JP2001113488A - Industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate assembling by commonly using a speed reducer unit, to improve productivity of a robot body, and to reduce size in a mechanism of an industrial robot. SOLUTION: Both driving motors of second/third rotary shafts positioned on both ends of a first arm are arranged in the first arm. Motive power is transmitted to a speed reduction mechanism from a motor by a timing belt, and the motor and the speed reduction mechanism are formed as the same article by changing the speed reduction ratio of a toothed pulley in the first arm.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertical multi-joint type industrial robot having a first arm, a second arm, and a third arm on a pivot axis of a base and having a wrist at a tip.

[0002]

FIG. 3 is a front view of a conventional vertical articulated industrial robot, FIG. 4 is a side view thereof, and FIG. 5 is a detailed sectional view of a speed reducer unit. In the figure, reference numeral 1 denotes a base attached to an installation surface. Reference numerals 2, 5, and 8 denote a first shaft speed reducer unit, a second shaft speed reducer unit, and a third shaft speed reducer unit, respectively, which include 30 first output shafts, 31 input shafts, and 32 second shafts. The output shaft comprises 33 bearings.
These are reduction gears that employ a planetary gear mechanism called “Harmonic Drive” under a commercial name. When the input shaft 31 rotates, between the first output shaft 30 and the second output shaft 32,
Rotation occurs at a constant reduction ratio. The first output shaft 30 of the first shaft reducer unit 2 is attached to the base 1, three shoulders are fixed to the second output shaft 32, and four output shafts of the first shaft motor are fixed to the input shaft 31. Is fixed.
The frame of the first shaft motor 4 is fixed to the shoulder 3. The first output shaft 30 of the second shaft reducer unit 5 has seven first arms attached thereto, the second output shaft 32 has three shoulders fixed, and the input shaft 31 has six second shaft motors. Output shaft is fixed. The frame of the second shaft motor 6 is fixed to the shoulder 3. The first output shaft 30 of the third shaft reducer unit 8 has seven second arms attached thereto, the second output shaft 32 has ten second arms fixed thereto, and the input shaft 31 has nine third arms. The output shaft of the motor is fixed. The frame of the third-axis motor 9 is fixed to the second arm 10. 1
Reference numeral 1 denotes a wrist having a fourth axis swinging in a plane perpendicular to the second arm and a fifth axis rotating in the fourth axis. Reference numeral 12 denotes a gripper attachment portion provided at the tip of the wrist portion 11. Reference numeral 13 denotes wiring for each axis motor and the like.

Next, the operation will be described. When the rotation of the first shaft motor 4 is input to the input shaft 31 of the first shaft reducer unit 2, a predetermined rotation occurs between the first output shaft 30 and the second output shaft 32. Since the first output shaft 30 is fixed to the base 1 and the shoulder 3 is fixed to the second output shaft 32, the shoulder 3 turns around the first shaft with respect to the base 1. When the rotation of the second shaft motor 6 is input to the input shaft 31 of the second shaft reducer unit 5, the second output shaft 32
Between the first output shaft 30 and the first output shaft 30 at a predetermined reduction ratio.
The first output shaft 30 is fixed to the first arm 7 and the shoulder 3
Is fixed to the second output shaft 32, the first arm tilts around the second shaft with respect to the shoulder 3. The rotation of the third shaft motor 9 is controlled by the input shaft 3 of the third shaft reducer unit 8.
When it is input to 1, a predetermined rotation occurs between the second output shaft 32 and the first output shaft 30. Since the first output shaft 30 is fixed to the first arm 7 and the second arm 10 is fixed to the second output shaft 32, the second arm tilts around the third axis with respect to the first arm 7. . The position of the wrist 11 is controlled by simultaneously controlling the rotation angles of the first axis motor 4, the second axis motor 6, and the third axis motor 9. Similarly, the posture of the gripper mounting surface 12 is controlled by controlling the fourth axis and the fifth axis of the wrist portion 11.

With the above configuration, the position and posture of the gripper mounting surface 12 can be arbitrarily controlled within the operation range of the robot. Thus, an operation of picking up an article with the gripper attached to the gripper attachment surface 12 and placing it at a specified position, and an operation of performing a work with a tool attached to the gripper attachment surface 12 can be performed.

Here, as the motors 4, 6, 9 and the speed reducer units 2, 5, 8 become closer to the tip, the load required for turning and tilting becomes smaller, so that the driving capacity may be small. In addition, in order for each axis to operate efficiently for the robot operation, the rotational angular velocity of the tip axis needs to be high. For this reason, the motors 4, 6, 9 and the reduction gear units 2, 5, 8 have been selected to have different capacities, sizes, and reduction ratios.

