WO2015145576A1 - 多関節ロボットアーム - Google Patents
多関節ロボットアーム Download PDFInfo
- Publication number
- WO2015145576A1 WO2015145576A1 PCT/JP2014/058298 JP2014058298W WO2015145576A1 WO 2015145576 A1 WO2015145576 A1 WO 2015145576A1 JP 2014058298 W JP2014058298 W JP 2014058298W WO 2015145576 A1 WO2015145576 A1 WO 2015145576A1
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- WIPO (PCT)
- Prior art keywords
- arm member
- joint
- pair
- articulated robot
- arm
- Prior art date
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- 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
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
Definitions
- the present invention relates to an articulated robot arm that can change its posture between an extended state and a folded state.
- Patent Document 1 discloses an articulated robot arm used in a processing apparatus. Specifically, it is an articulated robot arm that travels along a rail at the top of the machine tool, and the first arm and the second arm are connected to the robot base via the first joint and the second joint, A robot hand is attached to the tip of the second arm via a third joint. Then, the work is transferred to the machine tool by the operation of each joint and the robot hand.
- the conventional articulated robot arm has a plurality of arms folded by having the first joint to the third joint, but it has a simple configuration in which the plurality of arms are folded via the joint. For this reason, it is not possible to meet the downsizing of an automatic workpiece transfer machine that will be required for automatic processing machines in the future. In other words, with the downsizing of the automatic processing machine itself and the downsizing of the entire processing equipment equipped with a plurality of such automatic processing machines, the transfer space for workpiece automatic transfer machines and the processing space for delivering workpieces will become narrower. Conceivable. Therefore, the articulated robot arm, which is the main component of the automatic workpiece transfer machine, needs to be compact while enabling delivery of a workpiece at a certain distance.
- an object of the present invention is to provide an articulated robot arm that can be used in a small space in order to solve such a problem.
- An articulated robot arm includes a pair of support members erected on a base member at intervals of a predetermined width, and a first arm rotatably supported by a first joint with respect to the pair of support members
- a second arm member that is rotatably supported by a second joint with respect to the first arm member, and the second arm member is a robot hand that grips a workpiece on a side opposite to the second joint.
- the first arm member has a pair of side portions having the first joint and the second joint at both end portions, and there is a storage space into which the second arm member enters between the pair of side portions.
- the robot hand can be moved along with a predetermined state change.
- the workpiece is delivered by operating.
- the articulated robot arm is compact when the second arm member enters the storage space between the pair of upper arms when folded, and can be used in a limited space.
- FIG. 6 is a partial cross-sectional view of the autoloader shown in FIG.
- FIG. 6 is a partial cross-sectional view of the autoloader shown in FIG.
- FIG. 1 is a perspective view showing a processing machine line including a plurality of machine tools.
- this processing machine line 1
- four machine tools 10 (10A, 10B, 10C, 10D) are mounted on a base 2.
- the four machine tools 10 are all NC lathes of the same type, and have the same internal structure and overall shape and dimensions.
- An autoloader (workpiece automatic transfer machine) is provided for delivering the workpiece to each machine tool 10.
- the “machining machine line” refers to a group of machine tools in which a plurality of machine tools having a certain relationship transfer workpieces by an autoloader.
- the machine tool 10 of the present embodiment has a narrow width dimension and the machine bodies are arranged very close to each other, the entire processing machine line 1 is very compact.
- the operation panel 7 is attached to the front surface of the exterior cover 5 according to the height of the operator's line of sight, but the operator can arrange not only one operation panel 7 but also the adjacent operation panel 7. It is.
- this machine tool 10 is entirely covered with the exterior cover 5, and the process part is provided in the inside.
- an autoloader conveyance space is provided inside the front surface portion 501 of the exterior cover 5, and a delivery device can be moved between the four machine tools 10A to 10D.
- FIG. 2 is a perspective view showing a processing module which is an internal structure of the machine tool 10.
- the machine tool 10 with the exterior cover 5 removed is mounted on the base 2 in a state where the processing module 20 is movable in the front-rear direction.
