JP2023157703A - Robot arm and SCARA robot - Google Patents

Abstract

[Problem] To provide a robot arm and a SCARA robot that can have high dust-proof and drip-proof performance with a simple configuration.
[Solution] A frame, a drive unit installed on the frame, a cover installed on the frame to cover the drive unit, a spacer installed between the cover and the frame, and the spacer and the frame. and a packing inserted in the cover, which prevents distortion of the cover and the packing, and improves dust-proof and drip-proof performance with a simple configuration.
[Selection diagram] Figure 5

Description

The present invention relates to a robot arm and a SCARA robot, and particularly to a robot arm that is devised to have high dust-proof and drip-proof performance with a simple configuration.

As a conventional robot arm, there is one described in Patent Document 1.
The SCARA robot described in Patent Document 1 has an arm, and an arm cover is attached to the arm. A guide is formed to protrude along the outer circumferential edge of the arm on the arm cover side, and the arm cover is attached to the arm by fitting into the guide.

It is also described that a packing is installed along the outer circumferential edge of the arm on the arm cover side, and the arm cover is attached to the arm by fitting into the packing.

Japanese Patent Application Publication No. 2011-093066

However, the conventional configuration described above has the following problems.
The arm cover is simply fitted into the guide of the arm, and there is a concern that a gap may be created due to the arm cover being bent, and dust-proof and drip-proof performance may not be achieved.

There is also a concern that the packing may be cut by the edge of the arm cover, making it impossible to exhibit dust-proof and drip-proof performance.

The present invention has been made based on the above points, and an object thereof is to provide a robot arm and a SCARA robot that can have high dust-proof and drip-proof performance with a simple configuration.

In order to solve the above problem, a robot arm according to claim 1 of the present invention includes a frame, a driving section installed on the frame, a cover installed on the frame and covering the driving section, and a combination of the cover and the frame. The present invention is characterized by comprising a spacer installed in between, and a packing inserted between the spacer and the frame.
The robot arm according to claim 2 is characterized in that, in the robot arm according to claim 1, at least one of the frame and the spacer is formed with a packing accommodating recess in which the packing is accommodated. It is something.
Further, a robot arm according to claim 3 is the robot arm according to claim 1, wherein a protrusion protruding from the side surface of the cover and the frame is provided on the outer peripheral side of the spacer. It is.
A fourth aspect of the present invention provides a robot arm according to the third aspect, characterized in that a side surface of the protruding portion on the cover side is an inclined surface.
A fifth aspect of the present invention provides a robot arm according to the first aspect, wherein the spacer is provided with a recess into which an end of the cover is engaged.
A sixth aspect of the present invention provides a robot arm according to the first aspect, wherein the spacer is provided with a recess into which an end of the frame is engaged.
A seventh aspect of the present invention provides a robot arm according to the first aspect, wherein the cover is bonded to the spacer.
Further, a robot arm according to an eighth aspect of the present invention is the robot arm according to the first aspect, wherein the cover and the spacer are fastened together to the frame by a fastening member.
A robot arm according to a ninth aspect of the present invention is the robot arm according to the first aspect, wherein the spacer is made of metal.
A tenth aspect of the present invention provides a robot arm according to the first aspect, wherein the frame is made of metal and the cover is made of resin.
A SCARA robot according to an eleventh aspect is characterized in that the robot arm according to any one of the first to tenth aspects is provided.

