shell is accommodated in the recess, the connector shell does not protrude from the end of the main body portion.

[0012] In the above invention, the workpiece installation portion disposed in the main body portion and on which the workpiece can be installed is further provided, and the recess may be open to the workpiece installation portion side.

[0013] According to this configuration, the workpiece installation portion on which the workpiece can be installed is disposed in the main body portion, and the recess is open to the workpiece installation portion side. Thereby, the operator can attach and detach the connector shell to and from the main body side connector while visually recognizing the main body side connector.

[0014] In the above invention, the workpiece installation portion is movable in the axial direction in the main body portion, and the recess may be formed along the axial direction.

[0015] According to this configuration, the workpiece installation portion moves in the axial direction of the main body portion, and the recess is formed in the panel portion along the axial direction in which the workpiece installation portion moves. Therefore, when the workpiece installation portion moves to the recess side, the workpiece installation portion is located near the recess. Since the recess is formed in a concave shape in the main body portion, the connector shell connected to the main body side connector installed in the recess is less likely to interfere with the workpiece installation portion. The workpiece installation portion is located near the recess and is away from the switch, display portion, or emergency stop button.

[0016] When a switch, a display unit, or an emergency stop button related to the operation of the main body is installed in a part other than the recessed part, even when the work installation part moves to the recessed part side, the operator can operate the switch or the emergency stop button without interfering with the work installation part and can check the display on the display unit.

Advantages of the Invention

[0017] According to the present invention, the protruding amount of the connector shell of the cable of the operating device can be reduced in a state where the connector shell is connected to the main body.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0019] Hereinafter, a desktop robot 1 (robot) according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 1 to 3, the desktop robot 1 includes a main body 2 and the like. The desktop robot 1 moves the tool and the workpiece by a linear motion mechanism in three directions, namely the X direction, the Y direction, and the Z direction, in the main body 2, and the tool can move three-dimensionally relative to the workpiece. The desktop robot 1 performs operations such as assembly of workpieces, application of adhesives and the like to workpieces, screwing, soldering, and cutting of workpieces according to the type of the attached tool.

[0020] The main body 2 incorporates a control unit, a storage unit, and the like. The control unit controls the driving of motors and the like, and controls the display unit 15. By the control unit controlling the driving of motors and the like, the table 6, the unit 9, and the tool fixing part 10 move. The storage unit stores programs and various information for causing the control unit to perform various controls.

[0021] The main body 2 includes a panel part 3, a base 4, and a support part 5. The workpiece to be processed is placed on the table 6 of the base 4, and a tool corresponding to the processing to be performed on the workpiece is installed on the tool fixing part 10 of the support part 5. The tool can perform operations on the workpiece (for example, assembly of workpieces, application of adhesives and the like to workpieces, screwing, soldering, cutting of workpieces, etc.).

[0022] The panel part 3 is installed at the front end part 4a located on the front side of the base 4. The panel part 3 has a shape that bulges outward from the front end part 4a of the base 4 when installed on the base 4. For example, as shown in FIG. 1, in the panel part 3, the upper surface 3a is inclined obliquely forward from a position lower than the upper surface of the base 4, and the front surface 3b is perpendicular to the horizontal plane. Also, in the panel part 3, the side surface 3c is perpendicular to the horizontal plane, and the side surface 3c of the panel part 3 is provided at a position inside the side surface of the base 4.

[0023] The base 4 includes, on its upper surface, a table 6 (work placement section) having, for example, a flat plate shape. The table 6 is moved along an axial direction parallel to the direction connecting the front end portion 4a of the base 4 and the rear end portion 4b of the base 4 located on the side opposite to the front end portion 4a by an X-axis mechanism provided on the base 4. That is, the table 6 moves in the front-rear direction of the main body portion 2. As shown in FIGS. 1 and 2, the table 6 moves in the front-rear direction, for example, near the central portion in the width direction (left-right direction) of the base 4. The X-axis mechanism operates by driving a motor. A work to be processed is attached to the table 6.

[0024] The support portion 5 has a vertical portion 7 fixed to the base 4 and provided in the vertical direction, and a horizontal portion 8 provided in the width direction of the main body portion 2 at the upper portion of the base 4. In the example shown in FIG. 1 and the like, the left end portion of the horizontal portion 8 is connected to the upper portion of the vertical portion 7.

[0025] In the example shown in FIGS. 1 to 3, one vertical portion 7 is installed on the upper surface of the base 4, and only one end of the horizontal portion 8 is supported by the vertical portion 7. Note that, in the present embodiment, the configuration of the support portion 5 is not limited to this example. For example, the vertical portion 7 may be fixed to the side surface of the base 4. Further, two vertical portions 7 may be installed, one on each of the left and right sides of the base 4, and both the left end portion and the right end portion of the horizontal portion 8 may be supported by the vertical portions 7.

