GB2085398A - Industrial robot - Google Patents
Industrial robot Download PDFInfo
- Publication number
- GB2085398A GB2085398A GB8125078A GB8125078A GB2085398A GB 2085398 A GB2085398 A GB 2085398A GB 8125078 A GB8125078 A GB 8125078A GB 8125078 A GB8125078 A GB 8125078A GB 2085398 A GB2085398 A GB 2085398A
- Authority
- GB
- United Kingdom
- Prior art keywords
- arm
- driving
- shaft
- speed reduction
- fitted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
- B25J17/025—One-dimensional joints mounted in series
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
An industrial robot has an arm mechanism (1) of a parallelogram formation and is provided with a hand mechanism which can be operated for movement in the direction of three axes. The arm mechanism (1) is rotated about a vertical axis by a mechanism (4), while ends of the parallelogram are moved in respective mutually orthogonal directions controlled by guidance slots (39), (40) to give vertical and horizontal movements. <IMAGE>
Description
SPECIFICATION
Industrial robot
This invention relates to industrial robots.
A conventional industrial robot can work to repeat a predetermined operation with a fixed force but cannot exert a force conforming to the work contents and working range. For example, in the work of fitting a wheel on a shaft, there is a defect that, unless the wheel held in the hand is always kept concentric with the center of the fitting shaft, the wheel will not be able to be positively set on the fitting shaft. Thus, with the robot repeating a predetermined operation with a fixed force as mentioned above regardless of the resistance encountered. Off-center, the predetermined force will still act and therfore, the fitting shaft or wheel itself may be damaged and even the robot may be broken.
The invention seeks to mitigate the above disadvantage and provides an industrial robot as set forth in Claim 1.
Other aspects of the invention are set forth in Claims 2 to 6.
The invention will now be described further, by way of example, with reference to the accompanying drawings, in which:
Figure 1 is a side view of an entire industrial robot according to the present invention;
Figure 2 is the same side view part sectioned,
Figure 3 is a section through the rotating mechanism,
Figure 4 is a vertical section through one end of the arm mechanism,
Figure 5 is a similar section to Fig. 4 through an alternative embodiment,
Figure 6 is a detail of the embodiment of
Fig. 1,
Figures 7 to 9 are sections through different embodiments of actuator,
Figure 10 is a side view of a hand mechanism,
Figure 11 is a section through the hand mechanism of Fig. 10,
Figure 12 is a schematic illustration to illustrate the operation of the arm mechanism,
Figures 13 and 14 are further schematic explanatory views, and
Figure 15 is a side view of an alternative embodiment of arm mechanism.
In the drawings, reference numeral 1 denotes an arm mechanism by means of which movement is three-dimension i.e. horizontal, vertical and rotating operations, can be made individually or simultaneously while remaining under a no-gravity state at the time of the operation.
This arm mechanism 1 is supported at the base end by side plates 2 and 3, is made to rotate through 360 degrees about vertical axis as viewed by rotating mechanism 4, the mechanism in the drawings can be set on the ground by a base seat 1 62 but alternatively it may be set in any manner, for example, suspended from a ceiling or mounted on a trolley to run on the ground.
As shown in Fig. 3, the rotating mechanism is designed to be fitted with a rotary servoactuator 5 through a fitting plate 63 provided between the side plates 2 and 3. The formation of this rotary servoactuator 5 shall be explained in the following. A driving motor 8 provided with an electromagnetic clutch 7 such as a direct current servo-motor, alternating current induction motor or pulse motor is arranged within a cylindrical casing 6.A rotary drive control shaft 1 2 mounted at the base end in a bearing 11 of a cover 10 is connected to the output shaft 9 of the driving motor 8 through a coupling 1 3 and key 1 4 and is provided at the other end with a pulse encoder 1 5. Reference numeral 1 6 denotes a speed reduction drive provided at the base end of this control shaft 1 2 to reduce the speed of the rotary drive of the driving motor 8 by a predetermined speed reduction ratio to reduce the backlash and determine the stopping position with high precision. Reference numeral 1 7 denotes a circular spline, 1 8 denotes a flex spline and 1 9 denotes a wave generator.Reference numeral 10 denotes a rotary drive shaft fitted at the base end to the speed reduction drive 1 6 through fastening bolts 21 and arranged with a cover 23 mounted on top of the above-mentioned casing 6 through fastening bolts 22. The abovementioned control rotary shaft 1 2 passes through this rotary drive shaft 20. Further, the rotary drive shaft 20 is fitted at the top end to the fitting plate 63 of the above mentioned side plate 2 and 3 through fastening screws 24.
