JP2000326272A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify and minimize a structure of a peripheral part of an end plate and to easily mount a cover on a movable part arbitrarily operatably at a high speed in a three-dimensional space by comprising a plurality of link mechanisms cylindrically arranged between a base plate and the end plate. SOLUTION: This device can be minimzed by comprising a base plate 1 at a device fixing side, an end plate 2 for a tool device, a parallelogram link 6 as a link means connected with the base plate 1 and movable and positionable with 2 degree of freedom, three sets of link mechanisms 13 consisting of arms connected with the parallelogram link 6 at one end and connected with the end plate 2 at the other end, a joint 4 rotating on one shaft for rotatably connecting an end plate 2 side of the parallelogram link 6 with one end of the arm 7, and rotatably connecting the other end of the arm 7 with the end plate 2, and a rotary motor mounted on the base plate 2 and applying the driving force to the link mechanisms 13.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device used for, for example, handling, assembling, and processing an article.

[0002]

2. Description of the Related Art FIG. 5 is a perspective view showing a conventional robot apparatus disclosed in, for example, Japanese Patent Publication No. 4-45310 (hereinafter referred to as Conventional Example 1). In the figure, 101 is a base plate, and 102 is an end plate as a movable member to which the tool 110 is attached. 103 is a rotatable joint having two degrees of freedom. 106 is a first arm rotatably operated by a rotary motor 109,
107 is the end plate 10 via the joint 103
2 is a second link means composed of two arms 107a and 107b connected to 2;
Reference numeral 2 denotes a shaft rotated by the rotary motor 109. 1
Reference numeral 10 denotes a tool, which includes working members such as a gripping member, a tool, a suction tool, and an injector. Reference numeral 111 denotes a rotary motor on which the base plate 101 is disposed, and 112 denotes a rod system for transmitting the driving force of the rotary motor 111 to the tool 110. In the illustrated example, a nested arm is used.

Next, the operation will be described. By rotating the rotary motor 109 attached to the base plate 101 to a predetermined angle, the rotation angle of the shaft 105 attached to the rotation shaft of the rotary motor 109 is determined, and the rotation angle of the shaft 105 attached to the rotation shaft 105 is determined. The position of the tip of one arm 106 on the end plate 102 side is determined. An end of the first arm 106 on the end plate 102 side and the second link means 107 are connected by a rotatable joint 103 having two degrees of freedom, and furthermore, an arm constituting the end plate 102 and the second link means 107 Since the ends of the end plates 102a and 107b on the end plate 102 side are also connected by a rotatable joint having two degrees of freedom, the end plate 102 can be determined at a predetermined position in a three-dimensional space. When the position of the end plate 102 is determined, the rotary motor 111
Is operated to operate the tool 110, which is a working member such as a gripping member, a tool, a suction tool, or an injector.

FIG. 6 is a perspective view showing another conventional robot apparatus (referred to as Conventional Example 2) disclosed in Japanese Patent Application Laid-Open No. Hei 9-136286. In the figure, reference numeral 202 denotes an end plate, 203 denotes an end of the first arm 206 on the end plate 202 side and the second link means 207, and end of the end plate 202 and the second link means 207 on the end plate 202 side. A rotatable joint having two degrees of freedom for coupling, 206 is a first link, and 207 is a second link.
Link means, 209 is a rotary motor, 210 is a tool,
Reference numeral 214 denotes a rack meshed with the pinion 215, 215 denotes a pinion, and 216 denotes a member for holding the first link 206.

Next, the operation will be described. First link 2
06 is the first arm 20 (not shown).
6 is rotatably attached by a member 216 for holding the first arm 206, and one end of a rack 214 is attached to the other end of the first arm 206 via a rotatable joint having one degree of freedom, and is attached to a base plate. A pinion 215 is attached to the rotating shaft of the fixed rotary motor 209, and the length of the rack 214 meshed with the pinion 215 is determined by stopping the rotary motor 209 at a predetermined angle. The position of the first arm 206 on the end plate 202 side is also determined by automatically determining the inclination of the 214. This gives 2
The end of the first link 206 on the end plate 202 side is connected to the second link 206 by a rotatable joint 203 having a degree of freedom.
Link means 207, end plate 202 and second
Since the ends of the link means 207 on the end plate 202 side are connected to each other, this end plate 202 is
It is possible to determine a predetermined position in the dimensional space.

