Conveying equipment and machine tools

Abstract

To provide a conveyance device and a machine tool, which can be reduced in size and weight.SOLUTION: A conveyance device includes: a hand which grips an object; an arm which conveys the object gripped by the hand; a drive section which drives the hand and the arm; driving wires (a first cable 311, a second cable 441, and a twisting-resistant cable 631) extending from the drive section; connectors (a power supply connector 312, a power supply connector 442, and a power supply connector 632) for connecting the driving wires to a supply wire extending from a power supply source for supplying power to the drive section; a hollow base 2 which supports the arm; and a storage chamber 21 which is provided inside the base 2 and stores the connectors.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a conveying device and a machine tool. [Background technology]

[0002] 2. Description of the Related Art In recent years, conveying devices for conveying objects such as tools or workpieces have become widespread. The transfer device described in Patent Document 1 includes a hand and an arm. The hand holds an object. The object held by the hand rotates and moves together with the hand. The arm transfers the object held by the hand, for example, inside and outside a machine tool. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-160033 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the wiring extending from the drive unit that drives the hand or arm is connected to the wiring extending from the power supply source via a connector, there is a risk that foreign matter will adhere to the connection part made by the connector and cause a malfunction (e.g., an electric leakage). Here, the foreign matter is, for example, a liquid having electrical conductivity, such as water or cutting oil containing cutting chips. In the following, liquid foreign matter will be exemplified as the foreign matter, and liquid foreign matter will simply be referred to as foreign matter unless otherwise specified.

[0005] When the transport device has a hollow base that supports the arm, the entire base may be made liquid-tight and a connector may be placed inside the base. There is no risk of foreign matter entering the liquid-tight inside of the base. However, since a large number of parts are required to make the entire base liquid-tight, it is not possible to reduce the size and weight of the transport device.

[0006] An object of the present disclosure is to provide a conveying device and a machine tool that can be made smaller and lighter. [Means for solving the problem]

[0007] The conveying device according to the present disclosure is characterized by comprising a hand for gripping an object, an arm for transporting the object gripped by the hand, a drive unit for driving the hand or the arm, drive wiring extending from the drive unit, a connector for connecting the drive wiring to supply wiring extending from a power supply source that supplies power to the drive unit, a hollow base for supporting the arm, and a storage chamber provided inside the base for accommodating the connector.

[0008] In the present disclosure, drive wiring extends from a drive unit that drives a hand or an arm, and supply wiring extends from a power supply source that supplies power to the drive unit. The drive wiring and the supply wiring are connected to each other via a connector. The connector is housed in a receiving chamber provided inside the hollow base. Since the connector is surrounded by a double wall, it is possible to prevent foreign matter from adhering to the connection part of the connector. Therefore, it is not necessary to make the entire base liquid-tight. In other words, since the members required to make the base liquid-tight can be omitted, the number of parts can be reduced, making the conveying device smaller and lighter.

[0009] The conveying device according to the present disclosure is characterized in that the storage chamber has a bottom opening covered by an elastic member, and the drive wiring and the supply wiring each pass through the elastic member and are arranged from the inside of the storage chamber to the outside of the storage chamber.

[0010] In the present disclosure, the storage chamber has a bottom opening. Since the elastic member covers the bottom opening, there is no risk of foreign matter entering the accommodation chamber through the bottom opening. Moreover, since the drive wiring and the supply wiring each pass through the elastic member and hang down from the accommodation chamber, there is no risk of foreign matter entering the accommodation chamber via the drive wiring or the supply wiring. There is no risk of the drive wiring and the supply wiring being broken due to an external force applied from the elastic member.

[0011] The conveying device of the present disclosure is characterized in that the base has an opening for arranging each of the drive wiring and the supply wiring from the inside of the base to the outside of the base, and the opening is located below the storage chamber.

[0012] In the present disclosure, the base has an opening. The drive wiring and the supply wiring are each arranged from the inside to the outside of the base through the opening. Since the opening of the base is located below the accommodation chamber, there is no risk of foreign matter entering the accommodation chamber through the opening of the base.

[0013] The transport device according to the present disclosure is characterized in that the arm is hollow and has a drain port provided in the arm for draining liquid that has entered inside the arm.

[0014] In the present disclosure, the arms are hollow. Any foreign matter that has entered the inside of the arm passes through the outlet and is discharged to the outside of the arm, thereby preventing foreign matter from accumulating inside the arm.

[0015] The conveying device of the present disclosure is characterized in that the arm is swingable and can be stopped in a home position with its longitudinal direction facing up and down, and the discharge outlet is located at the bottom of the arm when the arm is in the home position.

[0016] In the present disclosure, the discharge port of the arm is located under the arm when the arm is in the home position. By returning the arm to the home position when not transporting, foreign matter that has entered the inside of the arm passes through the discharge port and naturally exits from the inside of the arm. This further prevents foreign matter from accumulating on the inside of the arm.

[0017] The transport device according to the present disclosure is characterized in that the drive section and the drive wiring are both water resistant and oil resistant.

[0018] In the present disclosure, since the drive unit and the drive wiring are both water-resistant and oil-resistant, there is no need to provide a liquid-proof chamber to house the drive unit, or a liquid-proof path through which the drive wiring should pass, etc. Therefore, the members for constituting the liquid-proof chamber or the liquid-proof path, etc. can be omitted, and the number of parts can be reduced, making the conveying device smaller and lighter.

[0019] The conveying device according to the present disclosure is characterized in that the drive unit includes a motor that drives the hand or the arm via a reduction mechanism, and further includes a seal that is interposed between the motor or the reduction mechanism and a member adjacent to the motor or the reduction mechanism to liquid-tightly seal the lubricant interposed between the input shaft and the output shaft of the reduction mechanism, and a casing that houses the motor, the reduction mechanism, and the seal.

[0020] In the present disclosure, the drive unit includes a motor, and the motor drives the hand or the arm via a reduction mechanism. A seal is interposed between the reduction mechanism and a member adjacent to the reduction mechanism. The casing houses the motor, the reduction mechanism, and the seal. A lubricant is interposed between the input shaft and output shaft of the reduction mechanism. The seal seals the lubricant liquid-tight, so it is possible to prevent the lubricant from leaking and to prevent foreign matter from entering between the input shaft and output shaft of the reduction mechanism without making the entire casing liquid-tight. In other words, the members required to make a liquid-tight casing can be omitted, reducing the number of parts and making the conveying device smaller and lighter.

[0021] The conveying device according to the present disclosure further comprises a first connector for an air pipe for driving the hand and a second connector for a signal line for detecting the operation of the hand, the arm being hollow, and the first connector and the second connector being arranged from the inside of the arm to the outside of the arm by penetrating the side wall of the arm in a liquid-tight manner.

[0022] In the present disclosure, the first connector and the second connector each penetrate the side wall of the arm in a liquid-tight manner and are arranged on the outside from the arm side, thereby preventing foreign matter from entering the inside of the arm through the portion through which the first connector or the second connector penetrates.

[0023] The conveying device according to the present disclosure further includes a cover that liquid-tightly covers the second connector from the inside of the arm, and a signal line that is connected to the second connector on the inside of the cover, and the signal line is arranged from the inside of the cover to the outside of the cover, passing through the cover liquid-tightly.

[0024] In the present disclosure, the cover liquid-tightly covers the second connector from the inside of the arm, and the signal line passes through the cover liquid-tightly, thereby preventing foreign matter that has entered the inside of the arm from entering the inside of the cover and adhering to the connection portion of the connector.

