Robot system

Abstract

To provide a robot system that maintains its performance even in low-humidity environments. [Solution] The robot comprises a base 10, a robot body 20 connected to the base 10, a gas supply unit 300 that supplies gas with higher humidity than the outside of the robot body 20 into the robot body 20, and a supply pipe 310 connected to the gas supply unit 300 and having a supply port 311 that supplies gas, which is arranged inside the robot body 20. The robot body 20 has a spline shaft 51 to which an end effector is attached, and a lubricant that lubricates the spline shaft 51. The supply port 311 blows gas onto the spline shaft 51.

Description

Technical Field

[0001] The present invention relates to a robot system.

Background Art

[0002] Patent Document 1 discloses a configuration of a robot including a supply mechanism for supplying grease (lubricant) to a spline shaft between opposing pulleys and a spline pulley in the axial direction of the spline shaft.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the configuration described in Patent Document 1, when the robot is operated in a low-humidity environment, there is a problem that the lubricant dries out and the operating performance of the robot deteriorates.

Means for Solving the Problems

[0005] The robot system includes a base, a robot body connected to the base, a gas supplier that supplies a gas having a higher humidity than the outside of the robot body into the robot body, and a supply pipe connected to the gas supplier and having a supply port for supplying the gas disposed through the inside of the robot body. The robot body has a work shaft to which an end effector is attached and a lubricant for lubricating the work shaft, and the supply port blows the gas onto the work shaft.

[0006] The robot system comprises a base, a robot body connected to the base, a gas supply unit that supplies gas with a higher humidity than the outside of the robot body into the robot body, and a supply pipe connected to the gas supply unit, with a supply port for supplying the gas located inside the robot body. The robot body has an end-effector attached to an end arm and a drive transmission unit that drives the end arm, and the supply port blows the gas onto the drive transmission unit. [Brief explanation of the drawing]

[0007] [Figure 1] A perspective view showing the configuration of a robotic system with a SCARA robot. [Figure 2] A cross-sectional view showing the configuration of the robot system. [Figure 3] Figure 2 is a cross-sectional view showing an enlarged view of part A of the robot system. [Figure 4] A cross-sectional view showing a magnified view of section B of the robot system shown in Figure 2. [Figure 5] A perspective view showing the configuration of a robot system having a modified 6-axis robot. [Figure 6] A cross-sectional view showing the configuration of a modified robotic system. [Figure 7] A cross-sectional view showing an enlarged view of section C of the robot system shown in Figure 6. [Modes for carrying out the invention]

[0008] The configuration of robot system 1000 will be explained below with reference to the drawings. In the following diagrams, the three mutually orthogonal axes will be described as the X-axis, Y-axis, and Z-axis. The direction along the X-axis will be called the "X direction," the direction along the Y-axis will be called the "Y direction," and the direction along the Z-axis will be called the "Z direction." The direction of the arrow is the + direction, and the direction opposite to the + direction is the - direction. Viewing from the +Z direction or -Z direction is also called a planar view or a planar perspective.

[0009] First, the configuration of the robot system 1000 will be explained with reference to Figures 1 to 4.

[0010] As shown in Figure 1, the robot system 1000 includes a robot 100, a control device 200 that controls the driving of the robot 100, a gas supplyer 300 that supplies gas E into the robot 100, and a gas exhauster 400 that discharges the gas E from inside the robot 100.

[0011] The robot 100 in this embodiment is a SCARA robot, which is an example of a horizontal articulated robot, and is used for various tasks such as holding, transporting, processing, assembling, and inspecting workpieces such as electronic components and mechanical parts. However, the application of the robot 100 is not particularly limited.

[0012] The robot 100 includes a base 10 and a robot body 20 that is rotatably connected to the base 10.

[0013] The base 10 is fixed to a floor surface 11 parallel to the horizontal plane. The base 10 may also be fixed to the ceiling, side walls, etc. of a frame or other structure. A control device 200 is connected to the base 10. The control device 200 may also be located inside the base 10. A gas supply unit 300 is connected to the base 10 via a supply pipe 310. A gas exhaust unit 400 is also connected to the base 10 via a discharge pipe 410.