In the rotating mechanism, with the rotary drive of the driving motor 8, the controlling rotary shaft 1 2 provided with the pulse encoder 15 will rotate as reduced in the speed to the predetermined speed reduction ratio and further the driving rotary shaft 20 will rotate also as reduced in the speed. The pulse signal of the pulse encoder 1 5 is transmitted directly to the driving motor 8 so that the driving motor 8 can be directly controlled. When the speed reduction ratio is large, when the electromagnetic clutch 7 operates to stop the driving motor 8, the backlash will be so small that the stopping precision will be elevated and it will be possible to determine the position with high precision.
The formation of the arm mechanism 1 shall be explained in the following. This arm mechanism 1 is formed as a parallelogram so as to be kept balanced in any operating position.
In particular, an auxiliary arm 27 is interposed between horizontally extending upper and lower arm 25 and 26. The upper arm 25 and auxiliary arm 27 are pivoted at the base ends respectively through supporting shafts 29 and 30 to links 28 vertically connecting between the side plates 2 and 3. Further, the upper and lower arms 25 and 26 are pivoted at the tops respectively through shafts 32 and 33 to a vertical arm 31 suspended downward by vertically connecting the arms 25 and 26.
Reference numeral 34 denotes a vertical auxiliary arm along the vertical arm 31. A projecting piece 35 at the top of the auxiliary arm 27 is pivoted to the vertical auxiliary arm 34 through a shaft 36 and is pivoted to the vertical arm 31 through a shaft 37. A suspending piece 38 is provided between the shafts 33 and 37.
The arm mechanism 1 so formed is movable horizontally and vertically as regulated in a fixed range. More particularly, in the above mentioned side plates 2 and 3, guide slots 39 and 40 are formed respectively vertically on the top side and horizontally on the upper end side. Guide rails 41, 41 and 42, 42 are provided along the lengthwise end edges re respectively of these guide slots 39 and 40.
Inside one guide slot 39, a link 43 vertically connecting at the base ends the above mentioned auxiliary arm 27 and the lower arm 26 is pivoted through supporting shafts 44 and 45. Further, outside the guide slot 39, rollers 47, 47 and 48, 48 provided at the upper and lower ends are fitted in a supporter 46 connected with this link 43 so as to be slidable on the above mentioned guide rails 41, 41.
Reference numeral 49 denotes a vertically moving mechanism formed to vertically move the arm mechanism 1 regulated in the range of the guide slot 39 as connected to a shaft 45. As shown in Figs. 7 to 9, the vertical movement of the arm mechanism 1 can be operated by using various driving servo-actuators. Even in the horizontally moving mechanism 50 explained in the following, the same servo-actuator is used. Therefore, this horizontally moving mechanism 50 shall be first explained.
The formation of the horizontally moving mechanism 50 of this arm mechanism 1 is as follows. Inside the other guide slot 40, a supporter 51 is pivoted at one end to the supporting shaft 29 of the above mentioned link 28, and outside the guide slot 40, the front and rear rollers 53, 53 and 54, 54 provided on the ouside supporter 52 connected with this supporter 51 are slidably fitted on he guide rails 42, 42.
As mentioned above, a driving servo-actuator is fitted to such vertically moving mechanism 49 and horizontally moving mechanism 50 so as to be able to move the arm mechanism 1 in a predetermined direction.