[0025] The machine tool according to the present disclosure is characterized in that it is equipped with the conveying device according to the present disclosure and machines a workpiece conveyed by the conveying device.

[0026] In the present disclosure, since the conveying device according to the present disclosure is provided, it is possible to achieve a reduction in size and weight. Effect of the Invention

[0027] According to the conveying device and machine tool of the present disclosure, it is possible to achieve miniaturization and weight reduction. [Brief description of the drawings]

[0028] [Figure 1] 1 is a perspective view of a machine tool according to an embodiment; [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 4 is a cross-sectional view of a first casing. [Figure 6]4 is a cross-sectional view of a tip end of a first arm and a base end of a second arm. FIG. [Figure 7] 4 is a front perspective view of a second arm and a hand casing. FIG. [Figure 8] FIG. 4 is a perspective view of a second arm body. [Figure 9] 11 is a cross-sectional view of the vicinity of the first connector and the second connector of the second arm body. FIG. [Figure 10] FIG. 2 is a cross-sectional view of a casing for a hand. [Figure 11] FIG. 4 is a perspective view of the second arm and the hand casing as viewed from the rear. [Figure 12] FIG. 2 is a perspective view for explaining the rotational movement of a hand. [Figure 13] 4 is a cross-sectional view of the base, the first casing, and the base end portion of the first arm. FIG. [Figure 14] 4 is a cross-sectional view of the first arm, the second arm, and the hand casing. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] In the following, embodiments of the present disclosure will be described. In the following description, arrows will be used to indicate up and down, front and rear, and left and right in the drawings.

[0030] FIG. 1 is a perspective view of a machine tool according to an embodiment. In the drawing, reference numeral 1 denotes a machine tool, and the machine tool 1 is installed in a factory. The machine tool 1 includes a machine body 11, a body cover 12, a transport device 13, and a control device 14. The machine body 11 performs cutting processing on a workpiece W (see FIG. 11 described later). When processing the workpiece W, the machine body 11 uses cutting oil (coolant) to cool the workpiece W and wash away cutting chips. The body cover 12 is a wall that covers the front, rear, left and right of the machining area where the machine body 11 machines the workpiece W. An opening 121 is provided in the right wall of the body cover 12. A door 122 that slides in the front-rear direction opens and closes the opening 121.

[0031] The transport device 13 is a workpiece exchange device, and transports the workpiece W into and out of the body cover 12 through the opening 121 . The control device 14 is provided behind the main body cover 12. The control device 14 includes a CPU, a ROM, a RAM, etc. The CPU controls the operation of the machine tool 1 by loading a control program stored in the ROM into the RAM and executing it.

[0032] The transport device 13 includes a support portion 131 and an arm device 132 . The support part 131 is fixed to the lower right side of the machine body 11. The support part 131 supports the arm device 132 so that it can move in the front-rear direction. When transporting a workpiece W, the arm device 132 is driven by a drive unit (not shown) to move back and forth in the front-rear direction. In the following, a description of the front-rear movement of the arm device 132 will be omitted. The arm device 132 stands up from the support portion 131 and is located to the right of the opening 121 .

[0033] 2 and 3 are a perspective view and a cross-sectional view of the arm device 132. The arm device 132 includes a base 2, a first casing 3, a first arm 4, a second arm 5, and a hand casing 6. The base 2 constitutes the lower part of the arm device 132, and the support portion 131 directly supports the base 2 (see FIG. 1).

[0034] FIG. 4 is a cross-sectional view of the base 2. The base 2 has a rectangular box shape extending in the vertical direction. A front wall 2a of the base 2 can be opened and closed, and functions as a lid of the base 2. A storage chamber 21 is provided inside the base 2. The rear wall of the storage chamber 21 also serves as the rear wall of the base 2. The storage chamber 21 has a front opening 211 and a bottom opening 212. Except for the front opening 211 and the bottom opening 212, the inside of the storage chamber 21 is partitioned liquid-tight from the external space. The front opening 211 is liquid-tightly covered by an openable and closable cover plate 22. The bottom opening 212 is covered by an elastic member 23. The elastic member 23 is, for example, a sponge, and an angle-shaped support 213 fixed to the periphery of the bottom opening 212 supports the elastic member 23.

[0035] The base 2 has openings 24 and 25. The opening 24 is provided in the lower part of a side wall (the rear side wall in this embodiment) of the base 2, and is located below the storage chamber 21. The opening 25 is provided in the bottom wall of the base 2, and is located directly below the bottom opening 212.

[0036] 2 and 3, the first casing 3 is provided integrally on the upper part of the base 2. The base 2 supports the first casing 3. FIG. 5 is a cross-sectional view of the first casing 3. As shown in FIG. The first casing 3 is cylindrical with its axial length oriented in the front-rear direction. The first casing 3 has a partition wall 301. The partition wall 301 is integrally provided on the inner surface of the first casing 3 and divides the internal space of the first casing 3 into two, a front portion and a rear portion. A through hole 302 is provided in the center of the partition wall 301, penetrating the partition wall 301 in the front-rear direction.

[0037] A portion of the lower part of the peripheral wall of the first casing 3 is open forward of the partition wall 301. The upper surface of the base 2 opens toward the lower opening of the first casing 3, and the internal space of the first casing 3 and the internal space of the base 2 communicate with each other through these openings. The first casing 3 has an auxiliary case 303 (see Figs. 2 and 3). The auxiliary case 303 is cylindrical with a bottom. The auxiliary case 303 is fixed to the front of the first casing 3 with its bottom surface facing forward and its top opening facing the front end opening of the first casing 3.

[0038] The first casing 3 accommodates a first motor 31 , a first reduction mechanism 32 , and a first coupling 33 . The first motor 31 is a known electric motor that is water-resistant and oil-resistant. The first motor output shaft 31a of the first motor 31 faces forward and backward. The main body of the first motor 31 extends from the front side of the partition wall 301 to the auxiliary case 303 and is fixed to the first casing 3 using an appropriate fixing device. The first motor output shaft 31a passes through a through hole 302 of the partition wall 301 from the front side.

[0039] The first reduction mechanism 32 is a known reduction gear and includes a first input shaft 321, a first output shaft 322, and a first housing 323. The first input shaft 321 and the first output shaft 322 are coaxial with each other, and their axial lengths are directed forward and backward. The first housing 323 is cylindrical, and their axial lengths are directed forward and backward. The first housing 323 accommodates the first input shaft 321 and the first output shaft 322 such that a front end of the first input shaft 321 protrudes forward from a front end opening of the first housing 323, and a rear end of the first output shaft 322 is exposed from a rear end opening of the first housing 323. The first housing 323 also accommodates a gear (not shown) for reducing the rotation of the first input shaft 321 and transmitting it to the first output shaft 322.

[0040] The disk 34 of the first arm 4 covers the rear end opening of the first casing 3 from the rear side (see FIGS. 2 and 3). Hereinafter, the space surrounded by the disk 34, the peripheral wall of the first casing 3, and the partition wall 301 will be referred to as a first reduction chamber 35.