[0014] As shown in Figure 2, the robot system 1000 includes, as described above, a robot 100, a control device 200, a gas supply 300, and a gas exhaust 400. The robot 100 includes a base 10 and a robot body 20.

[0015] The robot body 20 has its base end connected to the base 10. The robot body 20 has a first arm 30 that rotates around a first rotation axis J1 which is perpendicular to the base 10, and a second arm 40 whose base end is connected to the tip 31 of the first arm 30 and which rotates around a second rotation axis J2 which is perpendicular to the first arm 30.

[0016] A working head 50 is provided at the tip of the second arm 40. The second arm 40 is linear from the second rotation axis J2 to the working head 50, that is, it extends in the Y-axis direction.

[0017] The spline shaft 51 as a working shaft is rotatable about a third rotation axis J3 which is the central axis thereof and along the vertical direction with respect to the second arm 40, and is movable in the vertical direction along the third rotation axis J3. The spline shaft 51 is, for example, a ball screw spline shaft. An end effector (not shown) is attached to the spline shaft 51.

[0018] Inside the robot main body 20, for example, power supply lines, signal lines, etc. extending from inside the base 10 to inside the second arm 40 are housed. These power supply lines, signal lines, etc. are configured as insulated coated cords or cables bundling the cords. By such cords and cables, the control device 200 and the drive unit located inside the second arm cover 41 are electrically connected respectively.

[0019] The robot 100 has a drive unit 32 that connects the base 10 and the first arm 30 and rotates the first arm 30 about the first rotation axis J1 with respect to the base 10, and a drive unit 42 that connects the first arm 30 and the second arm 40 and rotates the second arm 40 about the second rotation axis J2 with respect to the first arm 30.

[0020] The drive units 32 and 42 have motors, speed reducers, encoders, etc. The motors and encoders are electrically connected to the control device 200. The encoder detects the rotational position information of the corresponding motor and transmits it to the control device 200. The centers of the first and second rotation axes J1 and J2 of each of the drive units 32 and 42 are hollow, and the supply pipe 310 described later passes through the hollow portions of the drive units 32 and 42. Thereby, the supply pipe 310 is less likely to be caught by the rotation of the drive units 32 and 42, and damage to the supply pipe 310 can be suppressed.

[0021] The control device 200 is, for example, a controller. The control device 200 transmits the generated control signal to the robot 100 to cause the robot 100 to perform a predetermined operation. Specifically, based on the rotational position information of each motor received from each encoder, the control device 200 controls the energization conditions for each motor via a motor driver (not shown). Thereby, the first arm 30, the second arm 40, and the spline shaft 51 operate respectively, and can perform a desired operation according to a predetermined program.

[0022] As described above, the gas supplier 300 supplies a gas E with a higher humidity inside the robot body 20 than outside the robot body 20. The gas supplier 300 is connected to the base 10 via a supply pipe 310. Specifically, the supply pipe 310 is routed inside the robot body 20 by, for example, a single pipe from the gas supplier 300. The supply port 311, which is the tip of the supply pipe 310, is directed toward the spline shaft 51. In other words, the gas E can be sprayed onto a lubricant 53, which will be described later, by the supply pipe 310 and the supply port 311. The gas E is, for example, a gas in a state where the relative humidity is close to that of the atmosphere, such as standard air, but it only needs to have a higher relative humidity than the gas in the space where the robot body 20 is installed. Also, the supply pipe 310 may be arranged only inside the base 10 without being routed inside the robot body 20. This can simplify the supply pipe 310.

[0023] Furthermore, the supply piping 310 is not limited to a single pipe; the piping from the gas supply unit 300 to the base 10 may be designated as the first supply piping, and the piping from the base 10 to the inside of the robot body 20 may be designated as the second supply piping. Alternatively, the supply piping 310 may pass outside the robot body 20 and be connected to the second arm 40 which has the spline shaft 51. This eliminates the hollow portion of the drive units 32 and 42, simplifying them. In addition, if the supply piping 310 passes outside the robot body 20, the base 10 and the second arm 40 may be directly connected by a rigid pipe member, and the supply piping 310 may pass through the pipe member. This supports the supply piping 310 with the pipe member, preventing it from interfering with the robot body 20 or surrounding objects.