The servo-actuator 55 shown in Fig. 7 shall be explained. A tubular rod 58 is fitted at the base end to a piston 57 arranged within an air cylinder, 56 is extended at the top out of a plate 59 and is provided with a knuckle joint 60. Reference numeral 61 denotes a bolt screw arranged within the rod 58, screwed on the base end side with a supporter 63 provided on a piston flange 62 and borne at the base end by a head flange 64. The interior of the cylinder is thus sectioned into two chambers 65 and 66 by the piston 57 arranged within the tube 56 so that air under pressure will be introduced and discharged out through an air inlet and outlet not illustrated to reciprocate the piston 57, operate the rod 58 and produce a predetermined thrust.However, due to the sliding resistance of the piston and the fluctuation of the pressure, the slightest position adjustment, that is, a fine adjustment is difficult. Therefore, in the robot, it is hard to elevate the positioning precision by using an air pressure.
In consideration of this point, this servoactuator 55 is formed to be finely adjustable.
A rotary shaft 67 connected with the base end of the bolt screw 61 arranged within the pipe rod 58 is extended downward and is fitted with a gear 68. A speed changing mechanism 71 is formed of gears 69 and 70 meshing in turn with the gear 68. Such driving motor 74, as for example, a direct current servo-motor, alternating current induction motor or pulse motor fitted to a fitting plate 73 provided on a head flange 64 is connected to one end of a rotary shaft 72 of the gear 70. An electromagnetic clutch 75 is fitted to the other end of the roary shaft 72.
Further, a pulse encoder 76 is connected to the above mentioned rotary shaft 67.
The servo-actuator 77 shown in Fig. 8 is characterised by using a diaphragm 78 but is the same as the above mentioned embodiment in other formations.
The servo-actuator 79 shown in Fig. 9 is different from the above mentioned embodiment in respect that a bolt screw 80 is not provided within a piston rod 81 but is fitted outside the cylinder to determine the position also at a high precision. A supporting member 82 is fitted to the top of this piston rod 81 through a knuckle joint 60. The bolt screw 80 is screwed with a supporter 84 provided on a supporting piece 83 of the supporting member 82. The bolt screw 80 is borne at the base end by a bearing part 86 of a supporting plate 85 fitted to the side of the upper end of the tube 56. A gear 88 is fitted to a rotary shaft 87 connected to the base end of this bolt screw 80. Gears 89 and 90 meshing in turn with this gear 88 are formed to provide a speed changing mechanism 91. A driving motor 74 provided on the supporting plate 85 is connected to one end of a rotary shaft 92 of the gear 90 and an electromagnetic clutch 75 is connected to the other end. Further, a pulse encoder 76 is connected to the rotary shaft 87 so as to control the driving motor 74. Reference numeral 93 denotes a guide bar aiding the supporting member 82 and 94 denotes a locking hole.
Such driving servo-actuators 55, 77 and 79 drive the piston 57 with an air pressure as mentioned above to operate the rod 58 or piston rod 81 and its thrust can be utilized. In the case of elevating the positioning precision, that is, in the horizontal and vertical operations of the above mentioned arm mechanism
1, the driving motor 74 will be driven, the bolt screws 61 and 80 will be driven by the rotary drive of the driving motor 74 whose speed will be reduced to a predetermined speed reduction ratio by the speed changing mechanism 71 and 91, the piston 57 will be made to slide through the supporters 63 and 84 screwed with the bolt screws 61 and 80, the horizontal and vertical operations of the arm mechanism 1 will be able to be positioned at a very high precision, further, as the pulse encoder 76 can control the driving motor 74, its operation will be able to elevate the stability to be higher, the backlash will be very small and a high precision of the repeated positioning will be possible.
Further, in the servo-actuator 55 fitted to the vertically moving mechanism 49, an air pressure is utilized and the thrust generated by it is used to keep the arm mechanism 1 under a no-gravity state in response to the weight of the work held at the time of the operation. It is noted that, the rod 58 of the servo-actuator 55 of the horizontally moving mechanism 50 is connected to the supporter 51 at the rear end through a supporting shaft 95.