- FIG. 2 shows a state in which the processing module 20 is pulled out rearward. Since the exterior cover 5 attached to the base 2 is open at the rear, the processing module 20 can be pulled out from the rear as it is. At that time, the carriage 170 is disposed behind the base 2, and the processing module 20 on the base 2 is transferred to the carriage 170. Moreover, since the front part of the exterior cover 5 can be opened and closed, the processing module 20 can be pulled out forward. Further, each machine tool 10 can also pull out the processing module 20 integrally with the exterior cover 5. Accordingly, the machine tools 10A to 10D of the processing machine line 1 are all assembled on the base 2 to be one, but each processing module 20 that can be pulled out is independent.
- two rails 161 are installed for one processing module 20, and the processing module 20 with wheels mounted on the rail 161 is arranged. Therefore, when the wheel rolls on the rail 161, the processing module 20 can move in the longitudinal direction of the base 2, that is, the front-rear direction of the machine tool 10. In particular, moving forward is a self-propelled configuration. Specifically, a rack 162 with teeth downward is fixed to the movable bed 16, and a drawer motor 163 with a pinion attached to the front portion of the base 2 is fixed.
- the rack 162 is fixed so as to protrude forward from the movable bed 16, and when the processing module 20 is mounted on the base 2, the rack 162 meshes with the pinion, and the processing module 20 is moved in the front-rear direction by driving the drawing motor 163. Moving.
- the machine tool 10 of the present embodiment is a turret lathe including a turret holding a rotary tool such as an end mill or a drill or a cutting tool such as a cutting tool. Therefore, the machining module 20 includes a headstock 12 having a spindle chuck 11 for gripping a workpiece (workpiece), a turret device 13 to which a tool is attached, and a Z axis for moving the turret device 13 along the Z axis or the X axis.
- a driving device, an X-axis driving device, a machining control device 15 for controlling the driving unit, and the like are provided.
- the Z-axis is a horizontal axis parallel to the rotation axis (main axis) of the headstock 12 that rotates the gripped workpiece.
- the X axis is orthogonal to the Z axis, and is a moving axis that moves the tool of the turret device 13 forward and backward with respect to the Z axis, and is a vertical direction in the present embodiment.
- the X-axis direction is the vertical direction for both the machine tool 10 and the processing machine line 1 shown in FIG.
- the machining module 20 includes a movable bed 16 having wheels so that the machining module 20 can move on the base 2, and the headstock 12 is fixed on the movable bed 16.
- the spindle stock 12 is configured such that a spindle chuck 11 and a spindle-side pulley are integrated with a spindle that is rotatably supported so that rotation of a spindle servomotor is applied.
- the turret device 13 is mounted on a Z-axis slide 22, and the Z-axis slide 22 is further mounted on an X-axis slide 26.
- the Z-axis slide 22 is configured to be movable in the horizontal direction parallel to the Z-axis by sliding in the base 21 fixed to the X-axis slide 26.
- the Z-axis drive device employs a ball screw drive system that converts the rotational output of the Z-axis servomotor 23 into a straight-ahead motion in order to move the Z-axis slide 22 in the Z-axis direction. That is, the ball screw is rotated by driving the Z-axis servomotor 23, the rotational motion is converted into the linear motion of the ball nut, and the Z-axis slide 22 is moved in a direction parallel to the Z-axis.
- a column 25 having two guides is fixed upright on the movable bed 16, and an X-axis slide 26 is slidably attached to the guides.
- the X-axis slide 26 can be moved up and down along the column, and this X-axis drive device also employs a ball screw drive system to convert the rotational output of the motor into the up-and-down movement of the X-axis slide 26.
- the X-axis servomotor 28 is driven to rotate the ball screw, and the rotational motion is converted into the linear motion of the ball nut, so that the X-axis slide 26 can be raised and lowered.
- FIG. 3 and 4 are perspective views showing the autoloader, FIG. 3 shows a state in which the articulated robot arm is extended, and FIG. 4 shows a state in which the articulated robot arm is folded.
- FIG. 5 is a side view showing the autoloader 3. 6 is a partial cross-sectional view of the autoloader 3 shown in FIG. 5 taken along the line AA.
- FIG. 7 is a partial cross-sectional view of the autoloader 3 shown in FIG. 5 taken along the line BB. It is.
- the autoloader 3 is disposed on the front side of the processing machine line 1. Specifically, as described above, the space is provided inside the front surface portion 501 of the exterior cover 5 and on the front side of the base 2. In the autoloader 3, the delivery device moves in the Y-axis direction through the space, and delivers workpieces to and from the four machine tools 10A to 10D. FIG. 3 and FIG. 4 show the range for the two units. Although the figure which omits the exterior cover 5 is also shown here, the autoloader 3 is actually housed in the exterior cover 5.
