Robot and maintenance method for robot

Patent metadata

Field	Value
Publication number	US-9481097-B2
Application number	US-201414547139-A
Country	US
Kind code	B2
Filing date	Nov 19, 2014
Priority date	Dec 20, 2013
Publication date	Nov 1, 2016
Grant date	Nov 1, 2016

Abstract

A robot includes a base. A rotation base is coupled to the base and rotatable about a rotation axis relative to the base. An arm includes a base end that is coupled to the rotation base and that is turnable relative to the rotation base about a turning axis that is approximately perpendicular to the rotation axis. A balancer is coupled to the rotation base and the arm to provide force to between the rotation base and the arm. To a first attachment portion, one end of a jig is attachable to restrict displacement of the balancer in an axial direction. The first attachment portion is disposed at a coupling portion where the balancer and the arm are coupled to each other. To second attachment portions, another end of the jig is attachable. The second attachment portions are disposed at a predetermined distance from the rotation base.

First claim

What is claimed as new and desired to be secured by letters patent of the United States is:

1. A robot comprising:
a base;
a rotation base coupled to the base and rotatable about a predetermined rotation axis relative to the base;
an arm comprising a base end that is coupled to the rotation base and that is turnable relative to the rotation base about a turning axis that is approximately perpendicular to the predetermined rotation axis;
a balancer coupled to the rotation base and the arm to provide force to between the rotation base and the arm;
a first attachment portion to which one end of a jig is attachable to restrict displacement of the balancer in an axial direction, the first attachment portion being disposed at a coupling portion where the balancer and the arm are coupled to each other; and
a plurality of second attachment portions to which another end of the jig is attachable, the plurality of second attachment portions being disposed at a predetermined distance from the rotation base, the plurality of second attachment portions comprising a restrictor configured to restrict attachment of the other end of the jig to one second attachment portion among the plurality of second attachment portions when the arm is at a predetermined posture.

2. The robot according to claim 1 , wherein at least one second attachment portion among the plurality of second attachment portions is disposed at a coupling portion where the balancer and the rotation base are coupled to each other.

3. The robot according to claim 2 , wherein the jig comprises an adjustor configured to adjust a length between the one end and the other end of the jig in accordance with a distance between the first attachment portion and at least one second attachment portion among the plurality of second attachment portions.

4. The robot according to claim 1 ,
wherein the restrictor comprises at least one of a first protrusion and a first cutout at a predetermined position on a surface of the restrictor that is to come into contact with the jig, and
wherein the jig comprises at least one of a second protrusion and a second cutout at a predetermined position on a surface of the jig that is to come into contact with the restrictor.

5. The robot according to claim 4 ,
wherein the first protrusion and the second protrusion are each disposed at a predetermined phase on a circular depression, and
wherein the first cutout and the second cutout are each disposed over a predetermined phase range on a circular protrusion that is to be engaged with the depression.

6. The robot according to claim 4 , wherein the jig comprises an adjustor configured to adjust a length between the one end and the other end of the jig in accordance with a distance between the first attachment portion and at least one second attachment portion among the plurality of second attachment portions.

7. The robot according to claim 5 , wherein the jig comprises an adjustor configured to adjust a length between the one end and the other end of the jig in accordance with a distance between the first attachment portion and at least one second attachment portion among the plurality of second attachment portions.

8. The robot according to claim 1 , wherein the jig comprises an adjustor configured to adjust a length between the one end and the other end of the jig in accordance with a distance between the first attachment portion and at least one second attachment portion among the plurality of second attachment portions.

9. A maintenance method for a robot, the robot comprising:
a base;
a rotation base coupled to the base and rotatable about a predetermined rotation axis relative to the base;
an arm comprising a base end that is coupled to the rotation base and that is turnable relative to the rotation base about a turning axis that is approximately perpendicular to the predetermined rotation axis;
a balancer coupled to the rotation base and the arm to provide force to between the rotation base and the arm;
a first attachment portion to which one end of a jig is attachable to restrict displacement of the balancer in an axial direction, the first attachment portion being disposed at a coupling portion where the balancer and the arm are coupled to each other; and
a plurality of second attachment portions to which another end of the jig is attachable, the plurality of second attachment portions being disposed at a predetermined distance from the rotation base, the plurality of second attachment portions comprising a restrictor configured to restrict attachment of the other end of the jig to one second attachment portion among the plurality of second attachment portions when the arm is at a predetermined posture,
the method comprising:
stopping the arm with the arm at the predetermined posture;
attaching the jig to the first attachment portion and to at least one second attachment portion among the plurality of second attachment portions to which the jig is attachable; and
replacing a part of the robot.

10. A robot comprising:
a base;
a rotation base coupled to the base and rotatable about a predetermined rotation axis relative to the base;
an arm comprising a base end that is coupled to the rotation base and that is turnable relative to the rotation base about a turning axis that is approximately perpendicular to the predetermined rotation axis;
a balancer coupled to the rotation base and the arm to provide force to between the rotation base and the arm;
a first attachment portion to which one end of a jig is attachable to restrict displacement of the balancer in an axial direction, the first attachment portion being disposed at a coupling portion where the balancer and the arm are coupled to each other; and
a plurality of second attachment portions to which another end of the jig is attachable, the plurality of second attachment portions being disposed at a predetermined distance from the rotation base,
wherein the jig comprises an adjustor configured to adjust a length between the one end and the other end of the jig in accordance with a distance between the first attachment portion and at least one second attachment portion among the plurality of second attachment portions.

Assignees

• Yaskawa Electric Corp

Inventors

• Kagawa Ryuta

Classifications

• Y10T74/20305

  Robotic arm · CPC title

• B25J19/0008 Primary

  Balancing devices · CPC title

• B25J19/0066

  Means or methods for maintaining or repairing manipulators · CPC title