As described above, the robot arm according to claim 1 of the present invention includes a frame, a drive unit installed on the frame, a cover installed on the frame and covering the drive unit, the cover and the drive unit. Since the device includes a spacer installed between the frames and a packing inserted between the spacer and the frame, dust-proof and drip-proof performance can be improved with a simple configuration.
According to the robot arm according to claim 2, in the robot arm according to claim 1, at least one of the frame and the spacer is formed with a packing accommodating recess in which the packing is accommodated. Dust-proof and drip-proof performance can be improved.
Further, according to the robot arm according to claim 3, in the robot arm according to claim 1, a protrusion protruding from the side surface of the cover and the frame is provided on the outer peripheral side of the spacer, so that the robot arm is further dust-proof. It is possible to improve drip-proof performance.
Further, according to the robot arm according to claim 4, in the robot arm according to claim 3, the side surface of the protrusion on the cover side is an inclined surface, thereby preventing dust from accumulating on the outer peripheral surface of the cover. can.
Further, according to the robot arm according to claim 5, in the robot arm according to claim 1, the spacer is formed with a recess in which the end of the cover is engaged, so that the dust-proof and drip-proof performance is further improved. can do.
Further, according to the robot arm according to claim 6, in the robot arm according to claim 1, the spacer is formed with a recess in which the end of the frame is engaged, so that the dust-proof and drip-proof performance is further improved. can do.
Further, according to the robot arm according to claim 7, in the robot arm according to claim 1, since the cover is bonded to the spacer, the dust-proof and drip-proof performance can be further improved.
Further, according to the robot arm according to claim 8, in the robot arm according to claim 1, the cover and the spacer are jointly fastened to the frame by a fastening member, so that the dust-proof and drip-proof performance can be further improved. can.
Furthermore, according to the robot arm according to the ninth aspect of the present invention, in the robot arm according to the first aspect, since the spacer is made of metal, distortion of the spacer can be prevented and the dust-proof and drip-proof performance can be further improved.
Further, according to the robot arm according to claim 10, in the robot arm according to claim 1, the frame is made of metal and the cover is made of resin, so that the weight can be reduced.
Further, according to the SCARA robot according to claim 11, since the robot arm according to any one of claims 1 to 10 is provided, the dust-proof and drip-proof performance of the SCARA robot can be improved with a simple configuration. .

1 is a diagram illustrating an embodiment of the present invention, and is a perspective view of a SCARA robot. FIG. 1 is a diagram showing an embodiment of the present invention, and is a side view of a SCARA robot. FIG. 1 is a diagram illustrating an embodiment of the present invention, and is a longitudinal cross-sectional view of a SCARA robot. 4(a) is a sectional view taken along IVa-IVa in FIG. 2, and FIG. 4(b) is a sectional view taken along IVb-IVb in FIG. 2. FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an exploded perspective view of an upper frame, a packing, a spacer, and a cover, showing an embodiment of the present invention. 6(a) is a cross-sectional view of a portion VIa in FIG. 4(a), and FIG. 6(b) is a cross-sectional view of a portion VIb in FIG. 4(b).

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 6.
As shown in FIGS. 1 to 3, the SCARA robot 1 according to this embodiment includes a base unit 3, a first arm 5 rotatably attached to the base unit 3, and a distal end of the first arm 5. and a second arm 7 as a robot arm that is rotatably provided. The configuration of each part will be explained in detail below.

The base unit 3 includes a hollow base body 11, a second base body 13, a third base body 15, and a base cover 17. As shown in FIG. 3, a first arm rotation motor 21 and a first arm rotation reduction gear 23 are installed on the base body 11. A pulley 27 is fixed to the output shaft 25 of the first arm turning motor 21, and a pulley 31 is fixed to the input shaft 29 of the first arm turning reducer 23. A timing belt 33 is wound around and meshed with the pulley 27 and the pulley 31, and the rotation of the output shaft 25 of the first arm rotation motor 21 is controlled by the input shaft 29 of the first arm rotation reducer 23. transmitted to. A gear (not shown) is fixed to the input shaft 29, and the rotation of the input shaft 29 is decelerated through this gear (not shown) and other gears (not shown), and outputted through an output shaft (not shown).

Further, as shown in FIG. 3, the base body 11 is provided with a bottom opening 41, a side opening 43, an upper opening 45, and an output shaft opening 47.

The bottom opening 41 is closed by a bottom cover 51. The bottom cover 51 is fixed with fixing bolts 53.
The side opening 43 is closed by a side cover 57. The side cover 57 is fixed with fixing bolts 59.
The upper opening 45 is closed by an upper lid 63. The upper lid 63 is fixed with fixing bolts 65. Further, a cable through hole 69 is formed in the upper lid 63.
Note that between the bottom cover 51 and the outer edge of the bottom opening 41, between the side cover 57 and the outer edge of the side opening 43, and between the upper cover 63 and the upper opening 45. Packing (not shown) is inserted between the outer edges.