- this autoloader 3 is a narrow space in the front surface portion 501 of the exterior cover shown in FIG. Therefore, the autoloader 3 is required to have a compact configuration. Further, in the adjacent machine tools 10, each processing region for processing a workpiece is partitioned by the exterior cover 5. For this reason, the autoloader 3 must deliver the workpiece within a short width dimension in the Y-axis direction. Therefore, the autoloader 3 needs to cope with such a narrow conveyance space and processing space, and in particular, the articulated robot arm of the autoloader 3 is required to have a configuration that satisfies such a requirement.
- the autoloader 3 includes a reversing device 32 for reversing the workpiece, a delivery device 33 for delivering the workpiece between the reversing device 32 and the machine tool 10, and the reversing device 32 and the delivery device 33.
- a traveling device 31 that moves back and forth between the plurality of machine tools 10 is provided.
- the traveling device 31 is driven to move the delivery device 33 in the folded state shown in FIG. 4 together with the reversing device 32 between the machine tools 10A to 10D.
- the processing surface needs to be reversed, the workpiece is transferred to the reversing device 32 during the conveyance, and the workpiece is reversed.
- the delivery apparatus 33 deform
- the traveling device 31 has a support plate 41 fixed to the front surface portion of the base 2, and a rack 42 and two rails 43 extending in the Y-axis direction, which is the direction from the machine tool 10 ⁇ / b> A to 10 ⁇ / b> D, are fixed to the support plate 41. Yes.
- a traveling slide 44 that slides while gripping the rail 43 is fixed to the traveling platform 45. Therefore, the traveling platform 45 can move in the Y-axis direction while maintaining a constant posture.
- a traveling motor 47 is provided on the traveling table 45, and a pinion 46 fixed to the rotating shaft meshes with the rack 42. Therefore, if rotation is given to the pinion 46 by driving of the traveling motor 47, the traveling table 45 moves in the Y-axis direction as the pinion 46 rolls on the rack 42.
- a swivel table 48 is rotatably attached to the traveling platform 45 via a bearing above it.
- a turning motor 49 is fixed inside the traveling platform 45, and a turning table 48 is connected to the rotating shaft via a speed reducer.
- a reversing device 32 and a delivery device 33 are mounted on the turning table 48. Therefore, the delivery device 33 is not only the direction of the processing module 20 (Z-axis direction) but also the workpiece supply pallet arranged outside to carry the workpiece into and out of the processing machine line 1 by the rotation of the turning table 48. The direction can be changed to the workpiece discharge pallet.
- the reversing device 32 mounted on the turning table 48 has a pair of left and right gripping claws 51, and a gripping cylinder 52 for opening and closing the gripping claws 51 is provided.
- a gripping cylinder 52 for opening and closing the gripping claws 51 is provided.
- a rotary actuator 53 that generates rotation using compressed air as a working fluid is provided under the gripping cylinder 52, and the work gripped by the gripping claws 51 can be rotated 180 ° on a horizontal plane.
- the delivery device 33 is provided with an articulated robot arm 35 capable of changing the posture between an extended state and a folded state, and a robot hand 36 assembled to the tip thereof.
- an articulated robot arm 35 a pair of support plates 61 arranged at predetermined intervals on the turning table 48 are fixed upright, and an upper arm member 62 is connected to an upper end portion thereof via a first joint mechanism 63. Further, a forearm member 65 is connected to the upper arm member 62 via a second joint mechanism 66. Therefore, the articulated robot arm 35 can change the posture between the standing folded state shown in FIG. 4 and the extended state shown in FIG. 3 by driving the first joint mechanism 63 and the second joint mechanism 66. It has a possible configuration.
- the upper arm member 62 has a three-dimensional shape in which a pair of upper arm plates 621 arranged in parallel are connected to each other by transverse beam plates 622.
- the cross beam plate 622 is formed so as to connect the front side end portions of the upper arm plate 621. Therefore, the upper arm member 62 is opened to the rear side, that is, the base 2 (processing module 20) side, and a storage space into which the forearm member 65 enters is formed as shown in FIG.
- the upper arm plate 621 is formed with a large lightweight hole 623 for dropping the weight in the central portion, and the transverse beam plate 622 is formed in a part of the upper arm plate 621 in the longitudinal direction. In this way, the upper arm member 62 has a three-dimensional shape to obtain a storage space and increase rigidity, while reducing the overall weight by cutting away an excess portion.