[0024] As described above, the gas exhauster 400 discharges the gas E that accumulates inside the robot body 20 and the base 10. The gas exhauster 400 is connected to the base 10 via the discharge piping 410.

[0025] Furthermore, the discharge piping 410 is not limited to being a single pipe; the piping from the gas discharger 400 to the base 10 may be designated as the first supply piping, and the piping inside the robot body 20 from the base 10 may be designated as the second piping.

[0026] In this way, the gas E supplied into the robot body 20 is discharged to the gas exhauster 400, which suppresses the release of gas E into the external environment. As a result, the inside of the robot body 20 is covered with high-humidity gas E, which suppresses the deterioration of the robot body 20's components, while maintaining a low-humidity environment outside the robot body 20.

[0027] As shown in Figures 1 and 2, a through-hole is provided in the upper part of the second arm cover 41, and the spline shaft 51, which is located on the work head 50, passes through the through-hole in the second arm cover 41 and protrudes upward. The portion of the spline shaft 51 not covered by the second arm cover 41 is covered by the bellows section 52. By covering the spline shaft 51 with the bellows section 52, the airtightness of the spline shaft 51 can be maintained. In this embodiment, the bellows section 52 is provided in the upper part of the second arm 40, but the bellows section 52 may be provided in the lower part of the second arm 40, or in both the upper and lower parts of the second arm 40, or the bellows section 52 may not be provided at all. Furthermore, the through-hole may not be provided in the upper part of the second arm cover 41, and the entire spline shaft 51 may be covered by the second arm cover 41, in which case the bellows section 52 may not be provided in the upper part of the second arm 40.

[0028] As shown in Figure 3, a lubricant 53 is applied to the outer surface of the spline shaft 51 to facilitate its rotational and vertical movement. A supply pipe 310 connected to a gas supply unit 300 is routed and arranged inside the robot body 20. The supply port 311 of the supply pipe 310 is directed toward the spline shaft 51, specifically toward the lubricant 53 applied to the spline shaft 51. In other words, since the supply port 311 is directed toward the lubricant 53, gas E can be blown from the supply port 311 toward the lubricant 53.

[0029] By spraying gas E onto the lubricant 53, it is possible to prevent the lubricant 53 from drying out, thereby preventing deterioration of the robot's operational performance. Specifically, for example, even in low-humidity external environments where lithium-ion batteries are often handled, it is possible to prevent the lubricant 53 from drying out inside the robot body 20.

[0030] The gas E sprayed onto the lubricant 53 remains, or in other words, fills, the inside of the robot body 20 and the base 10. Therefore, as shown in Figure 4, the cable 43 and the band 44 bundling the cable 43 are exposed to the machine body E. The cable 43 is, for example, made of polyvinyl chloride (PVC), a polymer material, and the band 44 is, for example, made of a hygroscopic polymer material (nylon). In addition, the components constituting the lamp 45 are exposed to the gas E. The components constituting the lamp 45 are, for example, made of polycarbonate (PC), a polymer material.

[0031] In this way, by blowing a gas with a higher humidity than the outside of the robot body 20 onto the polymer material parts and hygroscopic parts from the supply port 311, it is possible to suppress the drying and deterioration of these parts, and thus suppress the deterioration of the robot 100's operational performance.

[0032] As shown in Figure 2, a humidity sensor 54 is positioned near the spline shaft 51 coated with lubricant 53 in the robot body 20, specifically in the second arm 40. The humidity sensor 54 detects the humidity of the gas E.

[0033] As the humidity sensor 54 is positioned in this way, it becomes possible to measure the humidity inside the robot body 20, and an environment can be maintained in which lubricants and parts are less likely to deteriorate.

[0034] Furthermore, it is preferable that the control device 200 adjusts the humidity of the gas E supplied by the gas supply unit 300 based on the detection result of the humidity sensor 54. Specifically, the control device 200 compares the humidity value detected by the humidity sensor 54 with a predetermined humidity value stored in a memory unit (not shown), and increases the humidity of the gas E in the gas supply unit 300 if the humidity is lower than the predetermined humidity value, and decreases the humidity of the gas E in the gas supply unit 300 if the humidity is higher than the predetermined humidity value. By adjusting the humidity of the gas E in this way, an appropriate humidity environment can be maintained inside the robot body 20.

