JP2023140513A - industrial robot - Google Patents

Abstract

To eliminate a possibility that an excessive load acts on a nut runner when a robot body is operated to replace a tool unit from the nut runner.SOLUTION: An industrial robot includes: a fixed bracket 60 detachably attached to a tip of a robot body 2 through a first coupling tool; a nut runner 40 fixed to the fixed bracket 60; and a tool unit 50 which is detachably attached to the nut runner 40 and engages with a fastener M. The industrial robot has a second coupling tool 70 which detachably connects the tool unit 50 to the fixed bracket 60 in a state that a rotary rod 51 engages with a socket at a position deviated from a rotation axis JA of the rotary rod 51 of the tool unit 50.SELECTED DRAWING: Figure 1

Description

The present invention relates to an industrial robot in which a tool unit and a nut runner are attached to a robot body.

For example, Patent Document 1 describes a robot body consisting of an articulated robot, a nut runner attached to a support arm at the tip of the robot body via a support, a rotating shaft rotated by the nut runner, and a nut runner attached to the rotating shaft. An industrial robot having a bit is disclosed.

The support arm rotates with the longitudinal direction of the arm as a rotation axis (sixth axis), and coincides with the rotation of the rotation axis. A connecting tool for removably connecting the bit is provided at the axis of the rotating shaft.

Japanese Patent Application Publication No. 2016-209960

However, in the industrial robot of Patent Document 1, a connector for attaching a tool unit such as a bit is provided at the center of the rotation axis of the nut runner, so when the tool unit is replaced from the nut runner by operating the robot body, In addition, there is a risk that an excessive load will be applied to the nut runner.

The present invention has been made in view of the above points, and an object of the present invention is to provide an industrial-use device capable of reducing an excessive load applied to a nut runner when replacing a tool unit from the nut runner. The goal is to provide robots.

In view of the above-mentioned problems, an industrial robot according to the present invention includes a robot body made of an articulated robot, a fixing bracket detachably attached to the tip of the robot body via a first connector, and A nut runner is fixed to a fixed bracket, and a tool unit is detachably attached to the nut runner and engages a fastener, and the tool unit is configured to at least tighten the fastener by the nut runner. The nut runner has a rotating rod that rotates in the rotating direction, and the nut runner has a socket that locks the rotating rod in the rotational direction, and the nut runner has a socket that locks the rotating rod in the rotational direction, and the nut runner has a socket that locks the rotating rod in the rotational direction. The present invention is characterized in that it includes a second connector that removably connects the tool unit and the fixing bracket in a state where the rod is locked in the socket.

According to the present invention, the tool unit and the fixing bracket are connected to each other by the second connector when the rotary rod is locked in the socket at a position away from the rotation axis of the rotary rod (that is, at a position offset from the rotation axis). can be detachably connected. Since the second connector is provided on the fixing bracket that fixes the nut runner, the force when exchanging the tool unit does not act on the nut runner, but acts on the fixing bracket. As a result, when replacing the tool unit from the nut runner, it is possible to reduce excessive load acting on the nut runner.

In a more preferred embodiment, a pair of the second connectors are provided with the rotating shaft interposed therebetween. According to this aspect, since a pair (two) of the second connectors are provided with the rotating shaft in between, the rotating rod can be stably supported via the support base.

In a more preferred embodiment, the fixing bracket includes a base plate extending in a direction along the rotation axis, and a first end plate fixed to the base plate on the base end side of the nut runner to fix the nut runner. A second end plate is fixed to the base plate on the distal end side of the nut runner and has a notch through which the rotating rod is inserted while being engaged with the socket of the nut runner, and a second end plate that sandwiches the nut runner. a pair of reinforcing ribs fixed to the second end plate and the base plate and extending in a direction along the rotation axis, the second connector sandwiching the second end plate. The reinforcing ribs are provided at the positions where the reinforcing ribs are arranged.

According to this aspect, even if an impact load is applied to the fixing bracket when the first connector is connected to the second connector by the robot main body when replacing the tool unit from the nut runner, such arrangement relationship will not be maintained. By satisfying the above requirements, deformation of the fixed bracket can be suppressed.

