JPS6263092A - Dustproof structure in industrial robot - Google Patents
Dustproof structure in industrial robotInfo
- Publication number
- JPS6263092A JPS6263092A JP20081485A JP20081485A JPS6263092A JP S6263092 A JPS6263092 A JP S6263092A JP 20081485 A JP20081485 A JP 20081485A JP 20081485 A JP20081485 A JP 20081485A JP S6263092 A JPS6263092 A JP S6263092A
- Authority
- JP
- Japan
- Prior art keywords
- post
- support shaft
- dust
- spindle
- industrial robot
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は工業用ロボットの作動アームの高さを保持する
支軸の汚れを防止する工業用ロボットにおける防塵構造
に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a dust-proof structure for an industrial robot that prevents dirt on a support shaft that maintains the height of an operating arm of the industrial robot.
（従来の技術）
近年、工業用ロボットが各方面にて多用されており、第
３図は床上に設置された基台に回動可能なポストを設け
た水平関節型工業用ロボットの〜例を示す側面図である
。(Prior art) In recent years, industrial robots have been widely used in various fields, and Figure 3 shows an example of a horizontally articulated industrial robot with a rotatable post mounted on a base set on the floor. FIG.
図において、■はポストであり、ノ、（台２に載置され
基台２上にて所定回転範囲内（θ）の回動が可能であり
、該ポスト１を回動させる回動機構２１が基台２の内部
に設けられている。３の第１のアーム（作動アーム）は
ポストの上部より挿通された支軸４の上部に保持され、
第１のアーム３の先端部には水平方向に回動可能な第２
のアーム５が取付けられ、さらに、第２のアーム５の先
端部には手首５１が設けられている。In the figure, ■ is a post, and () is placed on the base 2 and can rotate within a predetermined rotation range (θ), and a rotation mechanism 21 that rotates the post 1. is provided inside the base 2.The first arm (operating arm) 3 is held on the upper part of the support shaft 4 inserted from the upper part of the post,
At the tip of the first arm 3, there is a second arm that can be rotated in the horizontal direction.
An arm 5 is attached thereto, and a wrist 51 is further provided at the tip of the second arm 5.
ポスト１の内部には、支軸４を所定の範囲内（Ｚ）を−
上下移動して、第１のアーム３の高さを制御する駆動機
構６が設けられている。Inside the post 1, the support shaft 4 is inserted within a predetermined range (Z).
A drive mechanism 6 that moves up and down to control the height of the first arm 3 is provided.
第４図は上述のポスト１を縦方向に切断した断面図であ
り、同図において、７はモータープーリー７１を有する
駆動モータであり、該モータープーリー７１より、ベル
ト７２、駆動プーリ６３を介して駆動機構６の棒ネジ６
１を回動し、該棒ネジ６１に螺合されているナツト６２
を−ｈ下移動して、該ナツト６２を保持している支軸４
の上下駆動を行う。なお、棒ネジ６１の下端にはブレー
キシュー８１が取付けられ、ポスト１の底板に設けたブ
レーキ固定部８２の有する電磁コイル８３の電磁作用に
より、ブレーキシュー８１を吸引して林ネジ６１の回動
を制動する。FIG. 4 is a cross-sectional view of the above-mentioned post 1 cut in the longitudinal direction. In the same figure, 7 is a drive motor having a motor pulley 71, and from the motor pulley 71, a belt 72 and a drive pulley 63 Rod screw 6 of drive mechanism 6
1, and the nut 62 is screwed onto the bar screw 61.
-h downwards to remove the support shaft 4 holding the nut 62.
Performs vertical movement. A brake shoe 81 is attached to the lower end of the rod screw 61, and the brake shoe 81 is attracted by the electromagnetic action of the electromagnetic coil 83 of the brake fixing part 82 provided on the bottom plate of the post 1, causing the rotation of the Hayashi screw 61. brake.
（３２！明が解決しようとする問題点）上述の構成にな
る支軸においては、支軸４を上方向または下方向へ駆動
に際し、駆動モータ７の回動力により棒ネジ６１が急速
回転を行い、螺合されたナツト６２を上方向または下方
向に移動にて支軸４が駆動されるので、棒ネジ６１の表
面に塗布した潤滑用のグリースが遠心力により棒ネジ６
１より飛散して、ポスト１の内壁や、棒ネジ６１に対向
する支軸４の表面にグリースの飛散が付着する。(32! Problem to be solved by Akira) In the spindle having the above-described structure, when the spindle 4 is driven upward or downward, the rod screw 61 rotates rapidly due to the rotational force of the drive motor 7. As the spindle 4 is driven by moving the screwed nut 62 upward or downward, the lubricating grease applied to the surface of the rod screw 61 is applied to the rod screw 6 by centrifugal force.