[0041] The first housing 323 is located in the first reduction chamber 35. The first housing 323 is fixed to the first casing 3 using an appropriate fixing tool. The first input shaft 321 extends toward the through hole 302 of the partition wall 301, and is coaxially connected to the first motor output shaft 31 a via a first coupling 33. The first motor output shaft 31a rotates forward and backward, and the rotation of the first motor output shaft 31a is transmitted to the first input shaft 321. The first output shaft 322 is coaxially fixed to the disk 34. The disk 34 can rotate integrally with the first output shaft 322 around the first output shaft 322.

[0042] The inside of the first housing 323 is filled with a lubricant. The lubricant is interposed between the first input shaft 321 and the first output shaft 322. The first casing 3 houses a plurality of seals. Each of the plurality of seals is interposed between the first reduction gear mechanism 32 and a member adjacent to the first reduction gear mechanism 32, thereby sealing in the lubricant in a liquid-tight manner. Therefore, it is not necessary to configure the entire first casing 3 to be liquid-tight. The number of seals and their respective arrangements are not limited.

[0043] In the present embodiment, the lubricant can flow out from the front end opening of the first housing 323 to the first reduction gear chamber 35. An O-ring 361 is interposed between the inner surface of the peripheral wall of the first casing 3 and the outer circumferential surface of the front end portion of the first housing 323. An oil seal 362 is interposed between the first input shaft 321 and the peripheral edge of the rear opening of the through hole 302 in the partition wall 301.

[0044] The O-ring 361 prevents the lubricant that has flowed out into the first reduction chamber 35 from flowing rearward along the outer surface of the first housing 323 and leaking out from the rear end opening of the first casing 3. The oil seal 362 prevents the lubricant that has flowed out into the first reduction chamber 35 from flowing through the through hole 302 to the front side of the partition wall 301 and leaking out from the front end opening or the lower opening of the first casing 3. The O-ring 361 and the oil seal 362 prevent foreign matter from entering the first reduction chamber 35 and mixing with the lubricant.

[0045] 2 and 3, the base end (lower end in FIG. 3) of the first arm 4 is adjacent to the rear side of the first casing 3. The base end (upper end in FIG. 3) of the second arm 5 is adjacent to the rear side of the tip end of the first arm 4. The first arm 4 and the second arm 5 constitute the arms of this embodiment. Fig. 5 also shows a cross section of the base end of the first arm 4. As shown in Figs. 2, 3, and 5, the base end of the first arm 4 has a disk 34 integrally therewith. The first arm 4 can rotate integrally with the disk 34. In other words, the base end of the first arm 4 is connected to the first casing 3 via the first reduction mechanism 32, and the first arm 4 can swing around the first output shaft 322. The base 2 supports the first arm 4 via the first casing 3.

[0046] The first motor 31 drives the first arm 4 via a first reduction mechanism 32, a first coupling 33, and a disk 34. Due to the intervention of the first reduction mechanism 32, the rotation of the first motor output shaft 31a is reduced in speed and transmitted to the first arm 4. The first arm 4 driven by the first motor 31 swings around the first output shaft 322. The first arm 4 can be stationary at a home position where the longitudinal direction faces up and down (see Figures 2 and 3). The tip of the first arm 4 can reciprocate left and right around the home position.

[0047] As shown in Figures 2 and 3, the first arm 4 includes a first arm body 41 and a front stage casing 42. The first arm body 41 has a rectangular box shape that is long in one direction. The lower end of the first arm body 41 is fixed to the disk 34 (see Figure 5). The front side of the first arm body 41 is open. The front stage casing 42 is integrally provided on the upper end of the first arm body 41. The front stage casing 42 has a cylindrical shape with its axial length direction facing forward and backward. As shown in Figure 3, a first cover plate 43 that is common to both covers the front opening of the first arm body 41 and the front end opening of the front stage casing 42 in an openable and closable manner.

[0048] FIG. 6 is a cross-sectional view of the tip end of first arm 4 and the base end of second arm 5. As shown in FIG. The front casing 42 has a partition wall 421. The partition wall 421 is provided integrally with the inner surface of the front casing 42, and divides the internal space of the front casing 42 into front and rear spaces. A through hole 422 is provided in the center of the partition wall 421, penetrating the partition wall 421 in the front-rear direction. A portion of the lower part of the peripheral wall of the front-stage casing 42 is open forward of the partition wall 421. The upper surface of the first arm body 41 opens toward the lower opening of the front-stage casing 42, and the internal space of the front-stage casing 42 and the internal space of the first arm body 41 communicate with each other through these openings.

[0049] A through hole 401 is provided behind the partition wall 421, extending from the lower part of the peripheral wall of the front-stage casing 42 to the upper surface of the first arm body 41. The axial length direction of the through hole 401 faces vertically. The first arm body 41 houses a communicating pipe 411. The axial length direction of the communicating pipe 411 faces up and down. The communicating pipe 411 is fixed to the first arm body 41 such that the upper end of the communicating pipe 411 is inserted into the through hole 401 from below. An O-ring 412 is interposed liquid-tightly between the outer circumferential surface of the communicating pipe 411 and the inner circumferential surface of the through hole 401. The internal space of the front stage casing 42 and the internal space of the first arm body 41 communicate with each other through the through hole 401 and the communicating pipe 411.

[0050] 2 and 3, the second arm 5 includes a second arm body 51 and a second casing 52. The second arm body 51 is shaped like a rectangular box that is long in one direction. The front side of the second arm body 51 is open. As shown in Fig. 3, the front opening of the second arm body 51 is covered by a second cover plate 53 in an openable and closable manner. The second casing 52 is shaped like a cylinder with a bottom, and is integrally provided on the upper end of the second arm body 51 with its axial length facing forward and backward and opening forward.

[0051] 6, the second casing 52 has a partition wall 521. The partition wall 521 is integrally provided on the inner surface of the second casing 52 and divides the internal space of the second casing 52 into front and rear spaces. A through hole 522 is provided in the center of the partition wall 521, penetrating the partition wall 521 in the front-rear direction. The front end opening of the second casing 52 and the rear end opening of the front-stage casing 42 of the first arm 4 face each other with the through holes 422, 522 being coaxial with each other. Hereinafter, the space surrounded by the peripheral wall of the second casing 52, the peripheral wall of the front-stage casing 42, and the partition walls 421, 521 will be referred to as a second speed reduction chamber 70.

[0052] A portion of the lower part of the peripheral wall of second casing 52 is open rearward of partition wall 521. The upper surface of second arm body 51 opens toward the lower opening of second casing 52, and the internal space of second casing 52 and the internal space of second arm body 51 communicate with each other through these openings.

[0053] The first arm 4 and the second arm 5 house a pipe 71 (see FIG. 3). The pipe 71 is cylindrical and extends from the tip end of the first arm 4 to the base end of the second arm 5 with its axial length oriented forward and backward. The front end of the pipe 71 is fitted into the through hole 422 of the partition wall 421. The rear end of the pipe 71 is fitted into the through hole 522 of the partition wall 521. An O-ring 711 is liquid-tightly interposed between the outer circumferential surface of the front end of the pipe 71 and the inner circumferential surface of the through hole 422. An oil seal 712 is liquid-tightly interposed between the outer circumferential surface of the rear end of the pipe 71 and the inner circumferential surface of the through hole 522. The pipe 71 is fixed to the partition wall 421 but not to the partition wall 521.

[0054] The first arm 4 houses the second motor 44 (see Figs. 3 and 5). The second motor 44 is a known electric motor that is water-resistant and oil-resistant. The axial direction of the second motor output shaft 44a of the second motor 44 faces up and down. The main body of the second motor 44 is fixed to the first arm main body 41 using an appropriate fixing tool so that the second motor output shaft 44a passes through the communicating pipe 411 from below.