In a more preferred embodiment, the second connector is connected by a first connector and a second connector connected to the first connector, and the first connector is connected to the second end plate. The second connector is provided on a support base that supports the rotating rod in the tool unit, and the tool unit includes a cylindrical connector so as to cover the rotating rod. A sheath is provided, and the fastener engaged with the rotary rod is attracted to the distal end of the tool unit by suctioning air within the sheath, and the second end plate includes: A first connection part is provided in which a suction part for suctioning the air is formed, and the support base is provided with a second connection part that is connected to the first connection part and communicates with the suction part. The first connecting portion is fixed to the second end plate near the base plate.

According to this aspect, when the first connector and the second connector of the second connector are connected, the first connecting part and the second connecting part for sucking air come into contact with each other, and the suction part It communicates with the second connection part. Since the first connecting portion is fixed to the second end plate near the base plate, the rigidity of the fixed bracket 60 in the direction along the rotation axis JA is high. Thereby, the contact state between the connection plugs can be stably maintained. As a result, air can be stably sucked from the relay plug 7, and the fastener can be attracted to the tip of the tool unit.

According to the present invention, it is possible to reduce excessive load acting on the nut runner when replacing the tool unit from the nut runner.

1 is a perspective view of an industrial robot according to an embodiment of the present invention viewed from the front side. FIG. 2 is a perspective view of the industrial robot shown in FIG. 1 viewed from the back side. FIG. 3 is a side view of the nut runner and the fixing bracket. FIG. 4 is a schematic perspective view of the nut runner and fixing bracket shown in FIG. 3 viewed from the front side. FIG. 5 is a schematic perspective view of the nut runner and fixing bracket shown in FIG. 4 viewed from the back side. It is a typical perspective view of a tool unit. 10 is an enlarged view of the tool unit placed in the magazine shown in FIG. 9, and is a schematic perspective view for explaining the second connector (first connector) of the nut runner. FIG. 10 is an enlarged view of the tool unit placed in the magazine shown in FIG. 9, and is a schematic perspective view for explaining a second connector (second connector) of the tool unit. FIG. FIG. 3 is a schematic perspective view of a plurality of types of tool units attached to a magazine.

An industrial robot 1 (hereinafter referred to as robot 1) according to an embodiment of the present invention will be described in detail below with reference to FIGS. 1 to 9.

As shown in FIGS. 1 and 2, the robot 1 includes a robot body 2 consisting of an articulated robot, and a nut runner 40 and a tool unit 50 are attached to the tip of the robot body 2 via a first connector 30 and the like. It's a robot.

1. About the robot body 2 The robot body 2 is a manipulator. The base 10 is installed on an installation surface, and includes a fixed base 11 fixed to the installation surface and a swivel base 12 that rotates around a first axis J1 along a direction perpendicular to the installation surface. We are prepared. An output shaft (not shown) of a first motor 21 fixed to the fixed base 11 is connected to the swivel base 12 . Thereby, by driving the first motor 21, the turning table 12 (base 10) can be turned around the first axis J1 with respect to the fixed table 11.

The robot main body 2 includes a lower arm 13 whose base end is pivotally attached to a rotating table 12, an upper arm 14 which is pivotally attached to the tip of the lower arm 13, and a support arm 15 which is pivotally attached to the tip of the upper arm 14. There is. These arms are made of metal, for example cast iron or a casting such as an aluminum alloy casting.

The base end of the lower arm 13 is pivotally supported by the swivel base 12 of the base 10, and is pivotally connected to the swivel base 12 via a second motor 22 so as to be freely rotatable around a second axis J2. There is. Here, the second axis J2 is an axis parallel to a direction perpendicular to the first axis J1. The power of the second motor 22 causes the lower arm 13 to rotate relative to the swivel base 12 around the second axis J2.

The tip of the lower arm 13 is pivotally supported by an upper arm 14, and the upper arm 14 is rotatable about a third axis J3 parallel to the second axis J2 with respect to the lower arm 13 via a third motor 23. It is pivoted.

