JPH039998Y2 - - Google Patents
Info
- Publication number
- JPH039998Y2 JPH039998Y2 JP1305786U JP1305786U JPH039998Y2 JP H039998 Y2 JPH039998 Y2 JP H039998Y2 JP 1305786 U JP1305786 U JP 1305786U JP 1305786 U JP1305786 U JP 1305786U JP H039998 Y2 JPH039998 Y2 JP H039998Y2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- housing
- attached
- tip
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Description
【考案の詳細な説明】
(産業上の利用分野)
本考案は第1アーム先端に枢着された第2アー
ムに作業工具を取り付けた産業用ロボツトの第2
アーム作業域を調節できるようにした装置に関す
る。[Detailed description of the invention] (Field of industrial application) The present invention is a second industrial robot in which a working tool is attached to a second arm that is pivotally connected to the tip of the first arm.
This invention relates to a device that allows the arm working area to be adjusted.
(従来技術)
第5図に示すものは水平多関節型とよばれる平
行な2つの軸101,102によつて回動する第
1アーム103と第2アーム104によつて第2
アーム104端部に設けられた昇降軸105の先
端に固定した作業工具106を平面的に位置決め
し、かつ第2アーム104に設けられた昇降装置
107と昇降軸105の回転駆動用モーター10
8によつて作業工具106の姿勢と高さを制御す
る産業用ロボツトである。(Prior Art) The device shown in FIG. 5 is a horizontal multi-joint type in which a first arm 103 and a second arm 104 rotate about two parallel axes 101 and 102.
A working tool 106 fixed to the tip of a lifting shaft 105 provided at the end of the arm 104 is positioned in a plane, and a lifting device 107 provided on the second arm 104 and a motor 10 for rotationally driving the lifting shaft 105 are provided.
This is an industrial robot that controls the posture and height of a working tool 106 by means of 8.
(考案が解決しようとする問題点)
ところで上記従来装置に於ては昇降軸105は
回転と上下動を行うので2個のアクチユエーター
が必要であるが、通常昇降軸105にスプライン
軸を用いてエアシリンダ等の昇降装置107をス
プライン軸と連結し、スプライン軸に嵌合してい
る軸受に第2アーム104に設けた昇降軸回転駆
動用モーター108の回転力をベルト110等を
用いて伝達する方式を用いる事が多い。(Problems to be solved by the invention) By the way, in the above-mentioned conventional device, the lifting shaft 105 rotates and moves up and down, so two actuators are required, but normally a spline shaft is used for the lifting shaft 105. A lifting device 107 such as an air cylinder is connected to the spline shaft, and the rotational force of a motor 108 for driving the rotation of the lifting shaft provided on the second arm 104 is transmitted to the bearing fitted to the spline shaft using a belt 110 or the like. This method is often used.
しかしながら、昇降軸の回転駆動用モーター1
08が第2アーム104上に設けられていること
から、第6図に示す様にこれと第1アーム103
が干渉するため第2アーム104の回動角αに制
限が生じ、ロボツトの作業域を広くすることがで
きないという欠点があつた。特にモーターにサー
ボモーターを用いると減速機、軸受部が必要で軸
方向にかなり長くなるので干渉は避けることがで
きなかつた。 However, the rotational drive motor 1 of the lifting shaft
08 is provided on the second arm 104, this and the first arm 103 are connected as shown in FIG.
This interference limits the rotation angle α of the second arm 104, which has the disadvantage that the robot's work area cannot be widened. In particular, when a servomotor is used as a motor, a reduction gear and a bearing are required and the motor is quite long in the axial direction, so interference cannot be avoided.
本考案は上記問題点を解決することを目的とし
ている。 The present invention aims to solve the above problems.
(問題点を解決するための手段)
本考案は上記問題点に着目してなされたもの
で、スプライン軸を上下動、回動自在に取り付け
たハウジングの上端に上下動用装置を配設し、側
方に回動用装置を配設し、該ハウジングをアーム
先端に高さ、向きを調節可能に取り付けたことを
特徴とするものである。(Means for Solving the Problems) The present invention has been made by focusing on the above problems, and a vertical movement device is disposed at the upper end of a housing to which a spline shaft is attached so as to be vertically movable and rotatable. The device is characterized in that a rotating device is disposed on the arm, and the housing is attached to the tip of the arm so that its height and direction can be adjusted.
(実施例)
以下、図示した実施例に基づいて具体的に説明
する。1は第1アーム、2は第1アーム1先端に
枢着した第2アームで第1アーム1に取り付けた
モーター3により回動される。4はスプライン軸
で、ハウジング5内の軸受6,7に軸支されたス
プライン軸受8に嵌合し、上端はハウジング5上
部に配設したエアシリンダ9のロツド10に連結
し、下端は昇降軸11に連結している。ハウジン
グ5側方にはサーボモーター12が配設され、そ
の出力軸13とスプライン軸受8とはベルト14
で連結されている。15は昇降軸11先端に取り
付けた作業工具である。第2アーム2先端円孔2
aには縦割り部2bが形成されている。この円孔
2aに前記ハウジング5を挿入し、その高さ及び
向きを目的とする作業域に合せて調節し、締めボ
ルト16で固定している。(Example) Hereinafter, a detailed explanation will be given based on the illustrated example. 1 is a first arm, and 2 is a second arm pivotally attached to the tip of the first arm 1, which is rotated by a motor 3 attached to the first arm 1. Reference numeral 4 denotes a spline shaft, which fits into a spline bearing 8 which is supported by bearings 6 and 7 in the housing 5.The upper end is connected to the rod 10 of the air cylinder 9 disposed on the upper part of the housing 5, and the lower end is connected to the lifting shaft. It is connected to 11. A servo motor 12 is disposed on the side of the housing 5, and its output shaft 13 and spline bearing 8 are connected to a belt 14.
are connected with. 15 is a working tool attached to the tip of the lifting shaft 11. 2nd arm 2 tip circular hole 2
A vertically divided portion 2b is formed in a. The housing 5 is inserted into the circular hole 2a, its height and orientation are adjusted according to the intended work area, and the housing 5 is fixed with tightening bolts 16.