[0026] The horizontal portion 8 includes a unit 9, and the unit 9 is moved in the left-right direction of the main body portion 2 by a Y-axis mechanism provided on the horizontal portion 8. The Y-axis mechanism operates by driving a motor.

[0027] The unit 9 includes a tool fixing portion 10, and the tool fixing portion 10 is moved in the up-down direction of the main body portion 2 by a Z-axis mechanism provided on the unit 9. The Z-axis mechanism operates by driving a motor. Tools such as a screw tightening driver and a soldering iron are attached to the tool fixing portion 10.

[0028] On the front surface of the base 4, as shown in FIG. 1, an opening 4A is formed so that the rear side of the panel portion 3 is accommodated. The base 4 is, for example, a casting and is a member having a thickness. When the opening 4A of the base 4 is formed by cutting, a cut surface is generated. When the width of the opening 4A is narrower than the width of the base 4 and the opening 4A is formed so as to notch the front surface of the base 4, the cut surface is formed so as to face the side surface 3c of the panel portion 3. Therefore, since the cut surface does not face the outside of the base 4 and is not exposed on the outer surface, the cut surface that is likely to rust can be hidden inside, and the appearance can be improved.

[0029] Note that the panel portion 3 is provided integrally with a tray (not shown) built in the base 4, and the panel portion 3 and the tray can be pulled forward with respect to the base 4. Further, the panel portion 3 and the tray pulled forward can be moved to the base 4 side so that the tray is accommodated inside the base 4. Thereby, the user can perform maintenance on the control unit, the storage unit, the X-axis mechanism, etc. accommodated inside the base 4.

[0030] On the surface of the panel portion 3, a connector 12, a switch 14 related to the operation of the main body portion 2 or the tool, a display portion 15, an emergency stop button 16, etc. are installed. The switch 14 has functions such as, for example, switching the ON / OFF of the power supply of the desktop robot 1 and switching the operation of the main body portion 2 or the tool by a program. In the panel portion 3, one or more of the switch 14, the display portion 15, and the emergency stop button 16 may be installed, or all of them may be installed. Also, none of the switch 14, the display portion 15, and the emergency stop button 16 may be installed.

[0031] On the front surface of the panel portion 3 of the main body portion 2, as shown in FIGS. 1 to 3, a concave portion 11 is formed in a concave shape toward the inside of the main body portion 2. The concave portion 11 is formed near the central portion in the width direction of the panel portion 3. The concave portion 11 is formed such that the upper portion of the panel portion 3 is open. As shown in FIG. 2, the concave portion 11 has a bottom surface 11a parallel to the horizontal plane, a rear surface 11b perpendicular to the bottom surface 11a and located behind the concave portion 11, and side surfaces 11c perpendicular to the bottom surface 11a and located on both the left and right sides of the concave portion 11. Note that the shape of the concave portion 11 according to the present embodiment is not limited to this example, and may include an inclined surface or a curved surface as long as it is concave toward the inside of the main body portion 2.

[0032] In the present embodiment, the case where the main body portion 2 and the panel portion 3 and the base 4 are separate bodies has been described, but the present invention is not limited to this example. That is, the main body portion may have a configuration in which the panel portion and the base are integrated. Also in this case, a concave portion is formed on the front surface of the main body portion, that is, the surface on the panel portion side.

[0033] A connector 12 (main body side connector) is installed in the concave portion 11. As shown in FIG. 4, the connector 12 is detachable from a cable 30 that is connected to an operating device (for example, an operating unit such as a remote control, a display unit, a teaching pendant, etc.). The connector 12 is provided on the rear surface 11b of the concave portion 11.

[0034] As shown in FIG. 5, a connector shell 31 is provided at the tip of the cable 30 of the operating device. The cable 30 may be fixed to the operating device or may be detachable from the operating device. The connector shell 31 covers a plurality of wirings 35 provided at the tip of the cable 30 of the operating device and branched inside. A connector body 32 is provided at the tip of the connector shell 31, and a plurality of pins arranged in the connector body 32 are each connected to one of the wirings 35. The connector body 32 and the plurality of wirings 35 are sandwiched between a cover 33 on one side and a cover 34 on the other side and housed inside the covers 33 and 34. The cover 33 and the cover 34 are integrated by being tightened with a cover nut 36. The length L of the connector shell 31 is, for example, the length from the tip of the connector body 32 to the rear end of the cover nut 36 as shown in FIG. 5.

