Multi-jointed robot arm
A multi-jointed robot arm which enables the use of a small space, in which a first arm member is supported to be capable of rotation in relation to a pair of support members, which are provided to stand on a base member at a predetermined width interval, by a first joint, further, a second arm member is supported to be capable of rotation in relation to the first arm member by a second joint, in which the second arm member holds a robot hand which grips a work on an opposite side from the second joint, the first arm member includes a pair of side portions which join the first joint and the second joint, and a storage space into which the second arm member enters between the pair of side portions is provided.
1. A multi-jointed robot arm comprising:
a pair of support members which are provided to stand on a table at a predetermined width interval;
a first arm member which is rotationally supported in relation to the pair of support members by a first joint;
a second arm member which is rotationally supported in relation to the first arm member by a second joint; and
a motor configured to move the first arm member rotationally in relation to the pair of support members, the motor including a rotating shaft that is disposed both (1) between the table and the first joint and (2) outside of the first joint, wherein
the second arm member holds a robot hand which grips a work on an opposite side from the second joint,
the first arm member includes a pair of side portions which include the first joint and the second joint on both end portions, and
there is a storage space into which the second arm member enters between the pair of side portions such that when a majority of the second arm member enters the storage space the robot hand is located closer to the first joint than the second joint.
2. The multi-jointed robot arm according to claim 1 , wherein
the pair of support members are two parallel supporting plates, and
in the first arm member:
a pair of parallel side surface plates which correspond to the side portions are joined by a horizontal bridging material which bridges in a width direction, and
the storage space in which three directions are surrounded by the pair of side surface plates and the horizontal bridging material is formed.
3. The multi-jointed robot arm according to claim 2 , wherein
in the first arm member, weight reduction holes are formed in the pair of side surface plates, and
the horizontal bridging material is a plate which is connected to a portion of the side surface plates in a longitudinal direction.
4. The multi-jointed robot arm according to claim 1 , wherein the second arm member is a member in which a parallel pair of side surface plates are joined by a horizontal bridging material in the width direction.
5. The multi-jointed robot arm according to claim 4 , further comprising a motor configured to move the second arm member rotationally in relation to the first arm member and disposed in between the pair of side surface plates.
6. The multi-jointed robot arm according to claim 5 , wherein the motor is disposed within the second joint.
7. The multi-jointed robot arm according to claim 4 , wherein a portion of the robot hand is always disposed in between the pair of side surface plates.
8. The multi-jointed robot arm according to claim 1 , wherein the table is a rotary table.
9. The multi-jointed robot arm according to claim 1 , wherein the entire motor is disposed between the table and the first joint.
10. The multi-jointed robot arm according to claim 1 , further comprising a belt connecting the rotating shaft and the first joint.
11. The multi-jointed robot arm according to claim 10 , further comprising a first pulley connected to the rotating shaft,
wherein the first joint includes:
a shaft, and
a second pulley connected to the shaft.
12. The multi-jointed robot arm according to claim 11 , wherein the belt connects the first pulley and the second pulley.
13. The multi-jointed robot arm according to claim 11 , wherein the second pulley is disposed above the first pulley.