The second base body 13 is installed on the upper side of the upper lid 63 in FIG. A cable penetration portion 71 is provided within the second base body 13.
The third base body 15 is installed above the second base body 13 in FIG. The third base main body 15 is provided with a cable penetrating portion 77 and a first arm rotation shaft accommodating portion 79.
Note that between the outer edge of the opening of the cable penetration portion 71 of the second base main body 13 on the lower side in FIG. 3 and the outer edge of the cable penetration hole 69 of the upper lid 63 on the upper side in FIG. , between the outer edge of the opening on the lower side in FIG. 3 of the cable penetration part 77 of the third base body 15 and the outer edge of the opening on the upper side in FIG. 3 of the cable penetration part 71 of the second base body 13. A packing (not shown) is inserted into each of the parts.

The base cover 17 is installed on the upper side of the third base body 15 in FIG. The base cover 17 is made of resin, for example.
Note that a packing (not shown) is inserted between the third base main body 15 and the base cover 17.

Further, a packing (not shown) is inserted between the outer edge of the output shaft opening 47 of the base body 11 on the lower side in FIG. 3 and the outer edge of the first arm rotation reducer 23 on the upper side in FIG. has been done.

The first arm 5 includes a hollow arm body 91 and arm end covers 93 and 95 that close the opening of the arm body 91 in the left-right direction in FIG.
Note that packing (not shown) is inserted between the arm main body 91 and the arm end cover 93 and between the arm main body 91 and the arm end cover 95.

A through-hole 101 for attaching the base-end rotation shaft is formed in the upper right end side of the arm body 91 in FIG. 3, and is engaged with the through-hole 101 for attaching the base-end rotation shaft from the upper side in FIG. The upper rotating shaft 103 for the first arm is fixedly attached to the upper rotating shaft 103 for the first arm. Further, a joint attachment through hole 105 is formed in the lower right end side of the arm body 91 in FIG. A first arm lower rotation shaft 107 is fixed coaxially with the arm upper rotation shaft 103 . The first arm upper rotating shaft 103 is rotatably connected to the first arm rotating shaft accommodating portion 79 of the third base body 15 via a bearing 109, and the first arm lower rotating shaft 107 is It is connected to an output shaft (not shown) of the first arm rotation reducer 23, and the first arm 5 is rotated around the first arm upper rotating shaft 103. The lower side of the first arm rotating shaft accommodating section 79 in FIG.

Note that packing (not shown) is inserted between the first arm upper rotating shaft 103 and the arm main body 91 and between the first arm lower rotating shaft 107 and the arm main body 91.

A through hole 121 for attaching the distal end rotation shaft is formed in the upper left end side of the arm body 91 in FIG. A two-arm upper rotating shaft 123 is fixed. Further, a through hole 125 for attaching a second arm turning reducer is formed in the lower left end side of the arm main body 91 in FIG. , a second arm turning reducer support member 126 is engaged, and the second arm turning reducer support member 126 has a second arm turning reducer supporting member 126 coaxially with the second arm upper rotating shaft 123. Machine 127 is fixed.
Packing (not shown) is inserted between the second arm upper rotating shaft 123 and the arm main body 91 and between the second arm rotation reducer support member 126 and the arm main body 91.

A pulley 169 is fixed to the upper end of the input shaft 167 of the second arm rotation reducer 127 in FIG.

Further, on the upper side of the arm main body 91 in FIG. A hole 171 is formed. A motor support member 173 is installed inside the arm body 91 and below the second arm rotation motor installation through hole 171, and a second motor support member 173 is installed on the upper side of the motor support member 173 in FIG. An arm rotation motor 175 is installed. The upper side of the second arm turning motor 175 in FIG. 3 projects outside the arm main body 91, and the upper side of the arm main body 91 in FIG. 3 covers the protruding portion of the second arm turning motor 175. A motor cover 177 is installed. The motor cover 177 is made of resin, for example. A packing (not shown) is inserted between the lower edge of the motor cover 177 in FIG. 3 and the arm main body 91.

