JP5225658B2 - Robot for work - Google Patents

Description

  The present invention relates to a working robot that performs a machining operation on a workpiece, and more particularly, to a working robot that is hard to get entangled with wiring provided from a proximal-side rotation shaft to a distal-end rotation shaft.

  In general, orthogonal robots, SCARA robots, vertical articulated robots, and the like are known as work robots. Among these, the SCARA robot and the vertical articulated robot include a plurality of arm bodies sequentially provided from the base end side toward the tip end side, and 4 to 6 rotating shafts interposed between the arm bodies. Each of these rotating shafts is provided with a shaft motor and a shaft speed reducer.

  By the way, the power supply wiring for driving the shaft motor on the distal end side extends from the terminal connector provided on the proximal end side toward the distal end side. This wiring is disposed so as to be exposed outward from the arm body of the work robot, or is disposed inside a metal hollow arm body that receives the load of the work robot.

On the other hand, each arm body needs to perform a high-speed and complicated operation in order to cause the tool attached to the tip of the working robot to perform a complicated movement. For this reason, the wiring for power supply tends to be entangled and twisted, and there is a risk of disconnection.
JP-A-5-301194 JP-A-9-141582

  The present invention has been made in consideration of such points, and for work that can prevent entanglement and twisting of wiring provided from the rotation shaft on the proximal end side toward the rotation shaft on the distal end side. The purpose is to provide a robot.

The present invention relates to a work robot, a base, a first arm body to a fifth arm body sequentially provided from the base toward the tip side, a tip portion provided at the tip of the fifth arm body, First to sixth rotation shafts interposed between the base and the first arm body, between the first arm body to the fifth arm body, and between the fifth arm body and the tip portion, respectively. The first to sixth rotating shafts are provided for rotating the first to fifth arm bodies and the tip portion about the first to sixth rotating shafts, respectively. A 1-axis motor to a 6-axis motor are provided, the second arm body is composed of two arm members, one arm member is composed of a metal material, and the other arm member is a removable hollow enclosure The enclosure is made of synthetic resin material, elastic rubber material, wood material, or paper material, A wiring is provided from the first rotation shaft on the end side toward the sixth rotation shaft on the front end side, and this wiring is disposed in the enclosure of the other arm member of the second arm body. The wiring is connected to the 1-axis motor to the 6-axis motor, and the wiring has a proximal end side wiring portion, a distal end side wiring portion, and a wiring connecting portion that connects the proximal end side wiring portion and the distal end side wiring portion. The connecting portion is provided in the enclosure of the other arm member of the second arm body, and any one of the arm bodies located on the distal end side has an internal space therein, and a solenoid valve is provided in the internal space. In addition, air piping is further provided from the first rotation shaft on the base end side toward the sixth rotation shaft on the distal end side, and this air piping is connected to the solenoid valve and disposed in the enclosure, The piping for use has a proximal end side piping portion and a distal end side piping portion, and these proximal end side piping portion and distal end side piping portion are arranged. Parts are connected to each other by a pipe connecting portion, the pipe connecting portion is a work robot which is characterized in that provided in the enclosure of the other arm member of the second arm member.

  The present invention is the working robot, wherein the other arm member further includes a plate-like structure provided inside the hollow enclosure.

  According to the present invention, the wiring is provided from the rotation shaft on the proximal end side toward the rotation shaft on the distal end side, and this wiring is arranged in the enclosure of the other arm member of the one arm body. The wiring can be prevented from being tangled or twisted. Also, since the wiring is provided not on one arm member that receives the load of the work robot but on the other arm member that does not receive the load of the work robot, one arm member is not subject to inertia fluctuation due to the wiring. Absent. For this reason, the said arm body can be stably hold | maintained by one arm member which does not receive an inertia fluctuation | variation.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
Here, FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a perspective view showing an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. FIG. 4 is a vertical cross-sectional view showing an embodiment of the present invention.

First, the outline of the working robot according to the present embodiment will be described with reference to FIGS.
As shown in FIG. 1, the working robot 10 includes a base 11 and a plurality of arm bodies (first arm bodies) sequentially provided from the base end side (base 11) toward the tip end side (tip end portion 17). 12, the second arm body 13, the third arm body 14, the fourth arm body 15, and the fifth arm body 16), and a distal end portion 17 provided at the distal end of the fifth arm body 16.

Of these, as shown in FIG. 2, the first arm body 12 is rotatable on the base 11 around the _first rotation axis A ₁ . Further, a second rotation axis A ₂ is interposed between the first arm body 12 and the second arm body 13, and the second arm body 13 is rotatable about the _second rotation axis A _2. Yes. Further, a third rotation axis A ₃ is interposed between the second arm body 13 and the third arm body 14, and the third arm body 14 is rotatable about the _third rotation axis A _3. Yes. Further, a fourth rotation axis A ₄ is interposed between the third arm body 14 and the fourth arm body 15, and the fourth arm body 15 is rotatable about the _fourth rotation axis A _4. Yes. Further, a fifth rotation axis A ₅ is interposed between the fourth arm body 15 and the fifth arm body 16, and the fifth arm body 16 is rotatable about the _fifth rotation axis A _5. Yes. Furthermore, the distal end portion 17 is rotatable with respect to the fifth arm body 16 about the _sixth rotation axis A6.