Now, a balancing mechanism 96 is so formed that in whatever positions the above mentioned vertical arm 31 and second vertical arm 34 may be moved by the operation of the arm mechanism 1, the work will be able to be made in a favourable state by keeping a balance. Reference numerals 97, 97 denote window holes provided below guide slots 42, 42 of the above mentioned side plates 2 and 3. The supporting shaft 30 pivoting the auxiliary arm 27 at the base end and the links 28, 28 as mentioned above extend at both ends out of these window holes 97, 97. Piston rods 100 of cylinders 99, 99 provided outisde the side plates 2 and 3 are connected through knuckle joints 101 with the extended ends 98, 98 of the supporting shaft 30.This cylinder 99 is so formed that a vertical thrust will always act to keep a balance with the above mentioned vertical arm 31 in response to and following the horizontal movement of the arm mechanism 1. In particular, rollers 106 and 107 provided at the tops of shaft rods 104 and 105 extending out on the side surfaces respectively through supporters 102 and 103 at the upper and lower ends of the cylinders 99, 99 are slidably fitted in two upper and lower guide slots 108 and 109 in the horizontal direction provided in the side plates 2 and 3 below the above mentioned window holes 97, 97. Further, rollers 111, 111 arranged on shaft rods 110, 110 suspended at the lower ends of the cylinders 99, 99 are slidably fitted in guide grooves 11 3 of guide rails 112, 11 2 provided on the side plates 2 and 3.Therefore, as such balancing mechanism 96 is formed, the cylinders 99, 99 will follow the links 28, 28 with the horizontal movement of the arm mechanism 1 and will move horizontally by always keeping a vertical state. Therefore, in whatever position the vertical arm 31 may move, its thrust will act always vertically and an accurate balance will be able to be kept.
Further, as shown in Fig. 6, even if the cylinder 99 is pivoted at the lower end to a supporting shaft 114, even when the cylinder 99 is inclined within the regulated range of the link 28, that is, within the range of the guide slot 42, the thrust of the cylinder 99 will act substantially vertically and will be able to keep a balance. By the way, one of these guide holes 108 and 109 may be omitted and the cylinder 99 on one side can be omitted. Therefore, such balancing weight as in the conventional case need not be provided. The balance with the vertical arm 31 can be kept with this balancing mechanism 96.
Reference numeral 11 5 denotes an inertia preventing mechanism provided near the balancing mechanism 96, preventing an inertia generated particularly in case the work is heavy and enabling the operation high in the stability and reliability. This formation shall be concretely explained. Reference numeral 11 6 denotes plate-shaped bodies fitted to the side surfaces of the side plates 2 and 3 through fasteners 117, 11 7 so as to cover substantially the entire surfaces of the above mentioned window holes 97, 97. Such joints 120, 1 20 as ball bearings are formed to always contact the tops of projecting shafts fitted to these plate-shaped bodies 11 6 integrally with the extended ends 98, 98 of the above mentioned supporting shaft 30 or through metal pieces.Therefore, as these joints 120, 1 20 become moving fixed points, the inertia accompanying the rotation will be eliminated and there will be an effect of elevating the stopping precision even with a large load. By the way, even if the distance between the side plates 2 and 3 is formed to be large as in Fig. 5, the above mentioned balancing mechanism 96 is arranged between these side plates 2 and 3 and the joints 120, 1 20 are formed to directly contact these side plates 2 and 3, the same effect will be able to be expected.
Next, a hand mechanism 121 for holding a work shall be explained. This hand mechanism 121 is fitted to the lower ends of the vertical arm 31 and second vertical arm 34 of the above mentioned arm mechanism 1. Reference numeral 1 22 denotes its fitting device.
This fitting device 122 is formed of a mechanism 1 24 of integrally rotating and driving a hand 123, a mechanism 1 26 of vertically moving a work fitting part 1 25 and a mechanism 127. This formation shall be explained in turn in the following.
In the mechanism 124 of integrally rotating and driving the hand 123, a speed reduction drive 1 31 is fitted to the output shaft 130 of such driving motor 1 29 provided with an electromagnetic clutch 1 28 as a direct current servo-motor, alternating current induction motor or pulse motor, a driving rotary shaft 1 32 is fitted to the top of this speed reduction drive 1 31, the speed of the rotary drive of the driving motor 1 29 is reduced to a predetermined speed reduction ratio, the backlash is reduced and the positioning at a high precision is made possible.The formation of this speed reduction drive 1 31 is the same as is used in the above mentioned rotating mechanism 4 and consists of a circular spline 113, fiex spline 1 34 and wave generator 1 35.