The upper arm 14 corresponds to an arm portion of the robot body 2, is connected to the fourth motor 24, and rotates around a fourth axis J4 along the longitudinal direction of the upper arm 14 when driven by the fourth motor 24. The tip of the upper arm 14 corresponds to the wrist portion of the robot body 2, and is attached with a support arm 15 that supports a nut runner 40, etc., which corresponds to an end effector.

In this embodiment, the upper arm 14 includes a fifth motor (not shown) that pivots the support arm 15 relative to the upper arm 14 . The fifth motor is connected to the support arm 15 via a power transmission belt built into the upper arm 14 or the like.

As a result, the power of the fifth motor is transmitted to the power transmission belt (not shown) built into the upper arm 14, so that the support arm 15 rotates (oscillates) relative to the upper arm 14 about the fifth axis J5. verb) to do. Furthermore, the upper arm 14 includes a sixth motor (not shown) that rotates the tip (main body) of the support arm 15 around the axis of the support arm 15 (specifically, the sixth axis J6). Built-in. In this embodiment, the sixth axis J6 and the rotation axis JA are on the same virtual plane.

In the present embodiment, the robot 1 includes a fixed bracket 60 detachably attached to the support arm 15 via the first connector 30, a nut runner 40 fixed to the fixed bracket 60, and a nut runner 40 detachably attached to the nut runner 40. and a tool unit 50 that is attached to and engages the fastener.

2. About the nut runner 40 The nut runner 40 is a device for fastening, for example, hexagon socket bolts, hexagon bolts, screws, nuts, etc. by rotating the rotating rod 51 of the tool unit 50 around the rotation axis JA. Although not shown, the nut runner 40 includes a motor to which a power cable is connected, a reducer connected to the output shaft of the motor, a biasing member that biases the rotating rod 51 of the tool unit 50 toward the tool unit 50, and a motor connected to the motor. A clutch for transmitting the rotation of a socket 43, which will be described later, is built into the casing 41. Since the nut runner 40 is a generally known device, a detailed description thereof will be omitted.

In this embodiment, the nut runner 40 has a socket 43 attached to the tip side of the tool unit 50, and the socket 43 is connected to a spindle 42 that is rotated by the above-mentioned built-in motor (not shown). .

Specifically, as shown in FIG. 7, a through hole (not shown) is formed in the tip of the spindle 42 and the socket 43 in a direction perpendicular to the rotation axis JA, and a pin is inserted into this through hole. The socket 43 is connected to the spindle 42 by inserting a (not shown). Furthermore, a groove is formed on the outer peripheral surface of the socket 43 at a position where both ends of the pin are exposed, and an O-ring 44 for preventing the pin from falling off is arranged in this groove. In this way, the socket 43 rotates together with the spindle 42 around the rotation axis JA.

A hexagonal hole 43a is formed in the socket 43, and the proximal end 51a of the rotating rod 51 is inserted into the socket 43, so that the socket 43 can be rotated around the rotation axis JA (specifically, in the tightening direction and loosening direction of the fastener M). is locked. In this way, by driving the motor (not shown) of the nut runner 40 and rotating the spindle 42, the fastener M is engaged with the rotating rod 51 (hexagonal prism-shaped tip) of the tool unit 50 shown in FIG. Then, the fastener M can be fastened.

3. About the tool unit 50 The tool unit 50 includes a rotating rod 51 as shown in FIG. 6, and the rotating rod 51 is formed along the rotation axis JA direction. The rotating rod 51 is supported by a support base 52, and is further inserted through a spline 53, a suction ring 55, and a sheath 56 on the distal end side, and the distal end thereof is exposed from the sheath 56.

The sheath 56 has a cylindrical shape, and the rotating rod 51 is inserted therethrough so as to cover the rotating rod 51. A slight gap is formed between the rotating rod 51 and the sheath 56. Due to the suction from the suction ring 55, air is sucked in from the tip of the sheath 56 and flows into these gaps.