1 and adheres to the inner wall of the post 1 and the surface of the support shaft 4 facing the rod screw 61.
このようなグリースの飛散が付着した支軸４の表面は支
軸４が上方向に移動してポストｌの上面板１１より上方
に露出すると、工業用ロボットの作業場内の空気に直接
に触れることになり、空気中の塵埃や機械加工による切
屑などが付着して、支＋ｈ４の表面の汚染となって不潔
となるばかりか、支軸４が下方に移動した際にはポスト
１の内部に汚染した部分が入って、上下移動を行う駆動
機構の故障の原因となる虞れを生ずる。また、半導体製
造工場において該ロボットを使用した場合、支軸４に付
着した油漏れなどの塵埃が空気中に飛散し、工場用の空
気を汚染するようなことになる。When the spindle 4 moves upward and is exposed above the top plate 11 of the post L, the surface of the spindle 4, which is covered with such scattered grease, comes into direct contact with the air in the industrial robot's workplace. Not only will dust in the air and chips from machining adhere to the surface of the post +h4, making it unclean, but when the support shaft 4 moves downward, the inside of the post 1 will become contaminated. There is a risk that this part will get stuck and cause a failure of the drive mechanism that moves up and down. Further, when the robot is used in a semiconductor manufacturing factory, dust such as oil leakage adhering to the spindle 4 will be scattered into the air and contaminate the factory air.
本発明は上述の如き従来の問題点に鑑みてなされたもの
であり、その目的は、ポストの上部に突出する作動アー
ムの支軸の表面がグリースなどにて汚染されることのな
い工業用ロボットにおける防塵構造を提供するにある。The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to provide an industrial robot in which the surface of the spindle of the operating arm that protrudes from the top of the post is not contaminated with grease or the like. The purpose is to provide a dustproof structure.
（問題点を解決するための手段）
本発明によれば、作動アームを支持して上下移動する支
軸を駆動する棒ネジを覆う防塵カバーを該支軸の側面に
設けるとともに、前記支軸を垂直に支持するポストの上
面板に該支軸と防塵カバーとに近接して対応する挿通穴
を設けてポスト内部を防塵構造とした工業用ロボットに
おける防塵構造が提供される。(Means for Solving the Problems) According to the present invention, a dustproof cover is provided on the side surface of the spindle to cover the rod screw that supports the actuating arm and drives the spindle that moves up and down. A dust-proof structure for an industrial robot is provided in which the inside of the post is made dust-proof by providing a corresponding insertion hole close to the support shaft and a dust-proof cover in the top plate of a vertically supported post.
（作用）
棒ネジの高速回転による潤滑用グリースの飛散を、支軸
に防塵カバーを設けることにより防止したので、ポスト
の上面より突出した支軸の側面にはグリースが飛散した
側面が現われることがなく、したがって、支軸側面が外
気に触れても塵埃により汚れることがない、また、防塵
カバーの内面にグリースが飛散しても、直接外気に触れ
ないため、塵埃や異物による駆動装置の故障が防止でき
る。(Function) Since the scattering of lubricating grease caused by the high-speed rotation of the rod screw is prevented by providing a dustproof cover on the spindle, the sides of the spindle that protrude from the top surface of the post will not have grease splashed on them. Therefore, even if the side surface of the spindle comes into contact with the outside air, it will not become contaminated with dust.Also, even if grease is scattered on the inside of the dustproof cover, it will not come into direct contact with the outside air, so there is no chance of drive device failure due to dust or foreign matter. It can be prevented.
（実施例）
つぎに、本発明の実施例について図面を用いて詳細に説
明する。(Example) Next, an example of the present invention will be described in detail using the drawings.
第１図は本発明に係る工業用ロボットにおける防塵構造
の一実施例を示す斜視図であり、第２図は切断線Ａ−Ａ
′にて切断した縦断面図である。FIG. 1 is a perspective view showing an embodiment of the dustproof structure of an industrial robot according to the present invention, and FIG.
FIG.
第１図、および第２図において第３図、および第４図と
同一部分には同一の符Ｊ号をっけ、その説明は省略する
。In FIGS. 1 and 2, the same parts as in FIGS. 3 and 4 are given the same reference numerals J, and their explanations will be omitted.
第１図、および第２図において、４１は支軸４の上部に
設けた鍔部であり、第１のアーム３の取付用ネジ穴を複
数個有している。そして１図示していないが取付用ネジ
を用いて、鍔部４１と第１のアーム３を締付け、支軸４
の上方に第１のアーム３を載設する。In FIGS. 1 and 2, 41 is a collar provided on the upper part of the support shaft 4, and has a plurality of screw holes for mounting the first arm 3. As shown in FIG. 1. Using mounting screws (not shown), tighten the flange 41 and the first arm 3, and tighten the support shaft 4.