Reference numeral 1 36 denotes a cover supported at the top by a fitting part 1 37 of the fitting device 1 22. Reference numeral 1 38 denotes a gear provided at the top of the output shaft 132.
As this gear 1 38 is meshed with a gear 1 40 provided in the driving motor 1 39 provided with the electromagnetic clutch of the mechanism 126 of vertically moving the work fitting port 1 25 at the top of the fitting device 122, the hand 1 23 will be rotated and driven.
Further, in this vertically moving mechanism 126, the same speed reduction drive 142 as is mentioned above is fitted to the output shaft 141 of the driving motor 1 39 provided with the electromagnetic clutch, a driving rotary shaft 143 is fitted to the top of the speed reduction drive 142, and its bearing case 144 is fitted to a holder 145.
Reference numeral 146 denotes a gear provided at the top of the rotary shaft 143. This gear 146 meshes with a gear 15aha at the base end of a driving rotary shaft 1 49 borne by a bearing 148 provided in a fitting part 147 of the holder 145. A bevel gear 151 is fitted to the top of this rotary shaft 149. A bevel gear 1 54 meshing with the above mentioned bevel gear 1 51 is fitted to one of supporting shafts 153, 1 53 fitted each at one end through bearing 152, 1 52 to the side surfaces of the holder 145 so as to intersect at right angles with this rotary shaft 149.By the way, the supporting shafts 153, 1 53 are fitted at the other ends to a case 1 56 of a driving motor 1 55 of the rotating and driving mechanism 1 27 of a later described work fitting part.
Therefore in the vertically moving mechanism
126, the rotary drive of the driving motor 1 39 will be reduced in the speed in response to the predetermined speed reduction ratio by the harmonic drive 142 and will be transmitted to the rotary shaft 143, gears 144 and 1 50 rotary shaft 149 and the work fitting part 1 25 will be moved up and down with the supportin shaft 1 53, 1 53 as fulcra by the meshing bevel gears 151 and 154.
Now, in the mechanism 1 27 for rotating and driving only the work fitting part 125, the driving motor 1 55 provided with the electromagnetic clutch is arranged within the case 1 56 fitted with the supporting shafts 153, 1 53 as mentioned above, a speed reduction drive 1 58 is fitted the same as is mentioned above to the output shaft 1 57 of this driving motor 1 55 and the work fitting 1 25 is formed at its top so that the rotary drive reduced in the speed to a predetermined speed reduction ratio will be transmitted to the work fitting part 1 25 to be able to rotate and drive it at a high precision.Reference numeral 1 59 denotes a cover of the case 1 56.
In the industrial robot of the present invention, of the above mentioned formation, as clear also from the operation explaining view shown in Fig. 12, even if the supporting shaft 45 moves up and down within the guide slot 39, A ABC and A ADE will always remain similar to each other, therefore the arm mechanism 1 will be kept balanced, in case there is a load, the arm mechanism will be accurately kept balanced with the load by the large vertical thrust by the air pressure of the servoactuator as mentioned above and the operation will be able to be made under a nogravity state thus made.
In the case of an arm mechanism 1 69 formed of two horizontally extending arms 166 and 167 and a vertical arm 168 pivoted at the tops of these arms instead of the above mentioned arm mechanism 1, this arm mechanism 1 69 can be balanced by provided a link 1 70 connecting the base ends of the upper arm 1 66 and lower arm 1 67 with the same balancing devices 171 and 172 as are mentioned above. In Fig. 15 164 and 165 are side plates, 1 73 is a horizontal guide slot, 1 74 is a vertical guide slot, 1 75 is a roller, 176 is a servo-actuator and 177 a rotary servo-actuator.
Now, the use shall be explained. As shown in Figs. 13 and 14, if it is assumed that a shaft 160 is held by the work fitting part 125 of the hand mechanism 121 of the arm mechanism 1 kept under a no-gravity state and is displaced in the position with respect to a wheel 1 61, when, by the O-axis movement, that is, by the rotating mechanism 4, the arm mechanism 1 is rotated by the angle and the clutch 7 of the servo-actuator 5 is releated to be free, then, by the X-axis movement, that is, by the horizontally moving mechanism 50, the arm mechanism 1 is moved forward so as to be kept concentric with the center of the fitting shaft 160 and the clutch 75 of the servo-actuator 55 is released to be free and, further, by the Y-axis movement, the clutch of cf ::. serid 3 a c-uatcr 55 is released to be free, the arm mechanism 1 and the shaft 1 60 will automatically lower to be inserted. In this case, if the thrust of the air pressure of this servo-actuator 55 is the same as the weight of the arm mechanism 1, the shaft will stop as it is, that is, it will be free. Further, when it is to be inserted, this inserting force can be selected by an unreleased pressure adjustment.