次に作用について説明する。第4図に示すよう
に、第1アーム1の右側が作業域の場合、ハウジ
ング5を第2アーム2に対して図示の如く第1ア
ームと干渉しない位置に調節固定することによ
り、第2アーム2の回動角βを大きくすることが
できる。 Next, the effect will be explained. As shown in FIG. 4, when the right side of the first arm 1 is the working area, the housing 5 is adjusted and fixed to the second arm 2 at a position where it does not interfere with the first arm as shown in the figure. The rotation angle β of 2 can be increased.
なおハウジングを第2アームに固定するのに他
の手段を用いたり、昇降軸をサーボモーターとボ
ールねじの組み合せを用いて駆動してもよい。 Note that other means may be used to fix the housing to the second arm, or the elevating shaft may be driven using a combination of a servo motor and a ball screw.
(効果)
本考案によるとスプライン軸を上下動、回動自
在に取り付けたハウジングの上端に上下動用装置
を配設し、側方に回動用装置を配設し、該ハウジ
ングをアーム先端に高さ、向きを調節可能に取り
付けているので、作業域に於ける第2アームの回
動角を大きくすることができ、又作業内容により
ハウジングが周辺機器等に干渉するおそれのある
場合はハウジングを第2アームに対して回動調節
して干渉をさせることができ、更に昇降装置にエ
アシリンダを用いた場合、ハウジングの第2アー
ムに対する高さを自由に調整してストロークエン
ドの調整を行うことができ便利である。(Effect) According to the present invention, a device for vertical movement is provided at the upper end of the housing to which the spline shaft is attached so that it can move vertically and freely, a device for rotating is provided on the side, and the housing is attached to the tip of the arm at a height. Since the direction of the housing can be adjusted, the rotation angle of the second arm in the work area can be increased, and if there is a risk that the housing may interfere with peripheral equipment, etc. due to the work content, the housing can be moved to the second arm. The rotation can be adjusted to interfere with the second arm, and if an air cylinder is used for the lifting device, the height of the housing relative to the second arm can be freely adjusted to adjust the stroke end. It is convenient.
第1図は本考案の一実施例正断面図、第2図は
第1図の外観斜視図、第3図はハウジングの第2
アームに対する回動状態説明平面図、第4図は本
考案の作動説明平面図、第5図は従来装置の外観
斜視図、第6図は従来装置の作動説明平面図であ
る。
1……第1アーム、2……第2アーム、5……
ハウジング、9……エアシリンダ、11……昇降
軸、12……サーボモーター、13……サーボモ
ーター出力軸、14……ベルト、15……作業工
具。
Fig. 1 is a front sectional view of one embodiment of the present invention, Fig. 2 is an external perspective view of Fig. 1, and Fig. 3 is a second view of the housing.
FIG. 4 is a plan view illustrating the rotation state of the arm, FIG. 4 is a plan view illustrating the operation of the present invention, FIG. 5 is an external perspective view of the conventional device, and FIG. 6 is a plan view illustrating the operation of the conventional device. 1...First arm, 2...Second arm, 5...
Housing, 9... Air cylinder, 11... Lifting shaft, 12... Servo motor, 13... Servo motor output shaft, 14... Belt, 15... Work tool.
Claims (1)
ハウジングの上端に上下動用装置を配設し、側方
に回動用装置を配設し、該ハウジングをアーム先
端に高さ、向きを調節可能に取り付けた産業用ロ
ボツトの作業工具作業域調節装置。 A vertical movement device is installed at the top end of the housing to which the spline shaft is attached so that it can move vertically and freely, a rotation device is installed on the side, and the housing is installed at the tip of the arm so that the height and direction can be adjusted. Industrial robot work tool work area adjustment device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1305786U JPH039998Y2 (en) | 1986-01-31 | 1986-01-31 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1305786U JPH039998Y2 (en) | 1986-01-31 | 1986-01-31 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS62123887U JPS62123887U (en) | 1987-08-06 |
JPH039998Y2 true JPH039998Y2 (en) | 1991-03-12 |
Family
ID=30801763
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1305786U Expired JPH039998Y2 (en) | 1986-01-31 | 1986-01-31 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH039998Y2 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2568610Y2 (en) * | 1992-08-21 | 1998-04-15 | いすゞ自動車株式会社 | Assembly hand |
JP7028581B2 (en) * | 2017-08-23 | 2022-03-02 | 大成建設株式会社 | Self-propelled rebar binding machine |
-
1986
- 1986-01-31 JP JP1305786U patent/JPH039998Y2/ja not_active Expired
Also Published As
Publication number | Publication date |
---|---|
JPS62123887U (en) | 1987-08-06 |
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