[0006]

Since the conventional vertical articulated industrial robot is constructed as described above, different types of motors 4, 6, 9 and the reduction gear unit 2, There is a problem that the number of assembling steps required for assembling 5 and 8 increases. In the first arm 7, the second axis motor 6 and the second axis speed reducer unit 5 are arranged in series, and the third axis motor 9 and the third axis speed reducer unit 8 are arranged in series. There is also a problem that the width of the arm 7 is specified and the range in which the peripheral device and the first arm interfere with each other during the robot operation is large. further,
If the robot operation is changed and the specifications such as the speed of each axis are changed, there is also a problem that the motors 4, 6, 9 and the reduction gear units 2, 5, 8 need to be changed. Was.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and a first object of the present invention is to provide a robot having a small arm width. A second object is to reduce the number of assembling steps. A third object is to make it possible to change the specification such as the rotation speed of the arm without changing the capacity of the reduction gear unit and the motor.

[0008]

In an industrial robot according to the present invention, a second robot located at both ends of a first arm is provided.
The third shaft motor is disposed in the first arm, and power transmission from the motor to the speed reducer unit is constituted by a timing belt.

Further, the first axis motor, the second axis motor, the third axis motor and the first axis speed reducer unit, the second axis speed reducer unit, and the third axis speed reducer unit are the same parts. It is constituted by

Further, motors for the second and third shafts located at both ends of the first arm are arranged in the first arm, and power transmission from the motor to the reduction gear unit is constituted by a toothed pulley and a timing belt. In the first arm, the diameter of the motor shaft and the diameter of the toothed pulley of the reduction gear unit are changed.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a front view of a vertical articulated industrial robot according to a first embodiment, and FIG. 2 is a side view thereof. The structure of the reduction gear unit is as shown in FIG. In the drawing, 1 is a base attached to the installation surface, 2 is a first shaft reducer unit which is attached to the base 1 and integrates a bearing and a reducer, and 3 is a first shaft reducer around the first shaft with respect to the base 1. This is a shoulder that is pivotally mounted by the bearing 33 of the shaft reduction gear unit 2.
Reference numeral 4 denotes a first shaft mounted coaxially with the first shaft reducer unit 2.
This is a shaft motor. The input shaft 3 of the reduction gear unit 2
1, the mounting relationship between the first output shaft 30 and the second output shaft 32 is the same as the conventional one. Reference numeral 5 denotes a second shaft reducer unit in which a bearing and a speed reducer are integrated, and reference numeral 6 denotes a second shaft motor installed in the first arm 7 in parallel with the second shaft reducer unit 5. 21 is a first toothed pulley installed on the input shaft 31 of the second shaft reducer unit 5, 22 is a second toothed pulley installed on the output shaft of the second shaft motor 6, and 23 is the first tooth A first timing belt 7 for connecting the pulley 21 with a pulley and the pulley 22 with a second tooth, a first timing belt 7 tilting on a vertical plane about a second axis
Arm. The first output shaft 30 of the second shaft reducer unit 5 is fixed to the shoulder 3 side, and the second output shaft 32 is
It is fixed to the arm 7 side. Reference numeral 8 denotes a third-axis reduction gear unit which is attached to the other end of the first arm 7 and integrates a bearing and a reduction gear, and 9 denotes a third-axis reduction gear unit 7.
A third-axis motor installed in the first arm 7 in parallel with
Reference numeral 24 denotes a third toothed pulley installed on the input shaft 31 of the third shaft reducer unit 8, and reference numeral 25 denotes a fourth toothed pulley installed on the output shaft of the third shaft motor 9. Reference numeral 26 denotes a second timing belt that connects the third toothed pulley 24 and the fourth toothed pulley 25, and the second timing belt 10 is attached to the first arm 7 by the bearing 33 of the third shaft reducer unit 7, and tilts in a vertical plane. It has two arms. First output shaft 3 of reduction gear unit 8
0 is fixed to the second arm 10 side, and the second output shaft 32 is fixed to the first arm 7 side. Reference numeral 11 denotes a wrist having a fourth axis and a fifth axis. Reference numeral 12 denotes a gripper attachment portion provided at the tip of the wrist portion 11. Here, each motor 4,
6, 9, each reduction gear unit 2, 5, 8 is common.

Next, the operation will be described. The rotation of the first shaft motor 4 is decelerated by the first shaft speed reducer unit 2 and transmitted to the shoulder 3 to turn the mechanism ahead of the shoulder 3. The rotation of the second shaft motor 6 is controlled by the first toothed pulley 2.
1, the first arm 1 is decelerated by the second shaft reducer unit 5 via the toothed belt 23 and the second toothed pulley 22.
0 to tilt the mechanism beyond the first arm 10. The rotation of the third shaft motor 9 is controlled by the fourth toothed pulley 25,
The speed is reduced by the third shaft reducer unit 8 via the second timing belt 26 and the third toothed pulley 24, transmitted to the second arm 10, and the mechanism before the second arm 10 is tilted. The position of the wrist is controlled by simultaneously controlling the rotation angles of the first axis motor 4, the second axis motor 6, and the third axis motor 9. Similarly, the posture of the gripper mounting surface 12 is controlled by controlling the four axes and the five axes of the wrist portion 11.

With the above configuration, the position and posture of the gripper mounting surface 12 can be arbitrarily controlled within the operation range of the robot. Thus, an operation of picking up an article with the gripper attached to the gripper attachment surface 12 and placing it at a specified position, and an operation of performing a work with a tool attached to the gripper attachment surface 12 can be performed.