Also, even if the clutch is thus released or is driven by utilizing the air pressure, the vertical movement will be always controlled in the position relation by the pulse encoder 76 and the shaft, wheel or robot body will not be damaged.
As the present invention is formed as mentioned above it can be operated under a nogravity state, has a soft operating function, is high in the conformity, therefor sensitively reacts on the external operation, does not damage parts, can prevent an inertia and is stable and reliable.
Another feature of the present invention is to provide an industrial robot wherein an arm mechanism can be always balanced in any position, is compact in the structure and is high in accuracy and safety of the work and a hand device provided at the top of the arm mechanism can be operated simultaneously in the directions of three axes.
A further feature of the present invention is to provide an industrial robot wherein a turning driving mechanism makes it possible to determine positions with an elevated stopping precision and a high precision by preventing backlash.
Claims (6)
1. An industrial robot having an arm formed of a hinged parallelogram fitted with a hand at one end and connected to a control mechanism at the other, the control mechanism having means for rotating the arm about a vertical axis and means for moving ends of the parallel links of the parallelogram in respective mutually orthogonal directions whereby to allow vertical and horizontal movement of the hand, counterbalancing means being provided for counteracting the force of gravity on the arm in all positions.
2. An industrial robot having horizontally extending upper and lower arms and auxiliary arms made by respectively pivoting at the tops a vertical arm and second vertical arm provided at the lower ends with a hand mechanism which can be operated individually or simultaneously in the directions of at least three axes are connected at the base ends directly to a driving motor and a controlling rotary shaft provided with a speed reduction drive as well as with a pulse encoder is provided within a driving rotary shaft and is supported by side plates provided with a rotating mechanism operatively connected with the driving rotary shaft so as to form an arm mechanism, the upper arm is formed of a horizontally moving mechanism regulated in the movement in the horizontal direction, the auxiliary arm and lower arm are formed of vertically moving mechanisms regulated in the movements in the vertical direction, these mechanisms are connected respectively with driving servo-actuators formed of air pressure cylinders having driving motors provided with speed reducing mechanisms controlled by pulse encoders, a link vertically connecting the above mentioned upper arm and auxiliary arm is provided with a balancing mechanism in which the thrust of the cylinder acts always in the vertical direction and joints of a projecting shaft integral or connected with a lower supporting shaft of this link form an inertia mechanism which can contact plate-shaped bodies provided outside a side plate.
3. An industrial robot having an arm mechanism wherein, between side plates supporting a hand mechanism which can be operated individually or simultaneously in the direction of at least three axes, the thrust of a cylinder acts always in a vertical direction on a link vertically connecting the base end parts of two arms extending in a horizontal direction.
4. An industrial robot having an arm mechanism, between side plates supporting a hand mechanism which can be operated individually or simultaneously in the direction of at least three axes, the base end parts of two arms extending in a horizontal direction are vertically connected with each other through a link and a joint provided integrally with a supporting shaft connecting the lower arm and link with each other or at the top of a fitting shaft connected to the supporting shaft is so formed as to always contact the side plate or an outside plate-shaped body through the side plate.
5. An industrial robot having a turning rotary servo-actuator wherein a controlling rotary shaft having a pulse encoder at the top is connected to a driving motor arranged within a casing, a speed reduction device is fitted at the base end of this controlling rotary shaft and the above mentioned controlling rotary shaft is inserted through a driving rotary shaft connected at the base end with this speed reduction device.