- the upper arm member 62 is supported so that a pair of left and right upper arm plates 621 can rotate with respect to a pair of support plates 61 provided on the left and right sides.
- a first joint mechanism 63 is provided between the support plate 61 and the upper arm member 62 so that the angle of the upper arm member 62 is adjusted.
- a first joint motor 71 is attached to the lower side of the support plate 61, and a pulley 711 is fixed to the rotation shaft thereof.
- a shaft 731 is rotatably provided on the upper end side of the support plate 61, and a pulley 732 is fixed to the shaft 731.
- a timing belt 72 is stretched between a pulley 711 and a pulley 732 arranged above and below the pulley.
- the shaft 731 is connected to a speed reducer 733 fixed to the upper end portion of the support plate 61, and the speed reducer 733 is connected to a rotation cover 734 disposed on the side opposite to the pulley 732.
- the speed reducer 733 here decelerates the rotation of the first joint motor 71 input from the pulley 732 and outputs the decelerated rotation to the rotation cover 734 side. Since the upper arm plate 621 of the upper arm member 62 is fixed to the rotary cover 734, the rotation from the first joint motor 71 is transmitted to the upper arm member 62 via the speed reducer 733, and the upper arm member 62 is tilted. Make it go.
- the first joint mechanism 63 includes a driving side rotating portion 631 to which the rotation of the first joint motor 71 is transmitted, and another driven side rotating portion 632.
- a shaft 741 having a large diameter is fixed to the upper end portion of the support plate 61, and a rotating cover 742 is assembled thereto via a bearing 743.
- An upper arm plate 621 is fixed to the rotation cover 742. Therefore, if the upper arm member 62 is rotated on the driving side rotating portion 631 side by driving the first joint motor 71, the other driven side rotating portion 632 supports the rotation of the upper arm member 62.
- the upper arm member 62 is provided with a second joint mechanism 66 for rotating the forearm member 65 at the end opposite to the first joint mechanism 63.
- the forearm member 65 includes a pair of left and right parallel forearm plates 651 connected by a cross beam plate 652.
- the forearm member 65 is assembled so that the forearm plate 651 is parallel to the upper arm plate 621 and is sandwiched between the pair of upper arm plates 621. That is, as shown in FIG. 7, one end side of the forearm member 65 is connected to the upper arm member 62 by the second joint mechanism 66.
- the robot hand 36 is held on the other end side of the forearm member 65.
- the second joint mechanism 66 includes a drive side rotation unit 661 on one of the left and right sides, and a driven side rotation unit 662 on the other side.
- the second joint motor 75 is fixed to the forearm plate 651, and the rotation shaft thereof is connected to the speed reducer 762 via the shaft 761.
- the speed reducer 762 here is fixed to both the upper arm plate 621 and the forearm plate 651, decelerates the rotation of the second joint motor 75 input from the shaft 761, and the decelerated rotation is transmitted to the forearm plate 652 side. Is output. Therefore, the rotation from the second joint motor 75 is transmitted to the forearm member 65 via the speed reducer 762, and the forearm member 65 is tilted.
- the driven-side rotating portion 662 has a shaft 771 having a large diameter fixed to the end of the forearm plate 651, and a rotating cover 772 is assembled thereto via a bearing 773.
- An upper arm plate 621 is fixed to the rotation cover 772, and the shaft 771 is rotatable in the rotation cover 772. Therefore, when the forearm member 65 is rotated on the drive side rotation unit 661 side by driving the first joint motor 75, the other driven side rotation unit 662 supports the rotation of the forearm member 65.
- the articulated robot arm 35 has the pair of support plates 61 fixed to the base member (the turntable 48 in the present embodiment) at a predetermined width interval, and the upper arm member 62 is the first joint mechanism with the base plate as a base.
- the forearm member 65 is connected via the second joint mechanism 66 via 63.
- the width of the articulated robot arm 35 is suppressed so that the upper arm member 62 and the forearm member 65 enter the machine tool 10 surrounded by the outer cover 5. That is, the interval between the upper arm plates 621 located on the outermost side in the width direction is configured to correspond to the width interval of the machine tool 10.
- the articulated robot arm 35 is provided with a robot hand 36 at a substantially central portion in the width direction.
- the robot hand 36 is rotatably supported from both sides of the articulated robot arm 35 in the width direction.