The first arm 3 is placed above the.
４２は防塵カバーであり、前記棒ネジ６１を覆うように
、支軸４の長袖と平行して板金加工にて支軸４の側面に
取付けられている。そして、該防塵カバー４２の内部に
は下方に棒ネジ６１と螺合されたナツト６２が取付けら
れ、棒ネジ６１の回動によりナツト６２が上下移動して
、支軸４を上下駆動するよう構成されている。A dustproof cover 42 is attached to the side surface of the spindle 4 by sheet metal processing in parallel to the long sleeve of the spindle 4 so as to cover the rod screw 61. A nut 62 screwed onto a rod screw 61 is attached to the inside of the dustproof cover 42 downwardly, and the nut 62 moves up and down as the rod screw 61 rotates, thereby driving the support shaft 4 up and down. has been done.
１１はポスト１の上面板であり、防塵カバー４２を有す
る支軸４の水平断面に対応する形状の挿通穴１１ａが設
けられ、ポスト１の内部への塵埃などの侵入を防止して
いる。Reference numeral 11 designates a top plate of the post 1, which is provided with an insertion hole 11a having a shape corresponding to the horizontal cross section of the support shaft 4 having the dustproof cover 42, to prevent dust from entering the inside of the post 1.
なお、棒ネジ６１を回動して支軸４の上下移動する際に
、挿通穴１１ａより異物や塵埃がポストｌの内部へ入ら
ないように、支軸４の上下移動範凹円は常に防塵カバー
４２の側面と挿通穴１１ａとが係合して間隔をあけない
ように防塵カバー４２が支軸４の側面に設けられている
。In addition, when rotating the bar screw 61 to move the support shaft 4 up and down, the concave circle in which the support shaft 4 moves up and down is always dust-proof so that foreign matter and dust do not enter the inside of the post l through the insertion hole 11a. The dustproof cover 42 is provided on the side surface of the support shaft 4 so that the side surface of the cover 42 and the insertion hole 11a are engaged with each other so that there is no gap between them.
つぎにこのような構成になる本実施例の作用を説明する
。Next, the operation of this embodiment having such a configuration will be explained.
第１のアーム３の高さを制御するため、駆動モータ７に
通電して、駆動モータ７を回転させると、モータープー
リー７１、ベルト７２を介して駆動プーリ６３が回転さ
れ、棒ネジ６１が回転される。棒ネジ６１の回転により
、該棒ネジ６１に螺合されたナツト６２が上方向又は下
方向に移動して、支軸４が上方向または下方向に駆動さ
れ。In order to control the height of the first arm 3, when the drive motor 7 is energized and rotated, the drive pulley 63 is rotated via the motor pulley 71 and the belt 72, and the bar screw 61 is rotated. be done. As the rod screw 61 rotates, the nut 62 screwed onto the rod screw 61 moves upward or downward, and the support shaft 4 is driven upward or downward.
第１のアーム３の高さが所定位置に制御される。The height of the first arm 3 is controlled to a predetermined position.
そして、上記の棒ネジ６１が高速に回転されると、棒ネ
ジ６１の表面に塗布した潤滑用グリースが、棒ネジ６１
の近傍に飛散して、防塵カバー４２の内壁と、防塵カバ
ー４２にて覆われた支軸４の側面に付着する。そして例
えば、支軸４が上方向に移動してポスト１の上面板１１
より突出しても、外気に触れるのは防塵カバー４２の外
面と、グリースの付着のない支＋Ｉ＋ ４の側面であり
、したがって、これらの外面や側面には塵埃などの付着
が防止できる。また、支軸４の一ヒ下移動範囲内は常に
挿通穴１１ａは支軸４および防塵カバー４２で塞がれて
おり、ボスｌ＝ １の内部に塵埃の侵入が防止できる・
なお、本発明を一実施例により説明したが、本発明の主
旨の範囲内で、例えば」―面板１１を水平でなく傾斜し
て設ける如く、種々の変形が可能であり、これらを本発
明の範囲から排除するものではない。When the rod screw 61 is rotated at high speed, the lubricating grease applied to the surface of the rod screw 61 is transferred to the rod screw 61.
The particles scatter near the dustproof cover 42 and adhere to the inner wall of the dustproof cover 42 and the side surface of the support shaft 4 covered with the dustproof cover 42. Then, for example, the support shaft 4 moves upward and the top plate 11 of the post 1
Even if it protrudes further, only the outer surface of the dustproof cover 42 and the side surface of the support +I+ 4 to which no grease is attached are exposed to the outside air, so that it is possible to prevent dust from adhering to these outer surfaces and side surfaces. Furthermore, within the downward movement range of the support shaft 4, the insertion hole 11a is always covered by the support shaft 4 and the dustproof cover 42, which prevents dust from entering the inside of the boss l=1. has been described with reference to one embodiment, but within the scope of the present invention, various modifications are possible, such as providing the face plate 11 not horizontally but at an angle, and these are excluded from the scope of the present invention. It's not a thing.