[0055] The first arm 4 houses the pre-reduction mechanism 45 and the second coupling 46. The pre-reduction mechanism 45 includes a bevel pinion 451 and a bevel gear 452. The bevel pinion 451 passes through the through hole 401 with its tip portion positioned in the second reduction chamber 70, and is coaxially connected to the second motor output shaft 44a of the second motor 44 via the second coupling 46. The bevel gear 452 is positioned in the second reduction chamber 70. The pipe 71 passes through the axis of the bevel gear 452 coaxially. The bevel gear 452 is rotatable around the pipe 71, and is engaged with the bevel pinion 451.

[0056] The front stage casing 42 and the second casing 52 house a second reduction mechanism 72 . The second reduction mechanism 72 is a known reduction gear and includes a second input shaft 721, a second output shaft 722, and a second housing 723. The second input shaft 721 and the second output shaft 722 are coaxial with each other, and their axial lengths are directed forward and backward. The second housing 723 is cylindrical, and their axial lengths are directed forward and backward. The second housing 723 accommodates the second input shaft 721 and the second output shaft 722 such that the front end of the second input shaft 721 is exposed from a front end opening of the second housing 723, and the rear end of the second output shaft 722 protrudes rearward from a rear end opening of the second housing 723. The second housing 723 also accommodates a gear (not shown) for reducing the speed of rotation of the second input shaft 721 and transmitting it to the second output shaft 722.

[0057] The second housing 723 is located in the second speed reduction chamber 70, and is fixed to the front stage casing 42 using an appropriate fixing tool. The pipe 71 coaxially passes through the axis of each of the second input shaft 721 and the second output shaft 722. Each of the second input shaft 721 and the second output shaft 722 is rotatable about the pipe 71.

[0058] The front end of the second input shaft 721 is coaxially fixed to the bevel gear 452 of the front-stage reduction mechanism 45 and is rotatable integrally with the bevel gear 452 . The second motor output shaft 44a rotates in forward and reverse directions, and the rotation of the second motor output shaft 44a is reduced in speed via a bevel pinion 451 and a bevel gear 452 of the front-stage reduction mechanism 45 and transmitted to the second input shaft 721. The second output shaft 722 is coaxially fixed to a partition wall 521 of the second casing 52, and the second casing 52 can rotate integrally with the second output shaft 722 around the pipe 71. In other words, the base end of the second arm 5 is connected to the tip end of the first arm 4 via the second reduction mechanism 72, and the second arm 5 can swing around the pipe 71.

[0059] The second motor 44 drives the second arm 5 via the second coupling 46, the pre-reduction mechanism 45, and the second reduction mechanism 72. Due to the presence of the pre-reduction mechanism 45 and the second reduction mechanism 72, the rotation of the second motor output shaft 44a is reduced in two stages before being transmitted to the second arm 5. The second arm 5 driven by the second motor 44 swings around a pipe 71. The second arm 5 can be stationary at a home position where its longitudinal direction faces up and down (see Figures 2 and 3). The tip of the second arm 5 can reciprocate left and right around the home position.

[0060] A lubricant is filled inside the second speed reduction chamber 70 and the second housing 723. The lubricant is present between the bevel pinion 451 and the bevel gear 452, and between the second input shaft 721 and the second output shaft 722. The front stage casing 42 and the second casing 52 house a plurality of seals. Each of the plurality of seals is interposed between the front stage reduction mechanism 45 and a member adjacent to the front stage reduction mechanism 45, or between the second reduction mechanism 72 and a member adjacent to the second reduction mechanism 72, thereby liquid-tightly sealing the filled lubricant. Therefore, it is not necessary to configure the entire first arm 4 and the entire second arm 5 to be liquid-tight. The number of seals and their respective arrangements are not limited.

[0061] In the present embodiment, an O-ring 471 is interposed between the rear surface of partition wall 421 and the front end surface of second housing 723. An O-ring 472 is interposed between the rear surface of partition wall 521 and the rear end surface of second housing 723. An oil seal 473 is interposed between the base end of bevel pinion 451 and the inner circumferential surface of communicating pipe 411.

[0062] The O-rings 471 and 472 can prevent the lubricant filled in the second reduction chamber 70 from leaking out from the rear end opening of the front stage casing 42 or the front end opening of the second casing 52 along the outer surface of the second housing 723. The oil seal 473 can prevent the lubricant filled in the second reduction chamber 70 from entering the first arm body 41 through the through hole 401 and the communication pipe 411 and leaking out from the front end opening of the first arm body 41. The O-ring 711 can prevent the lubricant filled in the second reduction chamber 70 from leaking out from the front end opening of the front stage casing 42 through the through hole 422. The oil seal 712 can prevent the lubricant filled in the second reduction chamber 70 from leaking out from the rear end opening of the front stage casing 42 through the through hole 522. The O-rings 471, 472, and 711 and the oil seals 473 and 712 can prevent foreign matter from entering the inside of the second reduction chamber 70 and mixing with the lubricant.

[0063] Fig. 7 is a perspective view of the second arm 5 and the hand casing 6 as viewed from the front side. However, in Fig. 7, the upper part of the second casing 52 is not shown. Two discharge ports 54 are provided at the tip of the second arm 5. The two discharge ports 54 are adjacent to each other in the front-rear direction and are located in the lower part of the second arm 5 when the second arm 5 is in the home position. The lower part of the lower part of the second arm 5 when it is in the home position is, for example, a part below the center position of the second arm 5 in the up-down direction. In this embodiment, each discharge port 54 penetrates the vicinity of the lower edge of the second cover plate 53 in the front-rear direction.

[0064] FIG. 8 is a perspective view of the second arm body 51. As shown in FIG. The second arm body 51 is provided with six first connectors 55 and four second connectors 56 . FIG. 9 is a cross-sectional view of the vicinity of first connector 55 and second connector 56 of second arm body 51. As shown in FIG.

[0065] Each first connector 55 is a connector for an air pipe. The first connector 55 penetrates the left side wall of the second arm body 51 in a liquid-tight manner, with one side located outside the second arm body 51 and the other side located inside the second arm body 51. A seal is interposed between the first connector 55 and the left side wall of the second arm body 51. An air pipe 551 is connected to the outer side of the first connector 55. An air pipe 552 is connected to the inner side of the first connector 55. One each of the air pipes 551 and 552 is shown in the figure.

[0066] Each second connector 56 is a connector for a signal line. The second connector 56 penetrates the right side wall of the second arm body 51 in a liquid-tight manner, with one side located outside the second arm body 51 (see FIG. 7) and the other side located inside the second arm body 51. A seal is interposed between the second connector 56 and the right side wall of the second arm body 51. A signal line 561 is connected to the outer side of the second connector 56. A signal line 562 is connected to the other side of the second connector 56. One each of the signal lines 561 and 562 is shown.

[0067] The second arm body 51 houses a cover 57. The cover 57 is shaped like a rectangular box with one open face. The cover 57 liquid-tightly covers the four second connectors 56 from the inside of the second arm body 51 with the open face facing the inner face of the right side wall of the second arm body 51. A seal is interposed between the periphery of the opening of the cover 57 and the inner face of the right side wall of the second arm body 51. Each signal line 562 is arranged from the inside to the outside of cover 57, penetrating the front wall of cover 57 in a liquid-tight manner. In this embodiment, cord lock 571 having liquid-proof properties passes through the front wall of cover 57 in a liquid-tight manner, and signal line 562 passes through cord lock 571 in a liquid-tight manner.