[0006] In the above-mentioned robot apparatus, a cover is provided on the movable part in order to prevent malfunction from occurring due to foreign matter or the like generated during work.

[0007]

Since the conventional robot apparatus is configured as described above, a single link mechanism has a structure in which at least two arms are connected to the end plate. With each link mechanism, the number of joints arranged on the end plate cannot be reduced, and the overall structure is complicated, so that it has been difficult to reduce the size.

Further, as in the robot device of the conventional example 2,
When the arm 206 and the link means 207 are driven by a linear motion mechanism such as the rack 214 and the pinion 215, the operation amount of the rack 214, which is a movable portion, is small with respect to the rotation amount of the motor 209 that provides the driving force, so that the high-speed operation is performed. Is difficult to perform.

Further, in a mechanism such as the pinion 215 and the rack 214, since the length and angle of the rack 214 change, providing a cover on an operating portion requires a cover having a special structure such as a flexible tube. However, there is a problem that it is not easy to provide a cover on the movable part.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has a structure in which the structure around the end plate can be simplified and reduced in size.
It is an object of the present invention to provide a robot device that can arbitrarily operate at high speed in a three-dimensional space and can easily provide a cover on a movable part.

[0011]

According to the present invention, there is provided a robot apparatus comprising: a base plate for fixing the apparatus; an end plate for mounting a tool; a first arm connected to the base plate with two degrees of freedom; A group of links, each of which is rotatably connected by a first joint that rotates one arm on one axis, and a second group, one end of which rotates on one axis on the end plate side of the first arm or link group. A second arm rotatably connected to the end plate by a third joint rotatably connected to the end plate at one axis, and a first arm disposed to the base plate and rotatably connected to the end plate. Alternatively, the link mechanism comprises a rotary motor that applies a driving force to the link means, and includes a plurality of link mechanisms arranged so as to form a cylinder between the base plate and the end plate.

In the robot apparatus according to the present invention, a base plate on which the apparatus is fixed, an end plate for mounting a tool, and a first arm or a plurality of arms connected to the base plate with two degrees of freedom are orthogonal to each other. A link group rotatably connected by a fourth joint rotating on one axis, and a fifth joint rotating on one axis at one end to the end plate side of the first arm or link group. A second arm rotatably connected, and the other end rotatably connected to an end plate by a sixth joint that rotates on one axis;
A rotary motor arranged on the base plate to apply a driving force to the first arm or link means, and a plurality of link mechanisms arranged to form a cylinder between the base plate and the end plate. .

[0013] In the robot apparatus according to the present invention, the first to sixth joints are rotary joints.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. Embodiment 1 FIG. FIG. 1 is a perspective view showing a robot apparatus according to Embodiment 1 of the present invention, and FIG.
FIG. 4 is a perspective view schematically showing one set of link mechanisms in the robot device according to the first embodiment. In the drawing, reference numeral 1 denotes a base plate for fixing the apparatus, and 2 denotes an end plate for mounting a tool which is a working member such as a gripping member, a tool, a suction tool or an injector. 4 is a joint (first joint, second joint, third joint,
A rotary joint of the rotary motor 9a and the arm 11b, the arm 8b and the arm 11a, the arm 11a and the arm 8a, the arm 11b and the arm 8a, the arm 8a and the arm 7, the arm 8a and the arm 7, and the arm 7 and the end plate 2. It is rotatably connected. As the joint 4, a general rotary joint of a ball shaft type or the like is used. 6 is arm 8
a, 8b, 11a, 11b and a parallelogram link (link group) composed of the base plate 1; Reference numeral 7 denotes an arm (second arm) connected to the end plate 2. Reference numeral 9a denotes a rotary motor which is supported and fixed on the base plate 1, and is arranged on one set of link mechanisms 13 (not shown in FIG. 1). Thereby, the link mechanism 13 can operate with three degrees of freedom. A link mechanism 13 includes the parallelogram link 6 and the arm 7.

Next, the operation will be described. In FIG. 2, the rotary motor 9 fixed to the base plate 1
a rotates the parallelogram link 6 about the X axis and stops the rotation angle of the rotary motor 9a at a predetermined angle to determine the inclination angle of the parallelogram link 6 about the X axis. . The parallelogram link 6 is connected to an arm 8b constituting the link by a bearing or the like so as to be rotatable around the X axis (not shown in FIG. 1), and an arm 11b is provided.
Is connected to the rotating shaft of the rotary motor via the joint 4, the parallelogram link 6 is free to deform in the in-plane direction (in the ZX plane) of the parallelogram link 6. The in-plane deformation operation of the parallelogram link 6 includes three rotary motors 9 a attached to three sets of link mechanisms 13.
It is controlled by adjusting the rotation angle of. Further, the rotary joint 4 can perform a much higher-speed operation as compared with the linear motion mechanism as in the conventional example 2.

Further, since one end of the arm 8a constituting the parallelogram link 6 and one end of the arm 7 are connected by the joint 4 so as to be rotatable around the X axis, the end of the arm 7 on the end plate 2 side is provided. The unit has a spherical operation range on the lower side (−Z direction side) in the figure. Further, in the illustrated example, since there are three sets of link mechanisms 13 connecting the base plate 1 and the end plate 2, these arms 7
Is connected to the end plate 2 so that each arm 7
An intersection connecting the extended lines of is obtained at one point. As described above, since the intersection of the three arms 7 is uniquely determined from the three spherical operation ranges, the position of the end plate 2 in the three-dimensional space can be determined.

As described above, according to the first embodiment, the base plate 1 on which the apparatus is fixed, the end plate 2 for mounting the tool, and the base plate 1 are connected to each other, so that movement and positioning can be performed with two degrees of freedom. Three sets of link mechanisms 13 including a parallelogram link 6 as a possible link means, an arm 7 having one end connected to the parallelogram link 6 and the other end connected to the end plate 2, and a parallelogram. The link 4 is disposed on one end of the arm 7, the other end of the arm 7 is connected to the end plate 2, and the joint 4 is rotatably connected to the joint 4. Since a rotary motor 9a for applying a driving force to the link mechanism 13 is provided, one set of link mechanisms 13 connects one arm (arm 7) to one position of the end plate 2. From, it is possible to reduce the joint number arranged in the end plate 2, thereby,
The device can be downsized. In addition, all the joints are configured with only one degree of freedom, and one set of link mechanisms 13 is provided.
Since only one rotary motor 9a is provided, the structure can be simplified and the cost can be reduced.

Further, since the arms are connected via the rotary joint 4 instead of the linear motion mechanism such as the rack 214 and the pinion 215 in the robot apparatus of the conventional example 2,
The rotary joint 4 is controlled by the rotation amount of the rotary motor 9a.
Can perform high-speed operation arbitrarily in a three-dimensional space because the amount of movement of the movable part is large.

Further, since the rotary joint 4 for connecting the movable parts does not require a specially shaped cover unlike the rack 214 and the pinion 215 in the conventional example 2, the cover can be easily provided on the movable part. it can.

Embodiment 2 FIG. 3 is a perspective view showing a robot apparatus according to Embodiment 2 of the present invention, and FIG. 4 is a perspective view schematically showing one set of link mechanisms in the robot apparatus according to Embodiment 2 of the present invention. In the figure, reference numeral 3 denotes a joint (fourth joint, rotary joint) rotatable on two orthogonal axes, the rotary shaft of the rotary motor 9a and the arm 11b, and the arm 8b and the arm 11
a, the arm 11a and the arm 8a, and the arm 11b and the arm 8a are connected to be rotatable about the X axis and the Y axis, respectively. 4
Are joints rotatable on one axis (a fifth joint,
The arm 8a and the arm 7, and the arm 7 and the end plate 2 are rotatably connected around the X-axis by a sixth joint (rotary joint). For these joints 3 and 4, a general rotary joint of a ball shaft system or the like is used. 6 'is a base plate 1 and arms 8a, 8b, 11a, 11b
Are connected to the base plate 1 by an arm 11b connected to the rotary motor 9a and an arm 8b connected to the base plate 1 via a bearing (not shown). ing. Reference numeral 13 'is a link mechanism constituted by the parallelogram link 6' and the arm 7. 1 and 2
The same components as those described above are denoted by the same reference numerals, and redundant description will be omitted.

Next, the operation will be described. The rotary motor 9a fixed to the base plate 1 rotates the parallelogram link 6 'around the X axis and stops it at a predetermined angle, thereby moving the joint 4 attached to the arm 8a in the Y axis direction. The travel distance can be determined. The parallelogram link 6 'is moved in the in-plane direction (ZX) of the parallelogram link 6' by the joint 3 connecting the arms 8a, 8b, 11a, 11b constituting the parallelogram link 6 '. (In the plane).
The in-plane deformation of the parallelogram link 6 'is controlled by adjusting the rotation angles of the three rotary motors 9a attached to the three sets of link mechanisms 13'. Further, the rotary joint 3 can perform a much higher-speed operation than the linear motion mechanism as in the conventional example 2.

One end of the arm 8a and the arm 7 constituting the parallelogram link 6 'is connected to the parallelogram link 6'.
Axis (X) parallel to the plane (plane parallel to the ZX plane) created by
The end of the arm 7 on the end plate 2 side is connected by the joint 4 that is rotatable around
The lower side (−Z direction side) in the drawing has a spherical operation range. Furthermore, in the illustrated example, since there are three sets of link mechanisms 13 ′ connecting the base plate 1 and the end plate 2, by connecting these arms 7 to the end plate 2, the extension lines of the respective arms 7 can be obtained. The connecting intersection is found at one point. As described above, since the intersection of the three arms 7 is uniquely determined from the three spherical operation ranges, the position of the end plate 2 in the three-dimensional space can be determined.

As described above, according to the second embodiment, the base plate 1 on which the apparatus is fixed, the end plate 2 for mounting the tool, and the base plate 1 are connected to each other, so that movement and positioning can be performed with two degrees of freedom. Multiple arms 8 possible
a, 8b, 11a, and 11b, and a pair of link mechanisms 13 'including an arm 7 having one end connected to the parallelogram link 6' and the other end connected to the end plate 2. And two orthogonally connected rotatably between the parallelogram link 6 'and one side of the base plate side.
A joint 3 rotating on two axes, between the end plate 2 side of the parallelogram link 6 ′ and one end of the arm 7,
A joint 4 that rotates on one axis and rotatably connects the other end of the arm 7 and the end plate 2 to each other.
And a rotary motor 9a disposed on the base plate 1 and applying a driving force to the link mechanism 13 ', so that one set of link mechanisms 13' is provided with one arm (arm 7) at one position of the end plate 2. Are connected, the number of joints arranged on the end plate 2 can be reduced,
Thus, the size of the device can be reduced. Further, since only one rotary motor 9a is arranged in one set of link mechanisms 13 ', the structure can be simplified and the cost can be reduced. Further, one set of link mechanisms 13 includes a rotary motor 9a.
Where only one is installed, a new rotary motor is attached to the arm 8b, and the joint 4 on the end plate 2 is replaced with a joint that rotates on three axes. Can be converted to a device.

Further, since the respective arms are connected via the rotary joint 3, the rotary joint 3 has a large moving amount of the movable portion with respect to the rotation amount of the rotary motor 9a as in the first embodiment. Therefore, high-speed operation can be performed.

Further, the racks 214,
Since a cover having a special structure is not required unlike the movable portion of the linear motion mechanism such as the pinion 215, the cover can be easily provided on the movable portion.

The first embodiment and the second embodiment
In the above, the link means is a parallelogram link, but the present invention is not limited to this, and the arm 11a connected to the base plate 1 shown in FIGS.
Alternatively, even when the arm 11b is the first arm and the arm 7 as the second arm is rotatably connected, the same operation can be realized. Further, the link group may be constituted by a plurality of arms which do not constitute a parallel link.

[0027]

As described above, according to the present invention, the base plate on which the apparatus is fixed, the end plate for mounting the tool, the first arm connected to the base plate with two degrees of freedom, or a plurality of the plurality of arms are provided. A link group in which arms are rotatably connected by a first joint that rotates on one axis, and a second group whose one end rotates on one axis on the end plate side of the first arm or link group. A second arm rotatably connected by a joint, and the other end rotatably connected to an end plate by a third joint rotating on one axis, and a first arm or A plurality of link mechanisms arranged so as to form a cylindrical shape between the base plate and the end plate. From what has been connected to one arm in one place, it is possible to reduce the joint number are arranged on the end plate, thereby an effect that it is possible to downsize the device. In addition, since all the joints are formed with only one degree of freedom and only one rotary motor is arranged in one set of link mechanisms, there is an effect that the structure can be simplified and the structure can be reduced.

According to the present invention, the base plate on which the apparatus is fixed, the end plate for mounting the tool, the first arm connected to the base plate with two degrees of freedom, or two axes orthogonal to the plurality of arms. 4th rotating on
A link group rotatably connected to the first arm or the end plate side of the first arm or link group by a fifth joint portion rotatable on one axis; A second arm rotatably connected to the end plate by a sixth joint rotating on one axis to an end plate, a rotary motor disposed on the base plate and applying a driving force to the first arm or link means; And a plurality of link mechanisms arranged so as to form a cylindrical shape between the base plate and the end plate. Thus, as in the above, one set of link mechanisms is provided with one arm at one position of the end plate. Are connected, it is possible to reduce the number of joints arranged on the end plate, and thereby to reduce the size of the device. By attaching another rotary motor to one set of link mechanisms and replacing the joint on the end plate with a joint that rotates on three axes, it can be easily converted to a robot device with six degrees of freedom. There is an effect that can be done.

According to the present invention, since the first to sixth joints are rotary joints, the rotary joint has a large moving amount of the movable part with respect to the rotation amount of the motor. There is an effect that any high-speed operation can be performed.

Further, since a cover having a special structure is not required unlike the movable portion of the linear motion mechanism, the cover can be easily provided on the movable portion.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a robot device according to a first embodiment of the present invention.

FIG. 2 is a perspective view schematically showing one set of link mechanisms in the robot device according to the first embodiment of the present invention.

FIG. 3 is a perspective view showing a robot device according to a second embodiment of the present invention.

FIG. 4 is a perspective view schematically showing one set of link mechanisms in a robot apparatus according to a second embodiment of the present invention.

FIG. 5 is a perspective view showing a conventional robot device (referred to as Conventional Example 1) disclosed in Japanese Patent Publication No. 4-45310.

FIG. 6 is a perspective view showing another conventional robot device (referred to as Conventional Example 2) disclosed in Japanese Patent Application Laid-Open No. 9-136286.

[Explanation of symbols]

1 base plate, 2 end plates, 3 joints (fourth joint, rotary joint), 4 joints (first joint, second joint, third joint, fifth joint, sixth joint Joints, rotary joints), 6,
6 'parallelogram link (link group), 7 arm (second arm), 9a rotary motor, 13, 13' link mechanism.

Claims (3)

[Claims] 1. A base plate for fixing an apparatus, an end plate for mounting a tool, a first arm connected to the base plate with two degrees of freedom, or a first arm for rotating a plurality of arms on one axis. 1
And a link group rotatably connected to each of the joints of the first arm and a second joint whose one end rotates on one axis on the end plate side of the first arm or the link group. A second arm rotatably connected to the end plate by a third joint rotating on one axis, and a second arm rotatably connected to the end plate; and a first arm or the link disposed on the base plate. A robot apparatus comprising: a rotary motor that applies a driving force to the means; and a plurality of link mechanisms arranged so as to form a cylinder between the base plate and the end plate. 2. A base plate for fixing the apparatus, an end plate for mounting a tool, a first arm connected to the base plate with two degrees of freedom, or a plurality of arms rotated on two axes orthogonal to each other. A link group rotatably connected by a fourth joint part to be rotated, and a fifth joint part whose one end rotates on one axis to the end plate side of the first arm or the link group. A second arm rotatably connected to the end plate and rotatably connected to the end plate by a sixth joint rotating on one axis, and the first arm or the link disposed on the base plate. A rotary motor that applies a driving force to the means, and a plurality of link mechanisms arranged so as to form a cylinder between the base plate and the end plate. Apparatus. 3. The robot apparatus according to claim 1, wherein the first to sixth joints are rotary joints.