Also as shown in FIGS. 3 and 4, the rotary shafts A ₁ to A _6, the motor for rotating the arm member 12 to 16, and the distal portion 17 about the rotary shafts A ₁ to A ₆ 21 to 26 (one-axis motor 21, two-axis motor 22, three-axis motor 23, four-axis motor 24, five-axis motor 25, and six-axis motor 26) are provided. Further, the rotation axes A _{1 to} A ₆ are further equipped with speed reducers 31 to 36 for reducing the speeds of the motors 21 to 26 (one-axis reducer 31, two-axis reducer 32, three-axis reducer 33, four-axis A speed reducer 34, a 5-axis speed reducer 35, and a 6-axis speed reducer 36) are provided. Among these, the 1-axis reduction gear 31 and the 4-axis reduction gear 34 each have a hollow structure, so that the wiring 18 and the air pipe 28 described later can pass through the inside thereof.

  By the way, the 2nd arm body 13 consists of two arm members 13A and 13B among several arm bodies 12-16. One of the arm members 13B is an arm that receives the load of the robot, and is made of a metal material. On the other hand, the other arm member 13A has a hollow enclosure 13C and a plate-like structure 13D provided inside the enclosure 13C.

Of these, the plate-like structure 13D is disposed between the second rotation axis A ₂ and the third rotation axis A ₃ and is made of a metal material such as aluminum. On the other hand, the enclosure 13C can be made of a relatively light and soft material such as a synthetic resin material, an elastic rubber material (especially a silicon rubber material), a wood material, or a paper material.

As shown in FIGS. 3 and 4, a wiring 18 is provided from the first rotation axis A ₁ on the proximal end side to the sixth rotation axis A ₆ on the distal end side. The wiring 18 is used, for example, to supply power to the motors 21 to 26 and to transmit a signal to a solenoid valve 27 described later. That is, one end of the wiring 18 is connected to the motors 21 to 26 and the solenoid valve 27, and the other end is connected to a terminal connector 19 provided on the base 11. The wiring 18 is arranged in the enclosure 13C so as to pass through the enclosure 13C of the other arm member 13A described above.

  Further, the wiring 18 has a proximal end side wiring portion 18A and a distal end side wiring portion 18B. The proximal end side wiring portion 18A and the distal end side wiring portion 18B are detachably connected to each other by a connector 20 (wiring connection portion). The connector 20 is provided in the enclosure 13C of the other arm member 13A.

  On the other hand, among the arm bodies located on the distal end side, the fourth arm body 15 has an internal space 15A therein. A solenoid valve 27 controlled by a signal from the wiring 18 is provided in the internal space 15A. The solenoid valve 27 is for operating the pneumatic device, for example, when the tool attached to the distal end portion 17 is a pneumatic device.

Further, an air pipe 28 is provided from the first rotation axis A ₁ on the proximal end side toward the sixth rotation axis A ₆ on the distal end side. One end of the air pipe 28 is connected to the solenoid valve 27 for supplying air to the solenoid valve 27, and the other end is connected to the terminal connector 19 provided on the base 11. The air pipe 28 is disposed between the solenoid valve 27 and the terminal connector 19 so as to pass through a position substantially similar to the wiring 18. That is, the air pipe 28 is also arranged in the enclosure 13C so as to pass through the enclosure 13C of the second arm body 13.

  The air piping 28 has a proximal end side piping portion 28A and a distal end side piping portion 28B. The proximal end side piping portion 28A and the distal end side piping portion 28B are connected to each other by a connector 40 (piping connection portion). As shown in FIG. 4, the connector 40 is provided in the enclosure 13C of the other arm member 13A.

Next, the operation of the present embodiment having such a configuration will be described.
The working robot 10 operates a tool attached to the distal end portion 17 to perform a predetermined work on a work that is a work target.

At this time, in order to move the distal end portion 17 to a predetermined position, the first arm body 12, the second arm body 13, the third arm body 14, the fourth arm body 15, the fifth arm body 16 of the working robot 10, and the tip portion 17, by respective motors 21 to 26 is rotated about the rotary shafts a ₁ to a _6. Of these, the second arm body 13 is composed of one arm member 13B and the other arm member 13A as described above, but the load is applied only to one arm member 13B when the working robot 10 operates. is there.

On the other hand, the wiring 18 and the air pipe 28 are disposed in the enclosure 13C of the other arm member 13A. Therefore, while the one arm member 13B and the other arm member 13A rotate about the _second rotation axis A2, the wiring 18 and the air pipe 28 do not get tangled or twisted.

  Further, since the wiring 18 and the air pipe 28 are provided not on one arm member 13B that receives the load of the work robot 10 but on the other arm member 13A that does not receive the load of the work robot 10, one arm member 13B is not subject to inertia fluctuation due to the wiring 18 and the air pipe 28. Thus, the rigidity of the arm body 13 is ensured by the one arm member 13B that is not subject to inertia fluctuation, and the entire arm body 13 can be stably held by the one arm member 13B.

