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JP-2026074736-A - Collaborative robots

JP2026074736AJP 2026074736 AJP2026074736 AJP 2026074736AJP-2026074736-A

Abstract

[Problem] Multiple light sources and light diffusion members are housed together in a groove, and a certain amount of space is provided between the multiple light sources and light diffusion members, so the groove and pivot member are large. [Solution] The collaborative robot 1 is pivotally mounted to one rotation axis selected from the first axis A1 to the sixth axis A6. An indicator 2 is provided between one pivot member and the other pivot member, which is selected from a turntable, lower arm, shoulder 14, upper arm 15, support arm, and end member. The indicator 2 has a plurality of light sources 21 and a light diffusing member 22 that diffuses the light emitted from each of the plurality of light sources 21. An annular groove 18 is formed around the rotation axis by the pivot member and the other pivot member, and the light diffusing member 22 is housed in the groove 18. The pivot member has a plurality of through holes 14b that connect the groove 18 and the internal space S of the pivot member, and each light source 21 is arranged in the internal space S so as to face each through hole 14b. [Selection Diagram] Figure 4

Inventors

  • 松尾 英樹

Assignees

  • 株式会社ダイヘン

Dates

Publication Date
20260507
Application Date
20241021

Claims (5)

  1. A swivel base is pivotally attached to the base so as to be rotatable around the first axis, A lower arm is pivotally attached to the aforementioned turntable so as to be rotatable around a second axis, A shoulder is pivotally attached to the lower arm so as to be rotatable around a third axis parallel to the second axis, An upper arm is pivotally attached to the shoulder so as to be rotatable around a fourth axis along the longitudinal direction, At the tip of the upper arm, a support arm is pivotally attached so as to be rotatable around a fifth axis perpendicular to the fourth axis, A collaborative robot comprising a support arm and an end member that is rotatable about a sixth axis along the longitudinal direction, The aforementioned collaborative robot, The turntable, the lower arm, the shoulder, the upper arm, the support arm, and the tip member are pivotally mounted to one pivot axis selected from the first to the sixth axes, and an indicator is provided between one pivot member and the other pivot member, the turntable being pivotally mounted to one pivot axis selected from the first to the sixth axes, The aforementioned indicator is Multiple light sources, It includes a light diffusing member that diffuses the light emitted from each of the plurality of light sources, The one pivot member and the other pivot member form an annular groove around the pivot axis. The light diffusing member is housed in the annular groove, The one pivot member has a plurality of through holes that connect the groove and the internal space of the one pivot member. A collaborative robot characterized in that each of the light sources is arranged in the internal space so as to face each of the through holes.
  2. The aforementioned multiple light sources are mounted on one side of the substrate. The aforementioned pivot member is A main body with an opening formed therein, The collaborative robot according to claim 1, characterized by having a cover that covers the opening and is attachable to the main body.
  3. The collaborative robot according to claim 2, characterized in that the substrate is fixed to the shoulder, and on the other side of the substrate, connectors for supplying power to the multiple light sources are arranged in a position visible from the opening.
  4. The light diffusing member has recesses formed at positions facing the plurality of through holes, The collaborative robot according to claim 1, characterized in that the wall surface forming the recess has a reflective surface within the space of the recess that reflects the irradiated light from the light source that has passed through the through hole to the outer peripheral portion of the light diffusing member.
  5. The collaborative robot according to claim 1, characterized in that one of the pivot members is the shoulder, and the other pivot member is the upper arm.