[0035] As described above, the robot system 1000 of this embodiment comprises a base 10, a robot body 20 connected to the base 10, a gas supply unit 300 that supplies gas E with a higher humidity than the outside of the robot body 20 into the robot body 20, and a supply pipe 310 connected to the gas supply unit 300 and having a supply port 311 that supplies gas E, which is arranged inside the robot body 20. The robot body 20 has a spline shaft 51 to which an end effector is attached, a lubricant 53 that lubricates the spline shaft 51, and a bellows section 52 that covers the spline shaft 51 and maintains airtightness. The supply port 311 blows gas E onto the spline shaft 51.

[0036] With this configuration, a gas E with higher humidity than the outside of the robot body 20 is sprayed from the supply port 311 onto the lubricant 53 of the spline shaft 51. This prevents the lubricant 53 from drying out, even in low-humidity environments such as those used for lithium-ion batteries, thus preventing deterioration of the robot's performance. The robot 100 is, for example, a SCARA robot, which is a horizontal articulated robot.

[0037] Furthermore, batteries for automotive and industrial use are often handled as workpieces in low-humidity environments. Since batteries are relatively heavy, it is preferable to apply the robot system 1000 of this embodiment to a robot with a large payload capacity capable of carrying heavy batteries, i.e., a high-payload robot.

[0038] Furthermore, the robot system 1000 of this embodiment preferably includes a gas exhauster 400 that discharges the gas E inside the robot body 20 to the outside of the robot body 20, and a discharge pipe 410 connected to the robot body 20. With this configuration, since the gas E supplied into the robot body 20 is discharged to the gas exhauster 400, it is possible to suppress the release of gas E into the external environment, the inside of the robot body 20 is covered with high-humidity gas E, so deterioration of the robot body 20 components is suppressed, and a low-humidity environment can be maintained outside the robot body 20.

[0039] Furthermore, in the robot system 1000 of this embodiment, it is preferable that a humidity sensor 54 for detecting the humidity of the gas E inside the robot body 20 is provided in the robot body 20. With this configuration, since the humidity sensor 54 is provided, it becomes possible to measure the humidity inside the robot body 20, and an environment can be maintained in which the lubricant 53 does not dry out and the parts do not deteriorate easily.

[0040] Furthermore, in the robot system 1000 of this embodiment, it is preferable to have a control device 200, which adjusts the humidity of the gas E supplied by the gas supplyer 300 based on the detection result of the humidity sensor 54. With this configuration, since the humidity of the gas E is adjusted, the inside of the robot body 20 can be maintained in an appropriate humidity environment.

[0041] Furthermore, in the robot system 1000 of this embodiment, it is preferable that the robot body 20 be installed in a low-humidity environment. With this configuration, since it is installed in a low-humidity environment, it is possible to perform tasks such as handling lithium-ion batteries, and the inside of the robot body 20 can be covered with a high-humidity gas E. Therefore, deterioration of the components of the robot body 20 is suppressed, and a low-humidity environment can be maintained outside the robot body 20.

[0042] Furthermore, in the robot system 1000 of this embodiment, it is preferable that the supply port 311 blows gas E onto at least one of the polymer material component and the hygroscopic component. With this configuration, gas E with a higher humidity than the outside of the robot body 20 is blown from the supply port 311 onto the polymer material component and the hygroscopic component, so that drying of these components can be suppressed, and deterioration of the operating performance of the robot 100 can be suppressed.

[0043] The following describes some variations of the embodiments described above.

[0044] As stated above, the robot system 1000 is not limited to having a SCARA robot, but may also be a robot system 1000A having a 6-axis robot, which is an example of a vertical articulated robot.

[0045] Specifically, as shown in Figures 5 and 6, the modified robot system 1000A includes a robot 100A, a control device 200 that controls the driving of the robot 100A, a gas supplyer 300 that supplies gas E into the robot 100A, and a gas exhauster 400 that discharges the gas E from inside the robot 100A.