[0068] 2, 3, and 7, the hand casing 6 is provided integrally with the tip of the second arm 5. The tip of the second arm 5 supports the hand casing 6. FIG. 10 is a cross-sectional view of the hand casing 6. As shown in FIG. 7, 8, and 10, the hand casing 6 is cylindrical with its axial length directed forward and backward. As shown in Fig. 7 and 10, the second cover plate 53 of the second arm 5 opens and closes not only the front opening of the second arm body 51 but also the front end opening of the hand casing 6. The rear half of the hand casing 6 protrudes rearward from the outer surface of the lower end of the second arm body 51.

[0069] As shown in FIG. 10, the hand casing 6 has a partition wall 601 . The partition wall 601 is provided integrally with the inner surface of the hand casing 6, and divides the internal space of the hand casing 6 into front and rear portions. A through hole 602 is provided in the center of the partition wall 601, penetrating the partition wall 601 in the front-rear direction. The hand casing 6 has a disk 61. The disk 61 covers the rear end opening of the hand casing 6 from the rear side. The disk 61 shown in the figure includes a disk body with an opening at the center, and a cap that liquid-tightly covers the central opening of the disk body. The space surrounded by the disk 61, the peripheral wall of the hand casing 6, and the partition wall 601 is referred to as the hand deceleration chamber 62 below.

[0070] The hand casing 6 accommodates a hand motor 63 and a hand reduction mechanism 64 . The hand motor 63 is a known electric motor that is water-resistant and oil-resistant. The axial direction of the hand motor output shaft 63a of the hand motor 63 faces forward and backward, and is perpendicular to the longitudinal direction of the second arm 5. The body of the hand motor 63 is located forward of the partition wall 601, and is fixed to the hand casing 6 using an appropriate fixing device. The hand motor output shaft 63a passes through a through hole 602 in the partition wall 601 from the front side.

[0071] The hand reduction mechanism 64 is a known reducer and includes a hand input shaft 641, a hand output shaft 642, and a hand housing 643. The hand input shaft 641 and the hand output shaft 642 are coaxial with each other, and their axial lengths face forward and backward. The hand housing 643 is cylindrical, and their axial lengths face forward and backward. The hand housing 643 houses the hand input shaft 641 and the hand output shaft 642. The front end of the hand input shaft 641 is exposed from a front end opening of the hand housing 643, and the rear end of the hand output shaft 642 is exposed from a rear end opening of the hand housing 643. The hand housing 643 also houses a gear (not shown) for reducing the rotation of the hand input shaft 641 and transmitting it to the hand output shaft 642.

[0072] The hand housing 643 is located in the hand reduction chamber 62. The hand housing 643 is fixed to the hand casing 6 using an appropriate fixing tool. The hand input shaft 641 is cylindrical. The hand motor output shaft 63a is inserted inside the hand input shaft 641, and the hand motor output shaft 63a and the hand input shaft 641 are coaxially connected to each other. Since no coupling is interposed between the hand motor output shaft 63a and the hand input shaft 641, the hand motor 63 and the hand reduction mechanism 64 are closer to each other in the front-rear direction than the first motor 31 and the first reduction mechanism 32 (see FIG. 5).

[0073] The hand motor output shaft 63a rotates forward and backward, and the rotation of the hand motor output shaft 63a is transmitted to the hand input shaft 641. The hand output shaft 642 is coaxially fixed to the disk 61. The disk 61 can rotate integrally with the hand output shaft 642 around the hand output shaft 642.

[0074] A lubricant is filled inside the hand housing 643. The lubricant is present between the hand input shaft 641 and the hand output shaft 642. The hand casing 6 contains a plurality of seals. Each of the plurality of seals is interposed between the hand motor 63 and a member adjacent to the hand motor 63, or between the hand reduction mechanism 64 and a member adjacent to the hand reduction mechanism 64, thereby liquid-tightly sealing the filled lubricant. Therefore, it is not necessary to configure the entire hand casing 6 to be liquid-tight. The number of seals and their respective arrangements are not limited.

[0075] In this embodiment, the lubricant can flow into the hand deceleration chamber 62 from each of the front and rear openings of the hand housing 643. An O-ring 651 is interposed between the rear surface of the partition wall 601 and the front end surface of the hand housing 643. An O-ring 652 is interposed between the hand output shaft 642 and the inner surface of the disk 61. An oil seal 653 is interposed between the hand motor output shaft 63a and the inner circumferential surface of the through hole 602.

[0076] The O-rings 651, 652 prevent the lubricant that has flowed into the hand reduction chamber 62 from leaking out from the rear end opening of the hand casing 6. The oil seal 653 prevents the lubricant that has flowed into the hand reduction chamber 62 from leaking out from the front end opening of the hand casing 6 through the through hole 602. The O-rings 651, 652 and the oil seal 653 prevent foreign matter from entering the inside of the hand reduction chamber 62 and mixing with the lubricant.

[0077] FIG. 11 is a perspective view of the second arm 5 and the hand casing 6 as viewed from the rear. The arm device 132 includes a hand unit 8. The hand unit 8 is not shown in Figures 2 and 3. The hand casing 6 supports a hand unit 8. The hand unit 8 includes a base plate 81, two drive units 82, and two hands 83 (see FIG. 12 described later).

[0078] The substrate 81 is fixed to the outer surface of the disk 61 of the hand casing 6 with both surfaces facing forward and backward. The substrate 81 is rotatable integrally with the disk 61 around the hand output shaft 642 of the hand reduction mechanism 64. Two extensions 811 extend outward from the edge of the substrate 81. The extension directions of the two extensions 811 are perpendicular to each other.

[0079] The two drive units 82 correspond one-to-one to the two extension units 811, and the two hands 83 correspond one-to-one to the two drive units 82. One set of extension unit 811, drive unit 82, and hand 83 will be described below, but the other set of extension unit 811, drive unit 82, and hand 83 has the same configuration.

[0080] Driving unit 82 is a known air cylinder that is water-resistant and oil-resistant, and includes two rods 821. The main body of driving unit 82 is fixed to extension part 811 via an appropriate fixing device. The two rods 821 can be extended and retracted in opposite directions relative to the main body of driving unit 82.

[0081] The hand 83 faces the outer peripheral surface of the rear half of the hand casing 6 (the portion protruding rearward from the second arm 5). The hand 83 has two clamping pieces 831. The two clamping pieces 831 are fixed to the two rods 821 of the drive unit 82, one each, and move toward and away from each other as the two rods 821 protrude and retract. The hand 83 grips the workpiece W by clamping it between the two clamping pieces 831 that are close to each other.

[0082] When the substrate 81 rotates together with the disk 61 , the hand 83 rotates about the hand output shaft 642 of the hand reduction mechanism 64 . FIG. 12 is a perspective view for explaining the rotational movement of the hand 83. As shown in FIG. As shown in FIGS. 11 and 12, even when the hand 83 rotates, the hand 83 and the outer peripheral surface of the rear half of the hand casing 6 always face each other. The hand motor 63 drives the hand 83 via the hand reduction mechanism 64. Due to the presence of the hand reduction mechanism 64, the rotation of the hand motor output shaft 63a is reduced in speed and transmitted to the hand 83. The hand 83 driven by the hand motor 63 rotates and moves along the outer circumferential surface of the rear half of the hand casing 6.