Here, the fastener M is engaged with the tip of the rotating rod 51, specifically, the hexagonal column-shaped tip of the fastener M is engaged with the hexagonal hole of the fastener M. , the tip of the sheath 56 comes into contact with the end surface of the fastener M. Therefore, at this time, negative pressure is generated between the rotary rod 51 and the sheath 56, and the fastener M can be attracted to the distal end portion 50a of the tool unit 50. A suction plug 55a is attached to the suction ring 55, and the suction plug 55a is connected to a relay plug 76d of a relay valve 76, which will be described later, via a tube (not shown).

Returning to FIG. 1, in this embodiment, the rotation axis JA of the rotation rod 51 of the tool unit 50 is inclined with respect to the sixth axis J6 of the support arm 15. In this way, since the rotation axis JA of the rotation rod 51 is inclined with respect to the sixth axis J6, even if a load is applied along the longitudinal direction of the rotation rod 51 at the tip of the tool unit 50, this It is possible to reduce the load acting along the axial direction of the support arm 15. Thereby, the load acting on the support arm 15 of the robot body 2 can be reduced, for example, in the automatic exchange of the tool unit 50 by the robot 1, the tightening process of the fastener M by the tool unit 50, and the like.

4. About the fixing bracket 60 As shown in FIGS. 1 to 3, the fixing bracket 60 is detachably attached to the support arm 15 via the first connector 30. Here, between the first connector 30 and the support arm 15, there are installed a solenoid valve, a sensor, an air pressure regulating valve, etc. for driving the nut runner 40 and automatically replacing the tool unit 50. Although auxiliary devices are attached, detailed explanations of these devices will be omitted since they are generally known.

As shown in FIGS. 3 to 5, the fixed bracket 60 includes a base plate 63 extending in a direction along the rotation axis JA, and first and second end plates 61 and 62 fixed to both ends of the base plate 63. There is. The base plate 63 may be provided with a circular hollowed out portion as shown in the figure.

The first end plate 61 is fixed to the base plate 63 on the base end side of the nut runner 40 to fix the nut runner 40. The second end plate 62 is fixed to the base plate 63 on the distal end side of the nut runner 40, and has a notch (insertion part) 62a formed in the socket 43 of the nut runner 40, through which the rotating rod 51 is inserted.

Further, the fixed bracket 60 is fixed to the edge of the first end plate 61 and the edge of the reinforcing plate 63a of the base plate 63 so as to sandwich the nut runner 40 therebetween, and is fixed to the edge of the first end plate 61 and the edge of the reinforcing plate 63a of the base plate 63. 1 reinforcing ribs 64, 64. The fixed bracket 60 is fixed to the edge of the second end plate 62 and the edge of the reinforcing plate 63a of the base plate so as to sandwich the nut runner 40, and has a pair of second reinforcing ribs extending in the direction along the rotation axis JA. It is equipped with 65, 65.

The reinforcing plate 63a reinforces the portion to which the pair of first reinforcing ribs 64, 64 are fixed, and the reinforcing plate 63b reinforces the portion to which the pair of second reinforcing ribs 65, 65 are fixed. Specifically, the base plate 63 has thicker walls on both sides along the rotation axis JA due to the reinforcing plates 63a and 63b, and the main body of the base plate 63 between the reinforcing plates 63a and 63b is thinned out. There is.

In this embodiment, the rigidity along the longitudinal direction of the rotating rod 51 can be increased by the pair of first reinforcing ribs 64, 64 and the pair of second reinforcing ribs 65, 65 of the base plate 63. The load acting on the nut runner 40 is reduced, and the automatic exchange of tool units and the tightening process of fasteners M by tool unit 50 can be performed with high accuracy.