- the forearm member 65 holding the robot hand 36 is smaller than the upper arm member 62 and is formed in a size that fits in the storage space of the upper arm member 65 as shown in FIG.
- the transverse beam plate 622 is made smaller and a large opening portion is formed on the support plate 61 side.
- the workpiece is taken out from the supply pallet by the autoloader 3 and is sequentially transferred from the machine tool 10 ⁇ / b> A to the machine tool 10 ⁇ / b> D.
- a tool corresponding to the machining content is selected by indexing the turret device 13. For example, in drilling, a rotary tool such as an end mill is selected, and rotation is given to the rotary tool by driving a machining motor mounted on the turret device 13. A cutting tool such as a cutting tool is selected for turning and deburring.
- the turret device 13 is moved in the X-axis and Z-axis directions by the X-axis drive device or the Z-axis drive device, the position of the tool with respect to the workpiece set on the spindle chuck 11 of the headstock 12 is adjusted, and predetermined machining is performed. Done.
- the pinion 46 that rotates by driving of the traveling motor 47 rolls on the rack 42 and moves in the Y-axis direction.
- the traveling slide 44 grips and slides on the rail 43 to move while maintaining the posture of the delivery device 33 and the like.
- the articulated robot arm 35 In the delivery device 33 being transported, the articulated robot arm 35 is in the folded state shown in FIG. And it stops before the machine tool 10 used as object, and a workpiece
- the upper arm member 62 is tilted toward the machine tool 10 (base 2) side to be in a forward inclined posture, and the forearm member 65 that has come out of the upper arm member 62 is in front of the upper arm member 62. Arranged.
- the first joint motor 71 is driven, and the rotation is transmitted to the shaft 731 via the timing belt 72 and further transmitted to the upper arm member 62 via the speed reducer 733. Therefore, the upper arm member 62 changes from the standing state shown in FIG. 4 to the forward leaning posture shown in FIG. Further, the second joint motor 75 is driven, the rotation is transmitted to the speed reducer 762 via the shaft 761, and the forearm member 65 rotates with respect to the upper arm member 62. Therefore, the forearm member 65 exits the storage space in the upper arm member 62 from the storage state shown in FIG. 4, and is sent forward as shown in FIG.
- the rotation is transmitted to the rotation support portion 78 via the belt 81 by driving the hand motor 79. Therefore, the robot hand 36 rotates and angle adjustment is performed.
- the three chuck claws 82 move in the radial direction by supplying and discharging the hydraulic oil, and the workpiece is gripped and released.
- the workpiece is delivered from the delivery device 33 to the reversing device 32.
- the articulated robot arm 35 is folded, and the work gripped by the robot hand 36 is sent to the reversing device 32 through the lower opening portion of the upper arm member 62.
- the articulated robot arm 35 can create a folded state so that the upper arm member 62 has a storage space and the forearm member 65 holding the robot hand 36 fits in the storage space. it can. Therefore, the articulated robot arm 35 becomes compact, and the delivery device 33 can be moved even in a narrow conveyance space covered by the front surface portion 501 of the exterior cover 5.
- the articulated robot arm 35 is extended, the workpiece can be transferred to and from the spindle chuck 11 of the machine tool 10 at a remote position.
- the robot hand 36 When the articulated robot arm 35 is viewed in the width direction, the robot hand 36 is disposed at substantially the center portion and is supported at both ends.
- the articulated robot arm 35 is configured to support the weight of the robot hand 36 and the workpiece on the left and right sides in addition to its own weight. Therefore, the load applied to each part of the articulated robot arm 35 can be reduced, and the members and devices of each part can be reduced in weight or size.
- the upper arm member 62 has a three-dimensional shape to obtain a storage space and have increased rigidity. Further, the weight is reduced by cutting off an excess portion from the upper arm plate 621 so as not to affect the rigidity, and the load on the first joint motor 71 is reduced. This contributes to the miniaturization of the motor. Further, since the weight of the delivery device 33 is reduced, the load on the traveling motor 47 is reduced, which contributes to the miniaturization of the motor.
- the articulated robot arm 35 is configured with the machine tool 10 as an opponent.
- the machine tool 10 is particularly compact with a short width dimension, and a spindle chuck 11 which is a counterpart for transferring workpieces is disposed in the vicinity of the center in the width direction.
- the articulated robot 35 is effective for working through such a narrow width.