[0083] Here, a procedure for replacing the workpiece W by the arm device 132 will be briefly described. One hand 83 grasps one workpiece W located outside the body cover 12. The first arm 4 and the second arm 5 transport the one workpiece W grasped by the one hand 83 to the inside of the body cover 12. The other hand 83 grasps another workpiece W placed inside the body cover 12. One hand 83 places the one workpiece W inside the body cover 12. The first arm 4 and the second arm 5 transport the other workpiece W grasped by the other hand 83 to the outside of the body cover 12. In this manner, the arm device 132 replaces the workpiece W.

[0084] Since the second arm 5 is not configured to be liquid-tight, foreign matter may enter the inside of the second arm 5. By returning the second arm 5 to the home position when the workpiece W is not being transported, foreign matter that has entered the inside of the second arm 5 naturally exits from the inside of the second arm 5 through the discharge port 54. This makes it possible to prevent foreign matter from accumulating inside the second arm 5. The outlet 54 need only be located at the tip of the second arm 5 (particularly, at the lower part of the second arm 5 when in the home position), so it is not limited to the second cover plate 53 and may be provided, for example, on the peripheral wall of the hand casing 6.

[0085] If foreign matter accumulates inside the second arm 5, the weight of the second arm 5 may increase, which may adversely affect the operation of the second arm 5, so it is desirable that the discharge outlet 54 be located at the lower end of the second arm 5 when in the home position. However, there are no particular problems other than the increase in weight of the second arm 5, so the position of the discharge outlet 54 is not limited to the lower end of the second arm 5 as long as the increase in weight due to foreign matter accumulated on the second arm 5 does not adversely affect the operation of the second arm 5.

[0086] The second arm 5 and the rear half of the hand casing 6 form one side and the other side of an L shape. The hand 83 rotates around the rear half of the hand casing 6, so the space inside the L shape (the space surrounded by the second arm 5 and the rear half of the hand casing 6) can be effectively used. Therefore, it is possible to prevent the workpiece W held by the hand 83 from interfering with surrounding objects (for example, members constituting the machine tool 1) during transportation.

[0087] 2 and 3, the arm device 132 includes a flexible tube 73. The flexible tube 73 is connected to the base end of the first arm 4 and a side wall (the rear wall in this embodiment) of the base 2 outside the first casing 3. The flexible tube 73 includes an I-shaped upper tube 731 and an L-shaped lower tube 732. The upper tube 731 hangs down from the first arm 4, and the lower tube 732 is fixed to both the upper tube 731 and the base 2.

[0088] 3 and 5, a through hole 402 penetrating the wall surface of the first arm 4 is provided at the base end of the first arm 4. The upper end of the upper tube 731 passes through the through hole 402 and is fixed to the first arm 4 such that the upper end opening is positioned inside the first arm 4. 3 and 4, one end of the lower tube 732 is fitted into the opening 24 in the rear wall of the base 2 with the opening of the other end facing upward. The lower end of the upper tube 731 is connected to the other end of the lower tube 732. As shown in FIG. 3, the internal space of the base 2 and the internal space of the first arm 4 communicate with each other through a flexible tube 73 .

[0089] Since the first arm 4 is not configured to be liquid-tight, foreign matter may enter the inside of the first arm 4. By returning the first arm 4 to the home position when the workpiece W is not being transported, foreign matter that has entered the inside of the first arm 4 naturally exits from the inside of the first arm 4 through the through hole 402 or the flexible tube 73. Therefore, accumulation of foreign matter inside the first arm 4 can be suppressed.

[0090] Next, the wiring of the arm device 132 will be described. 9 are for detecting the operation of the hand 83, for example, and each has water resistance and oil resistance. The signal line 561 extends from a connection terminal for connection to a detection unit (not shown, for example, an encoder provided on the first motor 31, the second motor 44, or the hand motor 63), and its tip is liquid-tightly connected to the outer side of the second connector 56. One end of the signal line 562 is connected to the inner side of the second connector 56. Since there is no risk of foreign matter entering the inside of the cover 57, there is no need to connect the signal line 562 and the second connector 56 liquid-tightly, nor is there any need to configure the entire second arm 5 liquid-tight.

[0091] The signal line 562 passes through the cord lock 571, is arranged from the inside of the cover 57 to the outside of the cover 57, and passes through the inside of the second arm body 51 toward the upper side.

[0092] FIG. 13 is a cross-sectional view of the base 2, the first casing 3, and the base end portion of the first arm 4. As shown in FIG. FIG. 14 is a cross-sectional view of the first arm 4, the second arm 5, and the hand casing 6. As shown in FIG. As shown in FIG. 14, the signal line 562 is arranged inside the flexible tube 73, passing from the inside of the second arm body 51 through the insides of the second casing 52, the pipe 71, the front casing 42, and the first arm body 41 in this order.

[0093] 13, the signal line 562 passes downward inside the flexible tube 73, passes forward through the opening 24, enters the inside of the base 2, passes through the elastic member 23, passes upward through the bottom opening 212, and is disposed in the accommodation chamber 21. A signal connector 563 is provided at the other end of the signal line 562. The accommodation chamber 21 accommodates the signal connector 563.

[0094] 4, the accommodation chamber 21 accommodates a signal connector 564. The signal connectors 563, 564 are connected to each other. The signal connector 564 is provided at one end of a signal line 565. The other end of the signal line 565 is connected to the control device 14. The signal line 565 is arranged from the control device 14 through the opening 25 and the elastic member 23 into the accommodation chamber 21. For example, a detection signal for detecting the operation of the hand 83 is transmitted to the control device 14 through signal lines 561, 562, and 565 in this order.

[0095] For example, an operator inserts his / her hand into the accommodation chamber 21 through the front opening 211 and connects the corresponding connectors. After completing the connection work, the operator closes the cover plate 22. Since the elastic member 23 covers the bottom opening 212, there is no risk of foreign matter entering the accommodation chamber 21 through the bottom opening 212. As shown in Figures 4 and 13, each of the signal wires 562, 565 passes through the elastic member 23 and hangs down from the accommodation chamber 21, so there is no risk of foreign matter entering the accommodation chamber 21 along the signal wires 562, 565. Therefore, there is no need to connect the signal connectors 563, 564 liquid-tightly, nor is there a need to configure the entire base 2 liquid-tight.

[0096] There is no risk of the signal lines 562 and 565 being subjected to an external force from the elastic member 23 and being broken. If a conductive foreign object were to adhere to the connection portion of the signal connectors 563, 564, there is a risk of electric leakage.

[0097] 9 are, for example, drive wiring for supplying air to the drive unit 82 to drive the hand 83, and the air pipe 551 extends from the drive unit 82 toward the second arm 5. The tip of the air pipe 551 is liquid-tightly connected to the outer side of the first connector 55. One end of the air pipe 552 is connected to the inner side of the first connector 55. The air pipe 552 is disposed inside the flexible tube 73, passing through a route similar to that of the signal line 562 from the inside of the second arm body 51. The air pipes 551 and 552 are not limited to the drive unit 82, and may be used to supply air to an air brake (not shown).

[0098] 13, air pipe 552 enters the inside of base 2 through opening 24 inside flexible tube 73. Inside base 2, the other end of air pipe 552 is connected to one side of air connector 553. Air connector 553 is a connector for an air pipe, and is attached, for example, to the inner surface of the left side wall of base 2, and is located below accommodation chamber 21.