[0046] The robot body 20A includes a first arm 510 that rotates around a first rotation axis J1 relative to the base 10, a second arm 520 that rotates around a second rotation axis J2 relative to the first arm 510, a third arm 530 that rotates around a third rotation axis J3 relative to the second arm 520, a fourth arm 540 that rotates around a fourth rotation axis J4 relative to the third arm 530, a fifth arm 550 as an end-effector that rotates around a fifth rotation axis J5 relative to the fourth arm 540, and a sixth arm 560 as an end-effector that rotates around a sixth rotation axis J6 relative to the fifth arm 550. An end effector is connected to the tip of the sixth arm 560.

[0047] Inside the fourth arm 540 are a power transmission belt 1100 wrapped around a pulley attached to a reduction gear (not shown), and a power transmission belt 1200 wrapped around a pulley attached to a bevel gear (not shown). The power transmission belts 1100 and 1200 are made of, for example, rubber or nylon. The reduction gear and bevel gear are supplied with the driving force of a motor (not shown).

[0048] The supply piping 310 is routed from the gas supply unit 300 to the inside of the robot body 20A by a single pipe, similar to the embodiment described above. As shown in Figure 7, the supply port 311, which is the tip of the supply piping 310, is directed toward the power transmission belts 1100 and 1200, which serve as the drive transmission unit.

[0049] In this way, by blowing gas E, which has a higher humidity than the outside of the robot body 20A, onto the power transmission belts 1100 and 1200, it is possible to prevent the power transmission belts 1100 and 1200 from drying out, even in a low-humidity environment, and thus prevent deterioration of the operating performance of the robot 100A.

[0050] Furthermore, as described above, the supply port 311 is not limited to being positioned toward the power transmission belts 1100 and 1200, but may also be positioned toward other polymer material parts or hygroscopic parts, for example. This allows gas E to be blown onto polymer material parts or hygroscopic parts that are prone to deterioration in low-humidity environments.

[0051] As described above, in the modified robot system 1000A, the system comprises a base 10, a robot body 20A connected to the base 10, a gas supply unit 300 that supplies a gas E with higher humidity than the outside of the robot body 20A into the robot body 20A, and a supply pipe 310 connected to the gas supply unit 300 and having a supply port 311 that supplies gas E, which is arranged inside the robot body 20A. The robot body 20A has arms 550, 560 to which end effectors are attached, and power transmission belts 1100, 1200 that drive the arms 550, 560, and the supply port 311 blows gas E onto the power transmission belts 1100, 1200.

[0052] With this configuration, a gas E with higher humidity than the outside of the robot body 20A is blown onto the power transmission belts 1100 and 1200 from the supply port 311. Therefore, even in low-humidity environments where lithium-ion batteries are handled, for example, it is possible to prevent the power transmission belts 1100 and 1200 from drying out, thereby preventing deterioration of the operating performance of the robot 100A. The robot 100A is, for example, a 6-axis robot, which is a vertical articulated robot.

[0053] Furthermore, in the modified robot system 1000A, it is preferable to include a gas exhauster 400 that discharges the gas E inside the robot body 20A to the outside of the robot body 20A, and a discharge pipe 410 connected to the robot body 20A. With this configuration, since the gas E supplied into the robot body 20A is discharged to the gas exhauster 400, it is possible to suppress the release of gas E into the external environment, and the inside of the robot body 20A is covered with high-humidity gas E, so deterioration of the components of the robot body 20A is suppressed, and a low-humidity environment can be maintained outside the robot body 20A.

[0054] Furthermore, in the modified robot system 1000A, it is preferable that a humidity sensor 54 for detecting the humidity of the gas E inside the robot body 20A is provided in the robot body 20A. With this configuration, since the humidity sensor 54 is provided, it becomes possible to measure the humidity inside the robot body 20A, and an environment can be maintained in which the lubricant 53 and parts are less likely to deteriorate.