The first connector 30 includes a first connector 31 attached to the fixing bracket 60 and a second connector 32 attached to the support arm 15 and connected to the first connector 31. The first connector 31 and the second connector 32 are, for example, a general type that can be automatically connected to each other or disconnected from each other by air, as explained in the second connector 70 described later. The mechanism may be any known mechanism, and the mechanism is not particularly limited as long as it can be attached and detached freely. Furthermore, a connection mechanism (not shown) is provided that can automatically supply power and air from the robot body 2 side to the nut runner 40 side when the first connector 31 and the second connector 32 are connected. Good too.

The fixed bracket 60 includes a mounting plate 69 to which the first connector 31 is mounted. Furthermore, the fixed bracket 60 further includes a connecting rib 67 extending on a virtual plane including the sixth axis J6 and the rotating axis JA of the rotating rod 51 and connecting the mounting plate 69 and the base plate 63. . The mounting plate 69 is inclined with respect to the base plate 63, and the normal direction of the mounting plate 69 corresponds to the connection direction A between the first connector 31 and the second connector 32. Here, the connection direction A is a direction in which the distal end of the robot body 2 (specifically, the support arm 15) is moved to connect and disconnect them.

When the first connector 31 and the second connector 32 are connected, a force is applied to the fixing bracket 60 along the connection direction A that connects them. Here, as shown in FIGS. 1 and 2, the connection rib 67 extends on a virtual plane including the sixth axis J6 of the robot body 20 and the rotation axis JA of the rotation rod 51, and extends between the mounting plate 69 and the base plate. 63, the force acting at this time can be stably received, and the rigidity of the fixing bracket 60 can be increased. Thereby, the automatic exchange of the tool unit 50, the tightening process of the fastener M by the tool unit 50, etc. can be performed with high precision.

Among the edges of the connecting rib 67, the edge opposite to the edge facing the base plate 63 extends from the mounting plate 69 and is formed along the connection direction A with a first edge 67a and a first edge. The second edge 67b is continuous with the edge 67a and is formed along the direction in which the base plate 63 extends. By providing such first and second edges 67a and 67b, the portion including the first edge 67a receives a load along the connection direction A, and the portion including the second edge 67b receives a load along the rotation axis. It can receive loads along the JA direction.

Furthermore, as shown in FIG. 5, the fixed bracket 60 further includes a pair of third reinforcing ribs 68, 68 that stand up from the connecting rib 67 with the connecting rib 67 in between and are fixed to the mounting plate 69 and the base plate 63. .

Here, when connecting the first connector 31 and the second connector 32, bending stress is likely to act on the connecting rib 67, but in this embodiment, a pair of third reinforcing ribs 68, 68 are provided, so that The rigidity of the connecting rib 67 can be further increased. Thereby, it is possible to arrange the first connector 31 and the second connector 32 at more accurate positions and to connect them.

5. Regarding the second connector 70 In this embodiment, as shown in FIGS. 7 and 8, in this embodiment, the rotating rod 51 is locked in the socket 43 at a position away from the rotation axis JA of the rotating rod 51. It has a second connector 70 that removably connects the tool unit 50 and the fixing bracket 60. Here, in this embodiment, a pair (two) of the second connectors 70 are provided with the rotating shaft JA interposed therebetween. Note that when the second connector 70 is connected, the base end 51a of the rotary rod 51 forms a gap with the hexagonal hole (locking hole) 43a of the socket 43 in the direction along the rotation axis JA. are doing. Therefore, when the tool unit 50 is installed, the rotating rod 51 does not come into contact with the socket 43 in the direction of the rotation axis JA.

The second connector 70 is connected by a first connector 71 and a second connector 75 connected to the first connector 71, and is connected and disconnected using air as a driving source. The connection direction B between the first connector 71 and the second connector 75 coincides with the direction of the rotation axis JA, and these are constrained in the connection direction B when connected. Therefore, the second connector 70 restrains the nut runner 40 and the tool unit 50 in the direction along the rotation axis JA. In this embodiment, as shown in FIG. 7, the first connector 71 is provided on the second end plate 62, and as shown in FIG. It is provided on a support base 52 that supports 51.

