Industrial robot
An industrial robot includes a hand on which a workpiece is placed, an arm that takes out the hand from a predetermined position of the workpiece and supplies the hand, an up-down moving mechanism connected to the arm by a support member, a pedestal provided at a lower portion of the up-down moving mechanism, and a pendulum stopper provided on a base on which the pedestal turns.
1. An industrial robot comprising:
a hand on which a workpiece is placed;
an arm that is provided with a rotatable rotary joint;
an up-down moving mechanism connected to the arm by a support member;
a pedestal provided at a lower portion of the up-down moving mechanism, the pedestal including a stopper arm having a stopper provided at a tip end of the stopper arm;
a base configured to rotatably support the pedestal about a center axis;
a carriage configured to support the base and configured to move in a moving direction; and
a pendulum stopper provided on the base, the pendulum stopper includes a pendulum configured to contact the stopper to regulate rotation of the pedestal on the base,
wherein the pendulum is configured to pivot about a swing axis that is parallel to the center axis, and wherein the swing axis and the center axis are aligned along the moving direction of the carriage.
2. The industrial robot according to claim 1 , wherein the pendulum stopper is provided on an upper surface of the base such as to swing with respect to an axis orthogonal to a moving direction of the hand and a moving direction of the support member.
3. The industrial robot according to claim 1 , wherein the pendulum stopper is provided on an upper surface of the base such as to operate symmetrically with respect to an axis orthogonal to a moving direction of the hand and a moving direction of the support member.
4. The industrial robot according to claim 1 , wherein the pendulum stopper is provided on an upper surface of the base.
5. The industrial robot according to claim 1 , wherein the pendulum stopper is provided on an upper surface of the base such as to operate symmetrically with respect to an axis extending in the moving direction of the carriage, and passing through the center axis of the pedestal.
6. The industrial robot according to claim 1 , wherein a connector is provided on a lower side face of the pendulum stopper, and cableveyors separately provided in the base are equal in length.
7. The industrial robot according to claim 1 , wherein a connector is provided on a lower side face of the pendulum stopper, and a first cableveyor separately provided in the base is longer than a second cableveyor.
8. The industrial robot according to claim 1 , wherein the pendulum stopper includes a base portion, the pendulum, a support portion, and a fixed portion.
9. The industrial robot according to claim 8 , wherein the base portion is in contact with the pendulum with an abrasion-resistant material being disposed therebetween and follows a shape of the pendulum.
10. The industrial robot according to claim 9 , wherein the abrasion-resistant material is a fluorine resin material or a polymer material.
11. The industrial robot according to claim 8 , wherein the support portion is formed by a sleeve made of an abrasion-resistant material, and supports the pendulum in a turning direction and a gravitational direction.
12. The industrial robot according to claim 11 , wherein the abrasion-resistant material is a fluorine resin material or a polymer material.
13. The industrial robot according to claim 1 ,
wherein the hand is connected to a first end of the arm,
wherein a second end of the arm is rotatably attached to the support member,
wherein the arm includes an elbow joint located between the first end of the arm and the second end of the arm,
wherein the arm is configured to extend and retract the hand along a first axis, and
wherein the arm is configured such that, when the hand is moved along the first axis, the elbow joint protrudes outward in a direction orthogonal to the first axis.
14. The industrial robot according to claim 13 ,
wherein the support member is attached to the up-down moving mechanism which is configured with a link or a column enabling an up-down movement in an up-down moving direction, and
wherein the first axis is orthogonal to the up-down moving direction of the up-down moving mechanism.
15. The industrial robot according to claim 14 ,
wherein the stopper decelerates and stops by a turning motion of the pedestal, contacting the pendulum which is swingably arranged on an upper surface of the base provided on a lower portion of the pedestal, and
wherein the pendulum swings about the swing axis to contact a side surface of a base portion provided on the base.
16. The industrial robot according to claim 15 , wherein an abrasion-resistant material is provided on a surface where the pendulum is configured to contact with the base portion.
17. The industrial robot according to claim 16 ,
wherein a connector is provided on a lower side face of the pendulum stopper,
wherein a first cableveyor and a second cableveyor are separately provided in the base and are connected to the connector, and
wherein the first cableveyor is longer than the second cableveyor.