[0035] As shown in FIG. 4, in the recess 11, the length from the front surface 3b of the panel portion 3 (the end portion of the main body portion 2) to the connector 12 is equal to or greater than the length L of the connector shell 31 at the tip of the cable 30. Thereby, when the connector shell 31 of the cable 30 is connected to the connector 12, the connector shell 31 is housed inside the recess 11.

[0036] Thereby, compared with the conventional example in which the recess 11 is not formed and the connector is installed on the foremost surface of the panel portion 3 (the foremost surface of the main body portion 2) and the cable is connected, as shown in FIG. 4, the desktop robot 1 according to the present embodiment has a reduced protrusion amount of the cable 30 and the connector shell 31 when the cable 30 is connected to the connector 12.

[0037] The width of the recess 11 may be a width in which two or more connectors 12 can be installed side by side in the recess 11 (see FIGS. 1 to 4), or may be a width in which one connector 12 can be installed in the recess 11 (see FIG. 7).

[0038] Further, the concave portion 11 is open on the side of the table 6 where the workpiece is placed in the main body portion 2. For example, since at least the upper portion of the panel portion 3 is open, the operator can attach and detach the cable 30 to and from the connector 12 while visually recognizing the connector 12. For example, different from the present embodiment, when the concave portion where the connector is installed is formed in the lower portion of the panel portion and the upper portion of the panel portion covers the connector, the operator cannot visually recognize the position of the connector in a standing posture. Therefore, in order to attach and detach the cable, it is necessary to bend down to lower the line of sight. On the contrary, in the present embodiment, since the position of the connector 12 can be directly visually recognized, the working efficiency is high.

[0039] As shown in FIG. 2, the rear surface 11b of the concave portion 11 is provided so as to be set at a position in front of the front end portion 4a of the base 4. When the rear surface 11b of the concave portion 11 is set at the same position as the front end portion 4a of the base 4, the rear surface 11b of the concave portion 11 may be slightly displaced forward or backward with respect to the front end portion 4a of the base 4 due to the assembly and insertion / removal of the panel portion 3. Therefore, since the appearance and fit are poor for the operator, it takes time to adjust the position of the panel portion 3. On the contrary, since the rear surface 11b of the concave portion 11 is set at a position in front of the front end portion 4a of the base 4, even when the position is displaced due to the assembly and insertion / removal of the panel portion 3 and the tray, there is no difference in appearance and fit with respect to the front end portion 4a of the base 4 for a slight difference in position. Therefore, the operator does not need to spend time adjusting the position of the panel portion 3, and can efficiently assemble and insert / remove the panel portion 3.

[0040] As shown in FIGS. 1 to 4, the recess 11 is formed in the panel portion 3 along the axial direction in which the table 6 moves. The recess 11 formed in the panel portion 3 is outside the base 4 provided with the table 6, and can be said to be formed in the vicinity of the extension line in the axial direction in which the table 6 moves, or along the extension line in the axial direction. Thereby, when the table 6 moves to the panel portion 3 side, that is, in front of the base 4, the table 6 is positioned in the vicinity of the recess 11. Since the recess 11 is formed in a concave shape in the panel portion 3, the cable 30 connected to the connector 12 installed in the recess 11 is less likely to interfere with the table 6.

[0041] As shown in FIGS. 1 to 4, in a portion different from the recess 11 in the panel portion 3, for example, on the upper surface 3a inclined forward of the panel portion 3, a switch 14, a display portion 15, or an emergency stop button 16 is installed. When the table 6 moves to the panel portion 3 side, the table 6 is positioned in the vicinity of the recess 11 and is separated from the switch 14, the display portion 15, or the emergency stop button 16. Even when the table 6 moves to the panel portion 3 side, the operator can operate the switch 14 or the emergency stop button 16 or check the display on the display portion 15 without interfering with the table 6 or the workpiece fixed to the table 6. In particular, when the operator operates the switch 14 or the emergency stop button 16 on the panel portion 3, there is no risk of pinching a hand or the like between the table 6 and the panel portion 3 or between the workpiece fixed to the table 6 and the panel portion 3.

[0042] As shown in FIG. 6, a cover portion 13 may be separately installed in the recess 11. The cover portion 13 is detachable from the recess 11 and can cover the connector 12 (see FIG. 1) when installed in the recess 11. As a result, since the connector 12 is covered by the cover portion 13, the influence of liquid, chips, etc. during workpiece processing can be reduced. An opening 13A is formed in the cover portion 13 so that a cable 30 (see FIG. 4) connected to the connector 12 is inserted therethrough. The opening 13A has, for example, a notch shape as shown in FIG. 6. By providing, for example, a magnet on the rear side of the cover portion 13, the entire cover portion 13 can be attached to and detached from the steel panel portion 3.