Description

This invention relates to collaborative robots. As an example of this type of technology, Patent Document 1 describes a collaborative robot equipped with an indicator located between two pivot members (a turntable, lower arm, shoulder, upper arm, support arm, and end member) among a plurality of pivot members. This indicator has multiple light sources and a light-diffusing member that diffuses the light emitted from each of the multiple light sources. The diffusion of the emitted light by the light-diffusing member indicates the operating status of the pivot members, etc. The multiple light sources and the light-diffusing member are housed in a groove formed in an annular shape around the rotation axis by the two pivot members. Japanese Patent Publication No. 2023-114742 This is a perspective view of the collaborative robot according to this embodiment.This is an enlarged view centered on the opening of the collaborative robot shown in Figure 1.(A) is a view of the shoulder of the collaborative robot according to this embodiment, viewed from a direction along the third axis. (B) is a view of the collaborative robot shown in Figure 3(A) with the indicator removed. (C) is a schematic diagram showing the positional relationship between the light diffusing member, the through hole, and the LED, viewed from the X-X direction in Figure 3(A).This is a cross-sectional view along the fourth axis, centered on the indicator of the collaborative robot according to this embodiment.(A) is an enlarged view of the area enclosed by the dashed line in Figure 4. (B) is a perspective view of Figure 5(A) as seen from a cross-section along the fourth axis of the shoulder and upper arm. [Embodiment] Hereinafter, embodiments of the present invention will be described in detail with reference to Figures 1 to 5. Note that the embodiments described below are only one aspect of the present invention and do not limit the technical scope of the present invention. <Device configuration> Figure 1 is a perspective view of the collaborative robot 1 according to this embodiment. As shown in Figure 1, the collaborative robot 1 is an articulated robot and is used by attaching an end effector (not shown) of a welding device (torch) to the tip member 17 of the collaborative robot 1. The collaborative robot 1 comprises a base 11 installed on a mounting surface such as a floor, and a turntable 12 pivotally mounted to the base 11 so as to be rotatable around a first axis A1 aligned perpendicular to the mounting surface. The output shaft of a first axis motor (not shown), fixed to the base 11, is connected to the turntable 12. This allows the turntable 12 to rotate around the first axis A1 by the drive of the first axis motor. A first reduction gear (not shown) is attached to the output shaft of the first axis motor. The first axis motor and the first reduction gear are housed inside the base 11 and the turntable 12. Furthermore, the collaborative robot 1 includes a lower arm 13 pivotally mounted to the turntable 12 so as to be rotatable around a second axis A2, and a shoulder 14 pivotally mounted to the lower arm 13 so as to be rotatable around a third axis A3 parallel to the second axis A2. The base end of the lower arm 13 is pivotally mounted to the turntable 12 so as to be rotatable around the second axis A2. Here, the second axis A2 is an axis perpendicular to the first axis A1, but one of the two perpendicular axes may be offset so that these axes are in a torsional position. Powered by the second axis motor, the lower arm 13 rotates around the second axis A2 relative to the turntable 12. The second axis motor (not shown) is housed inside the turntable 12. A second reduction gear (not shown) is attached to the output shaft of the second axis motor. Furthermore, the lower arm 13 is a cylindrical housing through which various cables (not shown) are inserted. A portion of the shoulder 14 is pivotally attached to the lower arm 13 via a third reduction gear 311 (shown in Figure 2), allowing it to rotate around the third shaft A3. Powered by the third shaft motor 31, the shoulder 14 rotates relative to the lower arm 13 around the third shaft A3. The third shaft motor 31 is housed inside the shoulder 14. The third reduction gear 311 is attached to the output shaft of the third shaft motor 31. Furthermore, the collaborative robot 1 includes an upper arm 15 pivotally attached to the shoulder 14 so as to be rotatable around a fourth axis A4 along the longitudinal direction, a support arm 16 pivotally attached at the tip of the upper arm 15 so as to be rotatable around a fifth axis A5 perpendicular to the fourth axis A4, and a tip member 17 that is rotatable around a sixth axis A6 along the longitudinal direction relative to the support arm 16. Here, the lower arm 13, upper arm 15, and support arm 16 are made of metal, for example, cast iron or aluminum alloy castings. The base end of the upper arm 15 is pivotally attached to the shoulder 14 via a fourth