[0099] 4, one end of an air pipe 554 is connected to the other side of the air connector 553. The other end of the air pipe 554 is connected to a compressor (not shown) provided in the factory. The air pipe 554 is disposed inside the base 2 through the opening 25. The air compressed by the compressor passes through air pipes 554, 552, and 551 in this order and reaches the driving unit 82.

[0100] If a solid foreign object were to get caught between the first connector 55 and the air pipe 552, or between the air connector 553 and the air pipes 552, 554, there is a risk of air leakage. However, solid foreign objects are unlikely to enter the inside of the second arm 5 or the inside of the base 2. Therefore, there is no need to cover the first connector 55 from the inside of the second arm 5 with a cover similar to the cover 57, or to house the air connector 553 in the housing chamber 21. In addition, the first connector 55 may be covered from the inside of the second arm 5 with a cover similar to the cover 57, and the air connector 553 may be housed in the housing chamber 21.

[0101] 13, a first cable 311 for supplying power to the first motor 31 extends from the first motor 31. The first cable 311 passes from the inside of the auxiliary case 303 through the inside of the first casing 3, enters the inside of the base 2, goes around to the lower side of the accommodation chamber 21, penetrates the elastic member 23, passes upward through the bottom opening 212, and is disposed in the accommodation chamber 21. A power supply connector 312 is provided at the tip of the first cable 311. The accommodation chamber 21 accommodates the power supply connector 312.

[0102] As shown in Fig. 4, the accommodation chamber 21 accommodates a power supply connector 313. The power supply connectors 312, 313 are connected to each other. The power supply connector 313 is provided at one end of a first power supply cable 314. The other end of the first power supply cable 314 is connected to a power supply (power supply source) (not shown) provided in the machine tool 1. The first power supply cable 314 is arranged in the accommodation chamber 21 from the power supply via the opening 25 and the elastic member 23. The power source supplies power to the first motor 31 via the first power supply cable 314 and the first cable 311 .

[0103] 14, a second cable 441 for supplying power to the second motor 44 is connected to the second motor 44. The second cable 441 is disposed inside the first arm body 41, inside the flexible tube 73. 13, the second cable 441 is disposed inside the flexible tube 73 and in the accommodation chamber 21 via the elastic member 23. A power supply connector 442 is provided at the tip of the second cable 441. The accommodation chamber 21 accommodates the power supply connector 442.

[0104] 4, the accommodation chamber 21 accommodates a power supply connector 443. The power supply connectors 442, 443 are connected to each other. The power supply connector 443 is provided at one end of a second power supply cable 444. The second power supply cable 444 is wired in the same manner as the first power supply cable 314. Power is supplied to the second motor 44 via the second power supply cable 444 and the second cable 441.

[0105] 14, twist-resistant cable 631 for supplying power to hand motor 63 is connected to hand motor 63. Twist-resistant cable 631 is arranged in housing chamber 21 through the inside of hand casing 6 and the inside of flexible tube 73 (see FIG. 13). 13, a power supply connector 632 is provided at the tip of the twist-resistant cable 631. The housing chamber 21 houses the power supply connector 632.

[0106] As shown in Fig. 4, the accommodation chamber 21 accommodates a power supply connector 633. The power supply connectors 632, 633 are connected to each other. The power supply connector 633 is provided at one end of a hand power supply cable 634. The hand power supply cable 634 is wired in the same manner as the first power supply cable 314. Power is supplied to the hand motor 63 via the hand power supply cable 634 and the torsion-resistant cable 631. Each of the first cable 311, the first power supply cable 314, the second cable 441, the second power supply cable 444, the twist-resistant cable 631, and the hand power supply cable 634 is water-resistant and oil-resistant.

[0107] It is desirable that the power supply connectors 312 and 313, the power supply connectors 442 and 443, the signal connectors 563 and 564, and the power supply connectors 632 and 633 are supported by supports (not shown) fixed to the inner surface of the accommodation chamber 21, respectively. It is desirable that the second cable 441, the signal line 562, and the torsion-resistant cable 631 are bound between the elastic member 23 and the opening 24 inside the base 2. For example, a plate-shaped binding part extends downward from the lower part of the support 213, and the second cable 441, the signal line 562, and the torsion-resistant cable 631 pass through through holes provided in the binding part.

[0108] Since the first arm 4 and the second arm 5 swing relatively to each other, the torsion-resistant cable 631 arranged inside the first arm 4 and the second arm 5 may be twisted. However, since the torsion-resistant cable 631 is resistant to twisting, the risk of disconnection due to twisting can be reduced. For the same reason, it is desirable that the air pipe 552 and the signal line 562 each have torsion resistance.

[0109] Although the second arm 5 swings relative to the first casing 3, the torsion-resistant cable 631 and the second cable 441 are arranged on the base 2, bypassing the first casing 3, and therefore there is no risk of them twisting. Since the first casing 3 and the base 2 do not swing relative to each other, the first cable 311 passing through both of them is not twisted. As a result of the above, there is no risk of the first cable 311 and the second cable 441 breaking due to twisting, and neither the first cable 311 nor the second cable 441 need to be torsion-resistant.

[0110] The torsion-resistant cable 631 and the second cable 441 are disposed from the inside of the first arm 4 through a flexible tube 73 on the outside of the first casing 3 to the inside of the base 2. Therefore, the portions of the torsion-resistant cable 631 and the second cable 441 that pass through the outside of the first casing 3 can be protected by the flexible tube 73, thereby reducing the risk of disconnection.

[0111] The accommodation chamber 21 provided inside the base 2 accommodates the power supply connectors 312, 313, the power supply connectors 442, 443, the signal connectors 563, 564, and the power supply connectors 632, 633 (hereinafter referred to as the connectors). Since the connector is surrounded by a double layer, it is possible to prevent foreign matter from adhering to the connection portion of the connector (and thus electric leakage caused by the adhesion of conductive foreign matter).

[0112] Hereinafter, the first cable 311, the first power supply cable 314, the second cable 441, the second power supply cable 444, the twist-resistant cable 631, and the hand power supply cable 634 will each be referred to as a wiring member. Since each wiring member passes through the elastic member 23 and hangs down from the accommodation chamber 21, there is no risk of foreign matter entering the accommodation chamber 21 along the wiring members. The wiring members are arranged from the inside to the outside of the base 2 through the openings 24, 25. Since the openings 24, 25 of the base 2 are located below the accommodation chamber 21, there is no risk of foreign matter entering the accommodation chamber 21 through the openings 24, 25 of the base 2. As a result of the above, there is no need to configure the entire base 2 to be liquid-tight.

[0113] As described above, it is not necessary to make the entire base 2, the entire first casing 3, the entire first arm 4, the entire second arm 5, and the entire hand casing 6 liquid-tight. Since the members for making each part liquid-tight can be omitted, the number of parts can be reduced, making the transport device 13 smaller and lighter. In addition, the first motor 31, the second motor 44, the hand motor 63, the wiring members, the signal lines 561, 562, 565, and the air pipes 551, 552, 554 are each water-resistant and oil-resistant. Therefore, there is no need to provide a liquid-proof chamber or a liquid-proof path to protect them from foreign matter. Therefore, the members for forming a liquid-proof chamber or a liquid-proof path can be omitted, and the number of parts can be reduced, making the transport device 13 smaller and lighter.

[0114] There is no risk of the wiring member being subjected to an external force from the elastic member 23 and being broken. Since the base 2 is not configured to be liquid-tight, foreign matter may enter the inside of the base 2. Foreign matter may also enter the inside of the base 2 from the first arm 4 through the flexible tube 73. Foreign matter that has entered the inside of the base 2 naturally exits from the inside of the base 2 through the opening 25. This makes it possible to prevent foreign matter from accumulating inside the base 2.

[0115] According to the above-described transfer device 13, the hand casing 6 provided between the hand 83 and the second arm 5 houses the hand motor 63 and the hand reduction mechanism 64. Since the second arm 5 does not house the hand motor 63, the designer of the transport device 13 can determine the width (length in the front-rear direction) of the second arm 5 and the size of the hand motor 63 independently of each other. That is, the degree of freedom in designing the transport device 13 is improved. Since the width of the second arm 5 can be made sufficiently narrow, there are no limitations on the size, shape, orientation, etc. of the workpiece W held by the hand 83. That is, the degree of freedom in transporting the workpiece W is improved.

[0116] Since there is no need to use a small hand motor 63 for the purpose of narrowing the width of the second arm 5, a large hand motor 63 having sufficient output torque can be used. Therefore, there is no need to interpose multiple reduction mechanisms between the hand motor 63 and the hand 83 to compensate for a deficiency in the output torque of the hand motor 63. In other words, the transport device 13 can be made smaller and lighter, and the number of parts can be reduced.

[0117] Since both the first arm 4 and the second arm 5 are lightweight, the torque required to drive the first arm 4 to which the second arm 5 is connected is small. Therefore, there is no need to interpose multiple reduction mechanisms between the first motor 31 and the first arm 4 to compensate for the shortage of output torque of the first motor 31. In other words, it is possible to reduce the size and weight of the transport device 13 and the number of parts.

[0118] The transport device 13 is not limited to the workpiece exchange device. The transport device 13 may transport an object other than the workpiece W (for example, a tool).

[0119] The embodiments disclosed herein are illustrative in all respects and should not be considered as limiting. The scope of the present invention is intended to include not only the above-mentioned meaning, but also the meaning equivalent to the claims and all modifications within the scope of the claims. [Explanation of symbols]

[0120] 1 Machine tools 13. Conveyor equipment 2 Base 21 Containment Room 212 Bottom opening 23 Elastic member 24,25 aperture 3 First casing (casing) 31 First motor (drive unit, motor) 311 First cable (drive wiring) 312,313 Power supply connector (connector) 314 First power supply cable (supply wiring) 32 First reduction mechanism (reduction mechanism) 321 First input shaft (input shaft) 322 First output shaft (output shaft) 361 O-ring (seal) 362 Oil seal (seal) 4 First Arm (Arm) 42 Front stage casing (casing) 44 Second motor (drive unit, motor) 441 Second cable (drive wiring) 442,443 Power supply connector (connector) 444 Second power supply cable (supply wiring) 45 First stage reduction mechanism (reduction mechanism) 451 Bevel pinion (input shaft) 452 Bevel gear (output shaft) 471,472 O-ring (seal) 473 Oil seal (seal) 5 Second Arm (Arm) 52 Second casing (casing) 54 Outlet 55 First Connector 56 Second Connector 562 Signal Line 57 Cover 6 Hand Casing (Casing) 63 Hand motor (drive unit, motor) 631 Twist-resistant cable (drive wiring) 632,633 Power supply connector (connector) 634 Hand power supply cable (supply wiring) 64 Hand reduction mechanism (reduction mechanism) 641 Hand input shaft (input shaft) 642 Hand output shaft (output shaft) 651,652 O-ring (seal) 653 Oil seal (seal) 72 Second reduction mechanism (reduction mechanism) 721 Second input shaft (input shaft) 722 Second output shaft (output shaft) 83 Hands W Work (Object)

Claims

1. A hand that grasps an object; an arm that transports an object grasped by the hand; A drive unit that drives the hand or the arm; A drive wiring extending from the drive unit; a connector for connecting the drive wiring to a supply wiring extending from a power supply source that supplies power to the drive unit; A hollow base supporting the arm; a receiving chamber provided inside the base for receiving the connector; Equipped with The storage chamber has a bottom opening covered by an elastic member, A transport device, characterized in that the drive wiring and the supply wiring are each arranged through the elastic member from the inside of the accommodation chamber to the outside of the accommodation chamber.

2. The base has openings for arranging the drive wiring and the supply wiring from the inside of the base to the outside of the base, 2. The transport device according to claim 1, wherein the opening is located below the storage chamber.

3. A hand that grasps an object; an arm that transports an object grasped by the hand; A drive unit that drives the hand or the arm; A drive wiring extending from the drive unit; a connector for connecting the drive wiring to a supply wiring extending from a power supply source that supplies power to the drive unit; A hollow base supporting the arm; a receiving chamber provided inside the base for receiving the connector; Equipped with the base has openings for arranging the drive wiring and the supply wiring from the inside of the base to the outside of the base, The opening is located below the storage chamber.

4. A first connector for an air pipe for driving the hand; A second connector for a signal line for detecting the operation of the hand; Further comprising: the arm is hollow; 4. The conveying device according to claim 1, wherein the first connector and the second connector are arranged liquid-tightly penetrating a side wall of the arm from the inside of the arm to the outside of the arm.

5. A cover that liquid-tightly covers the second connector from the inside of the arm; A signal line connected to the second connector on the inside of the cover; Further comprising:

5. The conveying device according to claim 4, wherein the signal line penetrates the cover in a liquid-tight manner and is arranged from the inside of the cover to the outside of the cover.

6. A hand for grasping an object; an arm that transports an object grasped by the hand; A drive unit that drives the hand or the arm; A drive wiring extending from the drive unit; a connector for connecting the drive wiring to a supply wiring extending from a power supply source that supplies power to the drive unit; A hollow base supporting the arm; a receiving chamber provided inside the base for receiving the connector; a first connector for an air pipe for driving the hand; A second connector for a signal line for detecting the operation of the hand; a cover that liquid-tightly covers the second connector from an inside of the arm; A signal line connected to the second connector on the inside of the cover; Equipped with the arm is hollow; the first connector and the second connector are disposed liquid-tightly through a side wall of the arm from an inner side to an outer side of the arm, A conveying device characterized in that the signal line penetrates the cover in a liquid-tight manner and is arranged from the inside of the cover to the outside of the cover.

7. the arm is hollow; 7. The conveying device according to claim 1, wherein the arm is provided with a discharge port for discharging liquid that has entered inside the arm.

8. The arm is swingable and can be stopped at a home position in which the longitudinal direction faces up and down; 8. The transport device according to claim 7, wherein the discharge port is located below the arm when the arm is at the home position.

9. 9. The transport device according to claim 1, wherein the drive section and the drive wiring are water-resistant and oil-resistant.

10. the drive unit includes a motor that drives the hand or the arm via a reduction mechanism, a seal that is interposed between the motor or the reduction mechanism and a member adjacent to the motor or the reduction mechanism, thereby liquid-tightly sealing a lubricant interposed between the input shaft and the output shaft of the reduction mechanism; a casing that accommodates the motor, the reduction mechanism, and the seal; The conveying device according to any one of claims 1 to 9, further comprising:

11. A conveying apparatus comprising: A machine tool characterized in that it processes a workpiece transported by the transport device.

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