[0043] In the above-described embodiment, the case where the table 6 moves in the front-rear direction near the central portion in the width direction of the base 4 and the recess 11 is formed near the central portion in the width direction of the panel portion 3 has been described. However, the present invention is not limited to this example.

[0044] That is, as shown in FIG. 7, when the table 6 moves in the front-rear direction near the end portion in the width direction of the base 4, that is, near the right end portion or the left end portion of the base 4, the recess 11 may be provided at the right end portion or the left end portion of the panel portion 3. In this case, the recess 11 has a bottom surface 11a parallel to the horizontal plane, a rear surface 11b perpendicular to the bottom surface 11a and located behind the recess 11, and a side surface 11c perpendicular to the bottom surface 11a and located on the left side or the right side of the recess 11. The connector 12 is provided on the rear surface 11b of the recess 11. The recess 11 is formed in the panel portion 3 along the axial direction in which the table 6 moves. As a result, when the table 6 moves toward the panel portion 3 side, that is, forward of the base 4, the table 6 is located near the recess 11 and is separated from the switch 14, the display portion 15, or the emergency stop button 16. Therefore, even when the table 6 moves toward the panel portion 3 side, the operator can operate the switch 14 or the emergency stop button 16 or check the display on the display portion 15 without interfering with the table 6 or the workpiece fixed to the table 6.

[0045] As described above, according to the present embodiment, in the panel portion 3, a concave portion 11 is formed in a concave shape toward the inside of the main body portion 2 in the main body portion 2. A connector 12 is installed in the concave portion 11. When a cable 30 is connected to the connector 12, the entire connector shell 31 is accommodated inside the concave portion 11. Therefore, in the desktop robot 1 according to the present embodiment, when the cable 30 is connected to the connector 12, the protruding amounts of the cable 30 and the connector shell 31 are reduced.

[0046] Conventionally, when a connector is provided on the front panel of a desktop robot and a cable is connected to the front panel, the connector shell at the tip of the cable is fixed in a state of protruding from the front. Therefore, an operator may accidentally come into contact with the connector shell without noticing its presence. In addition, in order to avoid contact with the operator, if the desktop robot is installed by shifting it toward the back of the workbench, the effective space of the workbench will be reduced.

[0047] On the other hand, in the present embodiment, since the connector 12 is installed in the concave portion 11, the protruding amounts of the cable 30 and the connector shell 31 are reduced. As a result, it becomes difficult for the operator to contact the connector shell 31, and the risk of injury to the operator and damage to the connector is reduced. In addition, it is not necessary to install the desktop robot 1 on the back side of the workbench so that the cable 30 and the connector shell 31 are not located outside the workbench, and it can be installed on the front side. Therefore, the desktop robot 1 can be installed on the workbench without reducing the effective space of the workbench.

[0048] In the above-described embodiment, an example in which the concave portion 11 is formed along the axial direction in which the table 6 moves in the panel portion 3 has been described. However, the present invention is not limited to this example. That is, the concave portion 11 may be formed in a portion away from the vicinity of the axial direction in which the table 6 moves. Also in this case, when the cable 30 is connected to the connector 12 installed in the concave portion 11, the entire connector shell 31 is accommodated inside the concave portion 11, and the protruding amounts of the cable 30 and the connector shell 31 are reduced.

Description of Reference Numerals

[0049] 1: Desktop robot (robot) 2: Main body part 3: Panel part 4: Base 4A: Opening 5: Support part 6: Table (work placement part) 7: Vertical part 8: Horizontal part 9: Unit 10: Tool fixing part 11: Concave part 12: Connector 13: Cover part 13A: Opening 14: Switch 15: Display part 16: Emergency stop button 30: Cable 31: Connector shell

Claims

Claim 1 A recess is formed in a concave shape on the main body portion facing inward, and the recess is provided with a main body side connector that can be connected to an operating device for operating a tool installed on the main body portion. The robot according to claim 1, wherein in the recess, the length from the end of the main body portion to the main body side connector is equal to or greater than the length of the connector shell of the cable of the operating device. Claim 2 The robot further includes a work installation portion disposed on the main body portion, on which a work can be installed. The robot according to claim 1, wherein the recess is open to the work installation portion side. Claim 3 The work installation portion is movable in the axial direction in the main body portion. The robot according to claim 2, wherein the recess is formed along the axial direction.

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