Here, the motors 4, 6, 9 and the speed reducer units 2, 5, 8 are the same, and the shaft speed of the second shaft is the same as the shaft speed of the first shaft with the first tooth. The speed is reduced or increased to a required speed by a pulley 21, a first timing belt 23, and a second toothed pulley 22. Similarly, the shaft speed of the third shaft with respect to the shaft speed of the first shaft is reduced or increased to a required speed by the third toothed pulley 24, the second timing belt 26, and the toothed pulley 25.

As described above, while using the same motor and speed reducer unit, different axis velocities for efficiently operating the robot work are obtained. As a result, after obtaining efficient shaft speeds for robot operation, unit sub-assembly is unified, assembly time is reduced, and productivity is improved. In addition, since the reduction mechanism and the drive mechanism are concentrated in the first arm, the unit can be easily assembled to the robot body.

[0016]

As described above, since the speed reducer unit is made identical and unitized, and it is possible to assemble the same sub-assembly, the productivity in manufacturing the robot body is improved.
In addition, since the speed reduction mechanism and the drive mechanism are concentrated in the first arm, assembly of the robot body is facilitated. Furthermore, the width of the first arm can be reduced to the motor length by using the toothed pulley and the timing belt as compared with the direct connection structure between the speed reducer and the motor. With less, the work that can be applied by the robot is expanded.

[Brief description of the drawings]

FIG. 1 is a front sectional view showing Embodiment 1 of the present invention.

FIG. 2 is a side sectional view showing the first embodiment of the present invention.

FIG. 3 is a front sectional view of a conventional industrial robot.

FIG. 4 is a side sectional view of a conventional industrial robot.

FIG. 5 is an enlarged sectional view of the speed reducer unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base, 2 Reduction gear unit for 1st axis, 3 Shoulder 4 Motor for 1st axis 5 Reduction gear unit for 2nd axis, 6 Motor for 2nd axis, 7 First arm 8 Reduction gear unit for 3rd axis 9th 3-axis motor 10 Second arm 11 Wrist part 12 Gripper attachment part 21 First toothed pulley, 22 Second toothed pulley, 23 First timing belt 24 Third toothed pulley 25 Fourth toothed pulley 26 Second timing belt

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Yoshitaka Kumagai 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsui Electric Co., Ltd. (72) Kazuyuki Numata 2-6-1 Otemachi, Chiyoda-ku, Tokyo No. Mitsubishi Electric Engineering Co., Ltd. F-term (reference) 3F060 EB13 EC13 GA13 GB00 GB02 GC03

Claims (3)

[Claims] 1. A first shaft reducer unit comprising a base mounted on an installation surface, a bearing and a speed reducer, and a fixed side mounted on the base, and a bearing of the first shaft reducer unit. A shoulder rotatably mounted on the base about the first axis and fixed to the output side of the first shaft reducer unit; and an output shaft fixed to the input shaft of the first shaft reducer unit. A first shaft motor whose frame is fixed to the shoulder; a second shaft reducer unit having a bearing and a speed reducer, the fixed side of which is attached to the shoulder; and a bearing of the second shaft speed reducer unit. A first arm fixed to the output side of the second shaft reducer unit, the first arm being attached so as to be tiltable on a vertical plane about the second shaft,
A second shaft motor, which is installed parallel to the input shaft of the shaft reducer unit, and whose frame is fixed to the first arm; a first motor, which is installed on the input shaft of the second shaft reducer unit,
A toothed pulley, a second toothed pulley installed on an output shaft of the second shaft motor, a first timing belt connecting the first toothed pulley and the second toothed pulley, and the first arm At the end of the third arm, a bearing and a speed reducer, the fixed side of which is attached to the first arm,
A second shaft fixed to the fixed side of the third shaft reducer unit, the second shaft fixed to the fixed side of the third shaft reducer unit by a shaft reducer unit and a bearing of the third shaft reducer unit. An arm, a third-axis motor installed in parallel with the input shaft of the third-axis speed reducer unit, and a frame fixed to the first arm; and an arm mounted on the input shaft of the third-axis speed reducer unit Third
A toothed pulley, a fourth toothed pulley installed on an output shaft of the third shaft motor, and a second timing belt connecting the third toothed pulley and the fourth toothed pulley. And industrial robots. 2. A motor for a first axis, a motor for a second axis, and a third motor.
2. The industrial robot according to claim 1, wherein the shaft motor, the first shaft speed reducer unit, the second shaft speed reducer unit, and the third shaft speed reducer unit are formed of the same parts. 3. The diameter ratio between a first toothed pulley installed on the input shaft of the second shaft reduction gear unit and a second toothed pulley installed on the output shaft of the second shaft motor, and The diameter ratio between a third toothed pulley installed on the input shaft of the shaft reduction gear unit and a fourth toothed pulley installed on the output shaft of the third shaft motor is changed and used. The industrial robot according to claim 1 or 2.