（発明の効果）
以上詳細に説明したように本発明は、棒ネジの高速回転
により飛散する潤滑用のグリースが、外気に露出する支
軸の側面に付着するのを防ＩＥのため、防塵カバーを設
けてグリース付着面を覆ったので、作業場内の空気に直
接にグリース付着面が触れることがなくなり、工業用ロ
ボットが清潔に保たれる。また防塵カバーの内面にグリ
ースが飛散しても直接外気には接しないため、塵埃によ
る汚染のための駆動装置の故障は防止可能である。(Effects of the Invention) As explained in detail above, the present invention provides a dustproof cover to prevent lubricating grease scattered by high-speed rotation of a bar screw from adhering to the side surface of a spindle exposed to the outside air. Since the grease-applied surface is covered with a sealant, the grease-applied surface does not come into direct contact with the air in the workplace, and the industrial robot can be kept clean. Furthermore, even if grease is scattered on the inner surface of the dustproof cover, it does not come into direct contact with the outside air, so failure of the drive device due to contamination by dust can be prevented.
第１図は本発明に係る工業用ロボットの防塵構造の一実
施例を示す斜視図、第２図はそのＡ−Ａ′の切断線にて
切断した断面図、第３図は水平関節型工業用ロボットの
一例を示す側面図、第４図は第３図に示すポストを縦方
向に切断した断面図である。
１・・・ポスト、３・・・第１のアーム、４・・・支軸
、１１・・・−１二面板、ｌｌａ・・・挿通穴、４２・
・・防塵カバー、６１・・・棒ネジ。Fig. 1 is a perspective view showing an embodiment of the dustproof structure of an industrial robot according to the present invention, Fig. 2 is a sectional view taken along the line A-A', and Fig. 3 is a horizontally articulated industrial robot. FIG. 4 is a sectional view of the post shown in FIG. 3 cut in the vertical direction. DESCRIPTION OF SYMBOLS 1...Post, 3...First arm, 4...Spindle, 11...-1 diagonal plate, lla...Insertion hole, 42...
...Dust-proof cover, 61...bar screw.
Claims (1)
ジを覆う防塵カバーを該支軸の側面に設けるとともに、
前記支軸を垂直に支持するポストの上面板に該支軸と防
塵カバーとに近接して対応する挿通穴を設けてポスト内
部を防塵構造としたことを特徴とする工業用ロボットに
おける防塵構造。A dustproof cover is provided on the side of the spindle to cover the rod screw that drives the spindle that supports the operating arm and moves up and down.
A dust-proof structure for an industrial robot, characterized in that an insertion hole corresponding to the support shaft and a dust-proof cover is provided in a top plate of a post that vertically supports the support shaft, thereby making the inside of the post dust-proof.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20081485A JPS6263092A (en) | 1985-09-11 | 1985-09-11 | Dustproof structure in industrial robot |
| PCT/JP1986/000466 WO1987001646A1 (en) | 1985-09-11 | 1986-09-11 | Dustproof structure for industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20081485A JPS6263092A (en) | 1985-09-11 | 1985-09-11 | Dustproof structure in industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6263092A true JPS6263092A (en) | 1987-03-19 |
Family
ID=16430638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20081485A Pending JPS6263092A (en) | 1985-09-11 | 1985-09-11 | Dustproof structure in industrial robot |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPS6263092A (en) |
| WO (1) | WO1987001646A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4836048A (en) * | 1985-11-06 | 1989-06-06 | Fanuc Ltd. | Industrial robot having dust-proof structure |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1133949A (en) | 1997-07-14 | 1999-02-09 | Fanuc Ltd | Industrial robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5719277Y2 (en) * | 1977-10-03 | 1982-04-22 | ||
| JPS5629353U (en) * | 1979-08-13 | 1981-03-19 | ||
| JPS58146680U (en) * | 1982-03-26 | 1983-10-03 | 株式会社安川電機 | Protective device in movable base support device |
| JPS6080580A (en) * | 1983-10-12 | 1985-05-08 | 豊田工機株式会社 | Horizontal multi-joint type robot |
-
1985
- 1985-09-11 JP JP20081485A patent/JPS6263092A/en active Pending
-
1986
- 1986-09-11 WO PCT/JP1986/000466 patent/WO1987001646A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4836048A (en) * | 1985-11-06 | 1989-06-06 | Fanuc Ltd. | Industrial robot having dust-proof structure |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1987001646A1 (en) | 1987-03-26 |
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