The first connector 71 has a main body 71a to which an air supply plug 71b is connected, and a protrusion 71c protruding from the main body 71a toward the support base 52. Through holes 71d are formed at equal intervals in the circumferential direction on the outer circumferential surface of the protrusion 71c, and when air is supplied, the locks move toward the through holes 71d and are locked in the through holes 71d by air pressure. A stop ball (not shown) is provided. In this embodiment, the locking ball is locked in the through hole 71d by air pressure. For example, if the first connector 71 and the second connector 75 are removable, the locking ball is locked in the through hole 71d by air pressure. These structures are generally known structures.

The second connector 75 is a ring-shaped member, and has a through hole 75b into which the protrusion 71c of the first connector 71 is inserted. A locking groove 75a is formed in the inner circumferential wall forming the through hole 75b to be locked in the through hole 71d of the protrusion 71c when air is supplied.

As a result, by controlling the operation of the robot body 2, the protruding portion 71c of the first connector 71 is inserted into the through hole 71d of the second connector 75, and the first connector 71 is driven by air pressure or the like as a driving source. The locking ball is engaged with the locking groove 75a of the second connector 75.

Furthermore, by removing the air pressure and pulling out the protrusion 71c of the first connector 71 from the through hole 71d of the second connector 75, the engagement between the locking ball and the locking groove 75a is released. can be easily unlinked.

In this embodiment, as shown in FIG. 7, the first connector 71 of the second connector 70 is provided at a position where the second reinforcing rib 65 is placed with the second end plate 62 interposed therebetween. Assume that an impact load is applied to the fixed bracket 60 when the robot main body 2 connects the first connector 71 to the second connector 75 with respect to the magazine 91 in which the tool units 50 are arranged side by side as shown in FIG. Also, by satisfying such an arrangement relationship, deformation of the fixed bracket 60 can be suppressed.

Furthermore, in this embodiment, as shown in FIG. 7, the second end plate 62 of the fixed bracket 60 is provided with a first connection part 72 in which a suction part 72a for suctioning air is formed. Furthermore, as shown in FIGS. 6 and 8, the support base 52 of the tool unit 50 is provided with a second connection part (relay valve) 76 that is connected to the first connection part 72 and communicates with the suction part 72a. There is. The first connecting portion 72 and the second connecting portion 76 are connected to a valve body 72c and a valve body 76c, which will be described later, when the first connector 71 and the second connector 75 of the second connector 70 are connected. are placed in contact with each other.

The suction portion 72a is provided with a suction port 72d, and the suction port 72d is connected to a suction pump (not shown) via piping (not shown) or the like. Furthermore, the first connection part 72 is provided with a connection plug 72b, and the connection plug 72b has a spherical valve body 72c that seals a suction passage (not shown) formed inside the suction part 72a. is provided.

The valve body 72c is biased by a spring or the like from inside the suction part 72a, seals the suction passage, and is a spherical valve provided in the connection plug 76a of the second connection part (relay valve) 76. By contacting the body 76c, it communicates with the internal space of the second connecting portion 76. Note that the structure of the second connecting portion 76 is also the same as that of the first connecting portion 72. In this embodiment, the first connecting portion 72 is fixed to the second end plate 62 near the base plate 63.

In this embodiment, when the first connector 71 and the second connector 75 of the second connector 70 are connected, the valve body 72c of the connection plug 72b and the valve body 76c of the connection plug 76a come into contact with each other, and the spring The valve bodies 72c and 76c, which have been energized by the valves 72c and 76c, are pushed into the respective connection plugs 72b and 76a. Here, since the first connecting portion 72 is fixed to the second end plate 62 near the base plate 63, the rigidity of the fixed bracket 60 in the direction along the rotation axis JA is high. Thereby, the contact state between the connection plugs 72b and 76a can be stably maintained. As a result, air can be sucked from the relay plug 76d of the second connection part (relay valve) 76 via the first connection part 72 and the second connection part 76. As a result, as described above, the fastener M can be attracted to the tip portion 50a of the tool unit 50.

Here, the tool unit 50 and the nut runner 40 equipped with the tool unit 50 are arranged on an installation base 90 equipped with a magazine 91 shown in FIG. The magazine 91 is attached to a base 93 of the installation base 90, and the base 93 is supported by support legs 94.

According to this embodiment, by providing the first connector 30, the operation of the robot body 2 is controlled, and, for example, the support arm of the robot body 2 is connected to the first connector 31 installed in the magazine 91 shown in FIG. By connecting the 15 second connectors 32, the nut runner 40 equipped with the tool unit 50 can be attached to the robot body 2. In this way, even nut runners 40 of different specifications can be connected via the first connector 30 attached to the fixed bracket 60. Furthermore, by providing the second connector 70 on the fixing bracket 60, tool units 50A, 50B, 50C, etc. of different specifications can be easily replaced.

In this way, in the present embodiment, the second connector 70 connects the tool unit 50 and the fixed bracket 60 with the rotary rod 51 locked in the socket 43 at a position away from the rotation axis JA of the rotary rod 51. and can be detachably connected. Since the second connector 70 is provided on the fixing bracket 60 that fixes the nut runner 40, the force applied when replacing the tool unit 50 does not act on the nut runner 40 but on the fixing bracket 60. Since a pair (two) of the second connectors 70 are provided with the rotation axis JA in between, the rotation rod 51 can be stably supported via the support base 52.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various designs can be made without departing from the spirit of the present invention as described in the claims. Changes can be made.

DESCRIPTION OF SYMBOLS 1: Industrial robot, 2: Robot body, 10: Base, 13: Lower arm, 14: Upper arm, 15: Support arm, 30: First connector, 31: First connector, 32: Second connector, 40: Nut runner, 43: Socket, 50: Tool unit, 51: Rotating rod, 52: Support base, 56: Sheath, 60: Fixed bracket, 61: First end plate, 62: Second end plate, 62a: Notch ( (insertion part), 63: base plate, 64: first reinforcing rib, 65: second reinforcing rib, 67: connecting rib, 68: third reinforcing rib, 69: mounting plate, 70: second connector, 71: first Connector, 72a: Suction part, 75: Second connector, 76: Second connection part, M: Fastener

Claims (4)

A robot body consisting of an articulated robot,
a fixing bracket detachably attached to the tip of the robot body via a first connector;
a nut runner fixed to the fixed bracket;
a tool unit that is detachably attached to the nut runner and engages with the fastener;
The tool unit includes a rotating rod that is rotated by the nut runner at least in a direction in which the fastener is tightened;
The nut runner has a socket that locks in the rotating direction with respect to the rotating rod,
The tool unit is characterized by having a second connector that removably connects the tool unit and the fixing bracket with the rotary rod being locked in the socket at a position away from the rotation axis of the rotary rod. industrial robot. The industrial robot according to claim 1, wherein a pair of the second connectors are provided with the rotation axis in between. The fixed bracket is
a base plate extending in a direction along the rotation axis;
a first end plate fixed to the base plate on the base end side of the nut runner to fix the nut runner;
a second end plate fixed to the base plate on the distal end side of the nut runner and having a notch through which the rotating rod is inserted while being engaged with the socket of the nut runner;
a pair of reinforcing ribs fixed to the second end plate and the base plate and extending in a direction along the rotation axis so as to sandwich the nut runner;
The industrial robot according to claim 2, wherein the second connector is provided at a position where the reinforcing rib is arranged, with the second end plate interposed therebetween. The second connector is connected by a first connector and a second connector connected to the first connector,
The first connector is provided on the second end plate, and the second connector is provided on a support base that supports the rotating rod of the tool unit,
The tool unit is provided with a cylindrical sheath so as to cover the rotary rod, and by sucking air in the sheath, the fastener engaged with the rotary rod is removed from the tool unit. It sticks to the tip of the
The second end plate is provided with a first connection portion in which a suction portion for suctioning the air is formed, and the support base is provided with a first connection portion that is connected to the first connection portion and communicates with the suction portion. A second connection portion is provided to
The industrial robot according to claim 3, wherein the first connecting portion is fixed to the second end plate closer to the base plate.

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