- the articulated robot arm 35 enables delivery of a workpiece not only to the machine tool 10 side but also to the reversing device 32 arranged on the opposite side.
- the articulated robot arm incorporated in the processing machine line 1 is shown and described.
- the articulated robot arm of the present invention is not limited to the one constituting the delivery device.
- the configuration of the articulated robot arm is not limited to the above embodiment.
- the forearm member 65 supports both ends of the robot hand 36 by a pair of left and right forearm plates, but may support one side.
- the transverse beam plate 622 transmits force between the pair of upper arm plates 621.
- a narrow plate material may be provided at the end portion of the forearm member 65 instead of the horizontal beam plate 622, or the horizontal arm plate 65 may be omitted and the forearm member 65 may perform this. It may be.
- the upper arm member 62 can be largely inclined to the opposite side to the inclination shown in FIG.
- processing machine line 2 base 3: autoloader 5: exterior cover 10: machine tool 11: spindle chuck 31: travel device 32: reversing device 33: delivery device 35: articulated robot arm 36: robot hand 61: support plate 62: Upper arm member 621: Upper arm plate 622: Cross beam plate 63: First joint mechanism 65: Forearm member 66: Second joint mechanism
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Abstract
Description
前記実施形態では、加工機械ライン1に組み込まれた多関節ロボットアームを示して説明したが、本発明の多関節ロボットアームは受渡し装置を構成するものに限定されるわけではない。
また、多関節ロボットアームの構成も前記実施形態に限定されるわけではない。例えば、前腕部材65は左右一対の前腕プレートによってロボットハンド36を両端支持しているが、片側支持するようなものであってもよい。
また、上腕部材62は、一対の上腕プレート621間の力の伝達を横梁プレート622が行っている。この点、力の伝達に対する剛性が得られれば、例えば、横梁プレート622に代えて幅の狭い板材を前腕部材65側端部に設けたり、或いは横梁プレート622を無くして前腕部材65によって行わせるようにしてもよい。これにより、上腕部材62を図3に示した傾きとは反対側に大きく傾かせることができる。
Claims (4)
- 所定の幅の間隔でベース部材に立設された一対の支持部材と、前記一対の支持部材に対して第1関節によって回転支持された第1アーム部材と、前記第1アーム部材に対して第2関節によって回転支持された第2アーム部材とを備え、
前記第2アーム部材は、前記第2関節とは反対側にワークを把持するロボットハンドを保持し、前記第1アーム部材は、両端部分に前記第1関節および第2関節を有する一対の側部を有し、当該一対の側部の間に前記第2アーム部材が入り込む収納空間が存在するものであることを特徴とする多関節ロボットアーム。 - 前記一対の支持部材は、2枚の平行な支持プレートであり、前記第1アーム部材は、前記側部に相当する平行な一対の側面プレートが幅方向の横梁材によって連結され、当該一対の側面プレートおよび横梁材により3方向を囲む前記収納空間が形成されたものであることを特徴とする請求項1に記載の多関節ロボットアーム。
- 前記第1アーム部材は、前記一対の側面プレートに重量軽減孔が形成され、かつ、前記横梁材が前記側面プレートの長手方向の一部分に接合された板材であることを特徴とする請求項2に記載の多関節ロボットアーム。
- 前記第2アーム部材は、平行な一対の側面プレートが幅方向の横梁材によって連結されたものであることを特徴とする請求項1乃至請求項3のいずれかに記載の多関節ロボットアーム。
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PCT/JP2014/058298 WO2015145576A1 (ja) | 2014-03-25 | 2014-03-25 | 多関節ロボットアーム |
JP2016509672A JP6438937B2 (ja) | 2014-03-25 | 2014-03-25 | 多関節ロボットアーム |
US15/128,208 US10576642B2 (en) | 2014-03-25 | 2014-03-25 | Multi-jointed robot arm |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017068644A1 (ja) * | 2015-10-20 | 2017-04-27 | 富士機械製造株式会社 | ワーク搬送・着脱ロボット |
WO2018100644A1 (ja) * | 2016-11-29 | 2018-06-07 | 株式会社Fuji | 多関節ロボットアーム |
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US20170095936A1 (en) | 2017-04-06 |
JP6438937B2 (ja) | 2018-12-19 |
US10576642B2 (en) | 2020-03-03 |
JPWO2015145576A1 (ja) | 2017-04-13 |
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