6. An industrial robot having a hand device wherein a speed reduction device is fitted to a driving motor provided with an electromagnetic clutch, a driving device integrally rotating and driving an entire hand part provided with a gear is provided on the driving shaft of this speed reduction device through a fitter, this gear and a gear provided on the flange of the driving motor provided with the electromagnetic clutch are meshed with each other, a gear provided on this fitter and meshing with the gear of the driving shaft of the speed reduction device of the driving motor is provided at the base end, a bevel gear is provided on the driving shaft at the top, a driving device moving up and down the hand part provided on a supporting shaft intersecting at right angles with this driving shaft with a bevel gear meshing with the above mentioned bevel gear is provided through a holder and a driving device rotating and driving a work fitting part in which a speed reduction device having a flange is fitted to the driving motor provided with the electromagnetic clutch is formed in this holder.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11280280A JPS5847317B2 (en) | 1980-08-15 | 1980-08-15 | Inertia prevention device for arm mechanism |
| JP11614180U JPS5738209U (en) | 1980-08-15 | 1980-08-15 | |
| JP11614280U JPS588466Y2 (en) | 1980-08-15 | 1980-08-15 | Arm mechanism hand device |
| JP11280180A JPS5848316B2 (en) | 1980-08-15 | 1980-08-15 | Arm mechanism balance device |
| JP11280080A JPS59351B2 (en) | 1980-08-15 | 1980-08-15 | industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB2085398A true GB2085398A (en) | 1982-04-28 |
| GB2085398B GB2085398B (en) | 1985-06-26 |
Family
ID=27526568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB8125078A Expired GB2085398B (en) | 1980-08-15 | 1981-08-17 | Industrial robot |
Country Status (6)
| Country | Link |
|---|---|
| KR (1) | KR840002421B1 (en) |
| DE (1) | DE3131933A1 (en) |
| FR (1) | FR2488543B1 (en) |
| GB (1) | GB2085398B (en) |
| IT (1) | IT1145076B (en) |
| SE (1) | SE8104846L (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2117732A (en) * | 1982-03-30 | 1983-10-19 | Binder Karl Franz | Industrial robot |
| EP0177901A1 (en) * | 1984-10-11 | 1986-04-16 | Kabushiki Kaisha Toshiba | Robot joint angle detecting system |
| US4846015A (en) * | 1984-10-16 | 1989-07-11 | Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH | Robot joint arrangement |
| GB2198702B (en) * | 1986-11-08 | 1990-01-31 | Honda Motor Co Ltd | Robot apparatus |
| CN106182074A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Six-DOF industrial robot |
| CN106181983A (en) * | 2016-08-16 | 2016-12-07 | 无锡百禾工业机器人有限公司 | A kind of circular cylindrical coordinate type industrial robot |
| CN106671055A (en) * | 2016-12-14 | 2017-05-17 | 中航飞机股份有限公司西安飞机分公司 | Assistance manipulator and control system thereof |
| CN108176967A (en) * | 2018-02-09 | 2018-06-19 | 苏州意锐聚自动化设备有限公司 | A kind of motor gear press-loading device |
| CN113927581A (en) * | 2021-11-12 | 2022-01-14 | 浦曼托(常州)智能装备有限公司 | Can effectively protect mechanized suspension type arm of centre gripping product |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3570058D1 (en) * | 1984-02-27 | 1989-06-15 | Thyssen Industrie | Manipulator |
| SE454250B (en) * | 1984-09-24 | 1988-04-18 | Asea Ab | INDUSTRIAL ROBOT WITH LINEAR DRIVE DEVICES |
| US5102280A (en) | 1989-03-07 | 1992-04-07 | Ade Corporation | Robot prealigner |
| GB9022714D0 (en) * | 1990-10-19 | 1990-12-05 | Kliklok Int | Composite reciprocatory movements |
| GB9225102D0 (en) * | 1992-12-01 | 1993-01-20 | Vinten Group Plc | Improvements in or relating to counter-balanced load carriers |