  Next, the operation when the motor is removed by inspection or the like will be described taking the triaxial motor 23 as an example. In this case, first, the enclosure 13C of the other arm member 13A is removed. Next, the connector 20 is removed, and the wiring 18 is separated into a proximal end side wiring portion 18A and a distal end side wiring portion 18B. Thereafter, by pulling out the triaxial motor 23 in the horizontal direction, the distal end side wiring portion 18B can be removed together with the triaxial motor 23. In this way, the three-axis motor 23 can be easily removed without removing the proximal end side wiring portion 18A. The same operation can be performed when the other motor and the solenoid valve 27 are removed.

Thus, according to the present embodiment, the wiring 18 and the air piping 28 are provided from the first rotation axis A ₁ on the proximal end side to the sixth rotation axis A ₆ on the distal end side. Since the air pipe 28 is disposed in the enclosure 13C of the other arm member 13A, the wiring 18 and the air pipe 28 can be prevented from being tangled or twisted.

  Further, according to the present embodiment, since the wiring 18 and the air pipe 28 are provided on the other arm member 13A, the arm body 13 is stably held by the one arm member 13B that is not subjected to inertia fluctuation. As a result, the inertia fluctuation can be suppressed and the operation of the work robot 10 can be stabilized.

  Further, according to the present embodiment, the enclosure 13C is made of a synthetic resin material, an elastic rubber material, a wood material, or a paper material, so that the other arm member 13A can be reduced in weight and the working robot. 10 safety can be improved. That is, even when the arm member 13A accidentally contacts a peripheral device or the like during work such as teaching, the risk of damaging the device or the like by the enclosure 13C is small. In particular, when the enclosure 13C is made of a relatively soft material such as an elastic rubber material, safety can be particularly improved.

  Further, according to the present embodiment, the other arm member 13A has the plate-like structure 13D provided inside the hollow enclosure 13C, so that the wiring 18 and the air pipe 28 are protected from the inside. be able to.

  Further, according to the present embodiment, the connectors 20 and 40 are provided in the enclosure 13C of the other arm member 13A, so that the motors 21 to 26 and the solenoid valve 27 can be easily removed when performing inspection or the like. be able to.

  Further, according to the present embodiment, the solenoid valve 27 is provided in the internal space 15A of the fourth arm body 15, so that the solenoid valve 27 can be protected from the outside.

The perspective view which shows one Embodiment of the working robot by this invention. The perspective view which shows one Embodiment of the working robot by this invention. 1 is a horizontal sectional view showing an embodiment of a working robot according to the present invention. 1 is a vertical sectional view showing an embodiment of a working robot according to the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Working robot 11 Base 12 1st arm body 13 2nd arm body 13A The other arm member 13B One arm member 13C Enclosure 13D Structure 14 3rd arm body 15 4th arm body 16 5th arm body 17 Tip Portion 18 Wiring 18A Base end wiring portion 18B End side wiring portion 19 Termination connector 20 Connector (wiring connection portion)
21-26 Motor 27 Solenoid valve 28 Air piping 28A Base end side piping part 28B End side piping part 31-36 Reducer 40 Connector (piping connection part)

Claims (2)

In work robots,
The base,
A first arm body to a fifth arm body sequentially provided from the base toward the tip side;
A tip provided at the tip of the fifth arm body;
First to sixth rotation shafts interposed between the base and the first arm body, between the first arm body to the fifth arm body, and between the fifth arm body and the tip portion, respectively. With
The first to sixth rotation shafts are uniaxial motors for rotating the first to fifth arm bodies and the tip portion around the first to sixth rotation shafts, respectively. To 6-axis motors,
The second arm body consists of two arm members,
One arm member is made of a metal material,
The other arm member has a removable hollow enclosure, which is made of a synthetic resin material, an elastic rubber material, a wood material, or a paper material,
A wiring is provided from the first rotation shaft on the proximal end side to the sixth rotation shaft on the distal end side, and this wiring is disposed in the enclosure of the other arm member of the second arm body,
One end of the wiring is connected to each 1-axis motor to 6-axis motor,
The wiring has a proximal end side wiring portion, a distal end side wiring portion, and a wiring connection portion that connects the proximal end side wiring portion and the distal end side wiring portion,
The wiring connection portion is provided in the enclosure of the other arm member of the second arm body ,
One of the arm bodies located on the distal end side has an internal space inside, and a solenoid valve is provided in the internal space.
An air pipe is further provided from the first rotation shaft on the proximal end side to the sixth rotation shaft on the distal end side. The air pipe is connected to the solenoid valve and disposed in the enclosure.
The piping for air has a proximal end side piping portion and a distal end side piping portion,
The proximal end side piping portion and the distal end side piping portion are connected to each other by a piping connection portion, and the piping connection portion is provided in the enclosure of the other arm member of the second arm body . robot.   2. The work robot according to claim 1, wherein the other arm member further includes a plate-like structure provided inside the hollow enclosure.

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