[0055] Furthermore, in the modified robot system 1000A, it is preferable to have a control device 200, which adjusts the humidity of the gas E supplied by the gas supplyer 300 based on the detection result of the humidity sensor 54. With this configuration, since the humidity of the gas E is adjusted, the inside of the robot body 20A can be maintained in an appropriate humidity environment.

[0056] Furthermore, in the modified robot system 1000A, it is preferable that the robot body 20A be installed in a low-humidity environment. With this configuration, since it is installed in a low-humidity environment, it is possible to perform tasks such as handling lithium-ion batteries, and the inside of the robot body 20A can be covered with a high-humidity gas E. Therefore, deterioration of the components of the robot body 20A is suppressed, and a low-humidity environment can be maintained outside the robot body 20A.

[0057] Furthermore, in the modified robot system 1000A, it is preferable that the supply port 311 blows gas E onto at least one of the polymer material component and the hygroscopic component. With this configuration, gas E with a higher humidity than the outside of the robot body 20A is blown from the supply port 311 onto the polymer material component and the hygroscopic component, so that drying of these components can be suppressed, and deterioration of the operating performance of the robot 100A can be suppressed. [Explanation of Symbols]

[0058] 10…Base, 11…Floor, 20,20A…Robot body, 30…First arm, 31…Tip, 32…Drive unit, 40…Second arm, 41…Second arm cover, 42…Drive unit, 43…Cable, 44…Band, 45…Ramp, 50…Work head, 51…Spline shaft as work shaft, 52…Bellows section, 53…Lubricant, 54…Humidity sensor, 100,100A…Robot, 200…Control Device, 300...gas supplyer, 310...supply piping, 311...supply port, 400...gas exhauster, 410...exhaust piping, 510...first arm, 520...second arm, 530...third arm, 540...fourth arm, 550...fifth arm as end-effector, 560...sixth arm as end-effector, 1000, 1000A...robot system, 1100, 1200...power transmission belt as drive transmission unit.

Claims

1. Base and, The robot body connected to the base, A gas supplyer that supplies gas with a higher humidity than the outside of the robot body into the robot body, A supply pipe is connected to the gas supplyer, and the supply port for supplying the gas is arranged to pass through the inside of the robot body, Equipped with, The robot body is, A work shaft to which an end effector can be attached, A lubricant for lubricating the aforementioned working shaft, It has, The supply port is a robotic system that blows the gas onto the work shaft.

2. A robot system according to claim 1, A gas discharger for discharging the gas from the robot body to the outside, The discharge piping connected to the robot body, A robotic system equipped with the following features.

3. A robot system according to claim 1, A robot system comprising a robot body equipped with a humidity sensor for detecting the humidity of the gas inside the robot body.

4. A robot system according to claim 3, It has a control device, The control device is a robotic system that adjusts the humidity of the gas supplied by the gas supplier based on the detection result of the humidity sensor.

5. A robot system according to claim 1, The robot body is a robot system installed in a low-humidity environment.

6. A robot system according to claim 1, The supply port is a robotic system that blows the gas onto at least one of the polymer material component and the hygroscopic component.

7. Base and, The robot body connected to the base, A gas supplyer that supplies gas with a higher humidity than the outside of the robot body into the robot body, A supply pipe is connected to the gas supplyer, and the supply port for supplying the gas is arranged to pass through the inside of the robot body, Equipped with, The robot body is, A hand-held arm to which an end effect pedal can be attached, A drive transmission unit that drives the end-effector arm, It has, The supply port is a robot system that blows the gas onto the drive transmission section.

8. A robot system according to claim 7, A gas discharger that discharges the gas inside the robot body to the outside of the robot body, The discharge piping connected to the robot body, A robotic system equipped with the following features.

9. A robot system according to claim 7, A robot system comprising a robot body equipped with a humidity sensor for detecting the humidity of the gas inside the robot body.

10. A robot system according to claim 9, It has a control device, The control device is a robotic system that adjusts the humidity of the gas supplied by the gas supplier based on the detection result of the humidity sensor.

11. A robot system according to claim 7, The robot body is a robot system installed in a low-humidity environment.

12. A robot system according to claim 7, The supply port is a robotic system that blows the gas onto at least one of the polymer material component and the hygroscopic component.

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