A pulley 183 is fixed to the output shaft 181 of the second arm rotation motor 175. A belt 185 is wound between the pulley 169 and the pulley 183, and the rotation of the second arm rotation motor 175 is transmitted to the input shaft 167 of the second arm rotation reduction gear 127. The rotation transmitted to the input shaft 167 is decelerated by the second arm rotation reducer 127 and output to an output shaft (not shown).

The second arm 7 has a frame 201. As shown in FIGS. 1 to 3, the frame 201 is inserted between an upper frame 203 on the upper side in FIG. 3, a lower frame 205 on the lower side in FIG. 3, and between the upper frame 203 and the lower frame 205. It consists of an intermediate frame 207.
The upper frame 203, lower frame 205, and intermediate frame 207 are made of aluminum, for example.
Packing (not shown) is inserted between the intermediate frame 207 and the upper frame 203 and between the intermediate frame 207 and the lower frame 205.

A rotating shaft accommodating portion 213 is provided on the right side of the upper frame 203 in FIG. 3 . A bearing 215 is installed on the upper side in FIG. 3 inside the rotating shaft housing part 213, and the second arm upper rotating shaft 123 is rotatable inside the rotating shaft housing part 213 via the bearing 215. It is accommodated. The diameter of the rotary shaft accommodating portion 213 on the lower side in FIG. 3 is enlarged to form a seal accommodating recess 217, and a seal member 219 is installed in the seal accommodating recess 217.

A rotating shaft accommodating portion 223 is provided on the right side of the lower frame 205 in FIG. 3 . A shaft connecting member 225 is installed in the rotating shaft housing portion 223 at the upper side in FIG. 3, and the shaft connecting member 225 is connected to an output shaft (not shown) of the second arm rotation reducer 127. . The lower end side of the second arm turning reducer support member 126 in FIG. A sealing member 229 is installed at.

A ball spline nut 231 is rotatably installed on the tip side (left side in FIG. 3) of the lower frame 205 via a bearing 233.
Further, a ball spline nut rotation reducer 235 is installed on the tip side of the lower frame 205, and a ball spline nut rotation motor 237 is installed on the upper side of the ball spline nut rotation reduction gear 235 in FIG. has been done. An output shaft (not shown) of the motor 237 for rotating the ball spline nut is connected to an input shaft (not shown) of the speed reducer 235 for rotating the ball spline nut. A pulley 241 is fixed to an output shaft (not shown) of the ball spline nut rotation reducer 235. A pulley 243 is fixed to the ball spline nut 231, and a belt 245 is wound between the pulley 241 and the pulley 243. The ball spline nut 231 is adapted to be rotated.

A ball spline shaft 251 is inserted through the ball spline nut 231 . A connecting member 255 is installed at the lower end of the ball spline shaft 251 in FIG. 3 via a bearing 253. Further, an end cap 257 is fixed to the upper end of the ball spline shaft 251 in FIG. 3, and a connecting member 261 is installed on the end cap 257 via a bearing 259.
The rotation of the ball spline nut 231 causes the ball spline shaft 251 to rotate.

A ball screw shaft 263 is installed between the connecting member 255 and the connecting member 261 in parallel with the ball spline shaft 251.
A ball screw support member 265 is installed within the intermediate frame 207. A ball screw nut support member 271 is rotatably installed on the ball screw support member 265 via bearings 267 and 269. A pulley 275 is fixed together with the ball screw nut 273 to the upper end side of the ball screw nut support member 271 in FIG.

A ball screw shaft linear movement motor 283 is installed on the upper side of the upper frame 203 in FIG. 3 via a motor support member 281. A pulley 287 is fixed to an output shaft (not shown) of the ball screw shaft linear movement motor 283. A belt 289 is wound around the pulley 275 and the pulley 287, and the ball screw shaft linear movement motor 283 rotates the ball screw nut 273, and the ball spline shaft 251 is rotated together with the ball screw shaft 263. It is designed to be moved in the vertical direction in FIG.

Furthermore, a lower cover 291 made of resin, for example, is installed on the lower side of the lower frame 205 in FIG. The lower cover 291 is installed to cover the ball spline nut 231 and the speed reducer 235 for rotating the ball spline nut, which are protruded from the lower side of the lower frame 205 in FIG. A packing (not shown) is inserted between the lower cover 291 and the lower frame 205.

An opening 295 is provided at the lower side of the lower cover 291 in FIG. 3, and the ball spline shaft 251 projects from the opening 295.
A bellows 301 is installed on the lower side of the lower cover 291 in FIG. 3 so as to close the opening 295. The upper end of the bellows 301 in FIG. 3 is connected to the outer edge of the opening 295 of the lower cover 295, and the upper end of the bellows 301 in FIG. A packing (not shown) is inserted between them. Further, the lower end portion of the bellows 301 in FIG. 3 is connected to the connecting member 255. As a result, the bellows 301 expands and contracts as the ball spline shaft 251 moves in the vertical direction in FIG.

A cover 311 made of resin, for example, is installed on the upper side of the upper frame 203 in FIG. The cover 311 is installed to cover the ball screw shaft linear movement motor 283, the ball screw shaft 263, and the portion of the ball spline shaft 251 that protrudes upward from the upper frame 203.

An opening 313 is provided on the upper right side of the cover 311 in FIG. 3, and the opening 313 is closed by a lid 315. A packing (not shown) is inserted between the lid 315 and the outer edge of the opening 313 of the cover 311.

Further, an opening 319 is provided on the upper left side of the cover 311 in FIG. 3, and the opening 319 is closed by a bellows 321. The lower end of the bellows 321 in FIG. 3 is connected to the outer edge of the opening 319 of the cover 311, and the space between the lower end of the bellows 321 in FIG. 3 and the outer edge of the opening 319 of the cover 311 is not shown. A packing is inserted that does not Further, the upper end portion of the bellows 321 in FIG. 3 is connected to the connecting member 261. As a result, the bellows 321 expands and contracts as the ball spline shaft 251 moves in the vertical direction in FIG.
Further, as shown in FIGS. 1 to 5, a side surface 325 on the outer peripheral side of the cover 311 is sloped downward toward the outside.

Further, as shown in FIGS. 3 to 5, the cover 311 is installed on the upper frame 203 via a spacer 331 made of aluminum, for example. For example, as shown in FIGS. 3, 4, and 6, the spacer 331 is engaged with the outer peripheral edge of the upper frame 203 on the upper side in FIG. As shown in FIG. 6, a frame-side engaging recess 333 that is engaged with the upper frame 203 is provided on the lower side of the spacer 331 in FIG.

Furthermore, a cover-side engagement recess 335 is provided on the upper side of the spacer 331 in FIG. 6, with which the lower end of the cover 311 in FIG. 6 is engaged. The cover 311 and the spacer 331 are bonded together.
Further, as shown in FIG. 6, the spacer 331 is provided with a protrusion 334 that protrudes toward the outer circumferential direction (right side in FIG. 6) of the cover 311 and the upper frame 203. An inclined surface 336 is formed on the upper side of the protrusion 334 in FIG. 6, and is sloped downward toward the outer circumferential direction (right side in FIG. 6) of the cover 311 and the upper frame 203.

Further, as shown in FIGS. 5 and 6(a), the cover 311 is provided with a screw fixing part 337, and the spacer 331 is also provided with a screw fixing part 339. As shown in FIG. 6A, the cover 311 and the spacer 331 are fixed together by bolts 341 that pass through the screw fixing parts 337 and 339 and are screwed into the upper frame 203.

Further, for example, as shown in FIG. 6, a packing accommodating recess 343 is provided on the upper end surface of the upper frame 203 in FIG. A packing 345 is accommodated in the packing accommodating recess 343 . The height of the packing 345 (size in the vertical direction in FIG. 6) is set larger than the depth of the packing accommodation recess 343 (size in the vertical direction in FIG. 6), and the spacer 331 and the upper frame 203 The packing 345 is inserted between them in a compressed state in the vertical direction in FIG.

Next, the operation of this embodiment will be explained.
The first arm 5 is rotated with respect to the base unit 3 by the first arm rotation motor 21, and the second arm 7 is rotated with respect to the first arm 5 by the second arm rotation motor 175.

An object (not shown) is attached to the tip end side of the ball spline shaft 251 in FIG. The object (not shown) is rotated by the ball spline nut rotation motor 237 via the ball spline shaft 251. Further, the object (not shown) is moved in the vertical direction in FIG. 3 via the ball spline shaft 251 by the ball screw shaft linear movement motor 283.

Between the bottom cover 51 and the outer edge of the bottom opening 41 of the base body 11, between the side cover 57 and the outer edge of the side opening 43 of the base body 11, and between the upper cover 63 and the upper side of the base body 11. Packing (not shown) is inserted between the outer edges of the openings 45 to prevent foreign matter from entering the base unit 3.

Also, between the second base body 13 and the upper lid 63, between the third base body 15 and the second base body 13, between the third base body 15 and the base cover 17, and between the base body 11 and the second base body 13, Packing (not shown) is inserted between each of the one-arm rotation reduction gears 23 to prevent foreign matter from entering the base unit 3.

Between the arm body 91 and the arm end cover 93, between the arm body 91 and the arm end cover 95, between the first arm upper rotating shaft 103 and the arm body 91, and the lower part of the first arm. Packings (not shown) are interposed between the rotating shaft 107 and the arm body 91, respectively, to prevent foreign matter from entering the first arm 5.

In addition, packings (not shown) are inserted between the second arm upper rotating shaft 123 and the arm main body 91, and between the second arm rotation reducer support member 126 and the arm main body 91, respectively. Intrusion of foreign matter into the first arm 5 is prevented.

A sealing member 219 is installed in the seal accommodating recess 217 of the rotating shaft accommodating portion 213 to prevent foreign matter from entering the second arm 7 from between the second arm upper rotating shaft 123 and the rotating shaft accommodating portion 213. Intrusion is prevented.
A seal member 229 is installed between the second arm turning reducer support member 126 and the shaft connecting member 225, and a sealing member 229 is installed between the second arm turning reducer supporting member 126 and the shaft connecting member 225. Foreign matter is prevented from entering into the second arm 7.

Packings (not shown) are also inserted between the intermediate frame 207 and the upper frame 203 and between the intermediate frame 207 and the lower frame 205, respectively, to prevent foreign matter from entering the second arm 7. .

Packings (not shown) are also inserted between the lower cover 291 and the lower frame 205 and between the lower cover 291 and the bellows 301, respectively, to prevent foreign matter from entering the second arm 7. .

Packings (not shown) are inserted between the lower end of the bellows 321 in FIG. be done.

Further, a packing 345 is interposed between the spacer 331 and the upper frame 203 to prevent foreign matter from entering into the second arm 7 from between the spacer 331 and the upper frame 203.
Furthermore, since the spacer 331 is made of aluminum, for example, there is little distortion, and the dust-proof and drip-proof function between the spacer 331 and the upper frame 203 is improved.

Next, the effects of this embodiment will be explained.
Since a spacer 331 is installed between the cover 311 and the upper frame 203, and a packing 345 is inserted between the spacer 331 and the upper frame 203, the spacer 331 is sufficient to crush the packing 345. The spacer 331 and the upper frame 203 are in close contact with each other, and the dust-proof and drip-proof performance can be improved with a simple structure.
Furthermore, since the upper frame 203 is formed with a packing accommodating recess 343 for accommodating the packing 345, the packing 345 is reliably held by the packing accommodating recess 343, thereby further enhancing the dust-proof and drip-proof performance. be able to.

Furthermore, since the outer peripheral side surface 325 of the cover 311 is sloped downward toward the outside, it is possible to prevent dust from accumulating.
Since a frame-side engaging recess 333 that is engaged with the upper frame 203 is provided on the lower side of the spacer 331 in FIG. 6, a labyrinth-like structure is formed between the spacer 331 and the upper frame 203. Furthermore, the dust-proof and drip-proof performance can be improved.
Further, since a cover-side engagement recess 335 is provided on the upper side of the spacer 331 in FIG. 6 with which the lower end of the cover 311 in FIG. 6 is engaged, there is a labyrinth between the spacer 331 and the cover 311. The structure is shaped like this, and the dust-proof and drip-proof performance can be further improved.
Further, a protrusion 334 protruding from the cover 311 and the upper frame 203 is provided on the outer periphery of the spacer 331, and an inclined surface 336 is formed on the outer periphery of the protrusion 334, so that the protrusion It is possible to make it difficult for dust etc. to accumulate on the upper surface of 334.
Since the cover 311 is bonded to the spacer 331, it is possible to further improve the dust-proof and drip-proof performance, and by bonding the cover 311 to the spacer 331 in advance, the cover 311 can be attached to the spacer 331. Distortion of the cover 311 can be prevented.

The cover 311 and the spacer 331 are fixed together by bolts 341 that pass through the screw fixing parts 337 and 339 and are screwed into the upper frame 203, so the cover 311 and the spacer 331 are securely fixed. Furthermore, the dust-proof and drip-proof performance can be improved.
Further, since the spacer 331 is made of aluminum, for example, it further prevents distortion of the cover 311 and the packing 345, and ensures tight contact with the upper frame 203 via the packing 345, making it more dust-proof and drip-proof. Performance can be improved.
Further, since the cover 311 is made of resin, the weight of the second arm 7 can be reduced.
Furthermore, even if the cover 311 is made of resin, dust-proof and drip-proof performance can be ensured by the spacer 331 without increasing the number of fastening parts installed on the upper frame 203 more than necessary. Therefore, the cover 311 can be used in common with the normal specification (non-dustproof/splashproof specification).

Note that the present invention is not limited to the above embodiment.
Various cases can be considered for the number of arms between the rotation/straight movement mechanism as a robot arm and the base unit.
It is also conceivable that a packing accommodating recess is provided on the spacer side, or that a packing accommodating recess is provided on both the spacer and the frame.
There are various possible materials for the spacer.
The shape of the inclined surface of the protruding portion of the spacer may be linearly inclined.
In addition, the illustrated configuration is merely an example.

The present invention relates to a robot arm and a SCARA robot, and particularly relates to a robot arm and a SCARA robot that are devised to have high dust-proof and drip-proof performance with a simple configuration, and are suitable for, for example, industrial robots.

1 SCARA robot 7 2nd arm (robot arm)
251 Ball spline shaft (part of the drive part)
263 Ball screw shaft (part of the drive part)
283 Ball screw shaft linear movement motor (part of the drive unit)
311 Cover 331 Spacer 333 Frame side engagement recess 334 Projection 336 Inclined surface 335 Cover side engagement recess 341 Bolt (fastening member)
343 Packing accommodation recess 345 Packing

Claims (11)

frame and
A drive unit installed in the frame,
a cover installed on the frame and covering the drive unit;
a spacer installed between the cover and the frame;
A packing inserted between the spacer and the frame;
A robot arm characterized by being equipped with. The robot arm according to claim 1,
A robot arm, wherein at least one of the frame and the spacer is formed with a packing accommodating recess in which the packing is accommodated. The robot arm according to claim 1,
A robot arm characterized in that a protrusion protruding from the side surface of the cover and the frame is provided on the outer peripheral side of the spacer. The robot arm according to claim 3,
A robot arm characterized in that a side surface of the protrusion on the cover side is an inclined surface. The robot arm according to claim 1,
The robot arm is characterized in that the spacer is formed with a recess into which an end of the cover is engaged. The robot arm according to claim 1,
A robot arm characterized in that the spacer is formed with a recess into which an end of the frame is engaged. The robot arm according to claim 1,
A robot arm characterized in that the cover is adhered to the spacer. The robot arm according to claim 1,
A robot arm, wherein the cover and the spacer are fastened together to the frame by a fastening member. The robot arm according to claim 1,
A robot arm characterized in that the spacer is made of metal. The robot arm according to claim 1,
The robot arm is characterized in that the frame is made of metal, and the cover is made of resin. A SCARA robot provided with the robot arm according to any one of claims 1 to 10.

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