| AU5572194A (en) * | 1992-12-01 | 1994-06-22 | Vinten Group Plc | Counter-balanced load carriers |
| CN102430910B (en) * | 2011-12-26 | 2013-10-23 | 铜陵晟王铁路机械制造有限责任公司 | Assembly tooling for side frame chute wearing plate |
| CN105922249A (en) * | 2016-06-23 | 2016-09-07 | 马鞍山马钢表面工程技术有限公司 | Blank taking manipulator of annular heating furnace |
| CN111516004B (en) * | 2020-05-19 | 2021-06-01 | 苏州市永睿特伦机械有限公司 | Universal pneumatic balance control device for power-assisted manipulator |
| CN112659176B (en) * | 2020-12-18 | 2023-09-22 | 江苏集萃智能制造技术研究所有限公司 | Non-offset cooperative robot integrated joint |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1947910A1 (en) * | 1968-09-28 | 1970-04-09 | Intranszmas Magyar Bolgar Tars | Slewing crane with balanced jib system |
| JPS5842118B2 (en) * | 1973-07-27 | 1983-09-17 | オオジセイキコウギヨウ カブシキガイシヤ | Crane touch |
| SE400539B (en) * | 1976-11-12 | 1978-04-03 | Frisk Knut Olov | LOAD HANDLER WITH LIFT ARM SYSTEM BUILT UP BY PARALLEL PROGRAM LINKS |
| AU3602478A (en) * | 1977-05-13 | 1979-11-15 | Kono T | Cargo handling apparatus |
| DE2754609A1 (en) * | 1977-12-08 | 1979-06-13 | Karlsruhe Augsburg Iweka | Industrial robot manipulator pivot spindle drive unit - comprises three independent modules positively secured together |
-
1981
- 1981-08-11 KR KR1019810002915A patent/KR840002421B1/en active
- 1981-08-12 DE DE19813131933 patent/DE3131933A1/en not_active Ceased
- 1981-08-14 FR FR8115776A patent/FR2488543B1/en not_active Expired
- 1981-08-14 SE SE8104846A patent/SE8104846L/en not_active Application Discontinuation
- 1981-08-14 IT IT813505A patent/IT1145076B/en active
- 1981-08-17 GB GB8125078A patent/GB2085398B/en not_active Expired
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2117732A (en) * | 1982-03-30 | 1983-10-19 | Binder Karl Franz | Industrial robot |
| EP0177901A1 (en) * | 1984-10-11 | 1986-04-16 | Kabushiki Kaisha Toshiba | Robot joint angle detecting system |
| US4846015A (en) * | 1984-10-16 | 1989-07-11 | Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH | Robot joint arrangement |
| GB2198702B (en) * | 1986-11-08 | 1990-01-31 | Honda Motor Co Ltd | Robot apparatus |
| US4948329A (en) * | 1986-11-08 | 1990-08-14 | Honda Giken Kogyo Kabushiki Kaisha | Robot apparatus |
| CN106182074A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Six-DOF industrial robot |
| CN106181983A (en) * | 2016-08-16 | 2016-12-07 | 无锡百禾工业机器人有限公司 | A kind of circular cylindrical coordinate type industrial robot |
| CN106671055A (en) * | 2016-12-14 | 2017-05-17 | 中航飞机股份有限公司西安飞机分公司 | Assistance manipulator and control system thereof |
| CN106671055B (en) * | 2016-12-14 | 2023-03-14 | 中航西安飞机工业集团股份有限公司 | Power-assisted manipulator and control system thereof |
| CN108176967A (en) * | 2018-02-09 | 2018-06-19 | 苏州意锐聚自动化设备有限公司 | A kind of motor gear press-loading device |
| CN113927581A (en) * | 2021-11-12 | 2022-01-14 | 浦曼托(常州)智能装备有限公司 | Can effectively protect mechanized suspension type arm of centre gripping product |
| CN113927581B (en) * | 2021-11-12 | 2023-07-21 | 浦曼托(常州)智能装备有限公司 | Can effectively protect mechanized suspension type arm of centre gripping product |
Also Published As
| Publication number | Publication date |
|---|---|
| SE8104846L (en) | 1982-02-16 |
| GB2085398B (en) | 1985-06-26 |
| FR2488543A1 (en) | 1982-02-19 |
| IT8103505A0 (en) | 1981-08-14 |
| FR2488543B1 (en) | 1986-09-05 |
| KR830005976A (en) | 1983-09-14 |
| KR840002421B1 (en) | 1984-12-27 |
| DE3131933A1 (en) | 1982-04-15 |
| IT1145076B (en) | 1986-11-05 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |