JP2001138274A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shift the wrist moving range without making a robot device itself move. SOLUTION: A lower arm 6 and lower link 7 are installed on one side of an upper link 9 while an upper arm 12 is installed on the other side so that it is possible for the upper arm 12 to be installed in any position on the other side surface of the upper link 9, and the region 22 in which a wrist 13 moves is changed by changing upon the upper link 9, the position of a shaft 10b for rotation of the upper arm 12.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device, and more particularly, to a robot device in which the operation range of a wrist can be changed.

[0002]

2. Description of the Related Art When the same operation is repeatedly performed, an industrial robot apparatus is used. For example, as shown in FIG. 6, there is a robot device using a parallel link mechanism.

The structure of the robot shown in FIG. 6 will be described. The brackets 2 and 3 are fixed to the base 1. One ends of lower arms 6 and lower links 7 of the same length are rotatably connected to the brackets 2 and 3 around shafts 4 and 5 arranged at the same height. The shafts are linked and connected via a speed reducer (not shown). On the other hand, the other ends of the lower arm 6 and the lower link 7 are connected via an upper link 9.
Are rotatable via shafts 10 and 11.
One end of an upper arm 12 is rotatably connected to the upper link 9 about a shaft 10.
A wrist 13 is provided at the other end of 2. The output shaft of the motor 14 is linked to one end of the upper arm 12 via a speed reducer (not shown).

When the motor 8 is rotated, the lower arm 6 rotates as shown by the arrow, so that the upper link 9 is moved left and right in FIG. Let it be the upper arm 1
2 rotates around the shaft 10 as shown by the arrow.

FIG. 7 is a right side view of FIG. 6, and FIG. 8 is a sectional view of the vicinity of the motor 14. As shown in FIG. A horizontal upper link 9 is sandwiched between a lower arm 6 and a lower link 7 that are parallel to each other and constitutes a parallel link mechanism, and a shaft 1 that rotatably penetrates the lower arm 6 via a pair of bearings 17.
An upper link 9 is fixed to the right end of 0. The upper arm 12 is attached to the left end of the shaft 10 via a pair of bearings 16. A motor 14 for rotating the upper arm 12 with respect to the shaft 10 is fixed to the upper arm 12. Further, a speed reducer 15 called a harmonic drive is provided between the upper arm 12 and the shaft 10. The reduction gear 15 is a motor 1
4 which is attached to the output shaft 14a and has a ball bearing on the outer periphery of the elliptical cam.
and a cup-shaped ring gear 15 coupled to the shaft 10 and having a spline formed on the outer peripheral surface thereof and capable of elastic deformation.
b, and a ring gear 15c coupled to the upper arm 12 and having a spline formed on the inner peripheral surface. That is, the upper arm 12 is connected to the upper link 9.
Is attached to the shaft 10 fixed to one end of the shaft.

[0006]

However, when the upper arm 12 is mounted on the upper link 9 which always maintains a horizontal state, the lower arm 6 is interposed between the upper arm 9 and the mounting position of the upper arm 12 with respect to the upper link 9. The position is limited to the positions of the shafts 10 and 11 that do not interfere with the lower arm 6 and the lower link 7 or the intermediate position of the upper link 9, and the operating range of the wrist 13 is limited because the degree of freedom of attachment is small.

[0007] Therefore, an object of the present invention is to provide a robot device that solves the above problem.

[0008]

According to a first aspect of the present invention, there is provided a robot apparatus comprising: a pair of levers having one end rotatably connected to a position apart from each other; The other ends of the levers are connected to each other via a connecting member to form a parallel link mechanism, and first driving means for rotating one of the pair of levers is provided, and one end of the arm is turned to the connecting member. In a robot device provided movably and provided with second driving means for rotating the arm, the connecting member is disposed on one side of each of the pair of levers, and the arm is disposed on one side of the connecting member. According to a second aspect of the present invention, in the configuration of the robot apparatus according to the second aspect, one end of the arm is coupled to a coupling portion with one of the levers in the coupling member. The structure of the robot device according to claim 3 is characterized in that, in claim 1, one end of an arm is connected to a portion of the connecting member near a connecting portion with one of the levers.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a robot device according to the present invention will be described below. In this embodiment, since a part of the conventional robot apparatus is improved, the same parts as those of the conventional robot are denoted by the same reference numerals, and description thereof will be omitted. Only different parts will be described.

(A) First Embodiment First, a first embodiment is shown in FIG. As shown in FIG. 1B, in the lower arm 6, the lower link 7, and the upper link 9 constituting the parallel link, an upper link 9 as a connecting member is attached to the left side of the lower arm 6 as a pair of levers. Have been. Further, an upper arm 12 is attached to the left side of the upper link 9. That is, based on the upper link 9,
The upper arm 12 is attached to the left side where nothing is attached opposite to the right side where the lower arm 6 and the lower link 7 are attached.

FIG. 2 is a sectional view of a portion where the upper arm 12 is mounted. As can be seen from a comparison with FIG. 8, the shaft 10 is divided into shafts 10a and 10b and fixed to the right and left sides of the upper link 9. The shaft 10a is rotatably attached to the lower arm 6 via a pair of bearings 17, and the shaft 10b is rotatably attached to the upper arm 12 via a pair of bearings 16. A motor 14 and a speed reducer 15 are provided between the shaft 10b and the upper arm 12, as in FIG.

In this embodiment, the upper arm 12 also has a parallel link mechanism. The wrist 13 is provided rotatably via a shaft 18, while a base 9 a is formed integrally with the upper link 9, and the base 9 a
Is connected to the wrist 13 via an auxiliary link 19. Both ends of the auxiliary link 19 are rotatably connected to the wrist 13 and the base 9a via shafts 20 and 21.

Next, the operation of the robot apparatus will be described with reference to FIG. By rotating the motor 8, the lower arm 6 rotates around the shaft 4, and by rotating the motor 14, the upper arm 12 rotates around the shaft 10b. For this reason, the wrist 13 can move within the range surrounded by the region 22, and can perform work within the range surrounded by the region 23.

(B) Second Embodiment Next, a second embodiment is shown in FIG. In this embodiment, the length of the upper link 9 in the first embodiment is set to be longer by L, and the position of the shaft 10b with respect to the shaft 10a in FIG.

In such a robot device, areas 22 and 23
Is moved to the left in FIG. 4 by an amount corresponding to the increase of the length L in comparison with FIG.

The other configuration and operation are the same as those of the first embodiment, and the description is omitted.

(C) Third Embodiment Finally, FIG. 5 shows a third embodiment. In this embodiment,
A part of the upper link 9 in the first embodiment is extended downward to form a bearing 9b, and the position of the shaft 10b with respect to the shaft 10a in FIG.
The length of the base portion 9a is reduced corresponding to the movement of b.

In such a robot device, areas 22 and 23
Is moved downward by the height H as compared with FIG.

When the configuration is changed among the first to third embodiments, the change can be easily made by converting the upper link 9.

In the second and third embodiments, the case where the shaft 10b is moved leftward and downward with respect to the shaft 10a is shown, but the shaft 10b is moved rightward or upward, or the shaft 11b is moved.
Can be moved to the position.

[0021]

As can be seen from the above description, claim 1
According to the robot devices according to the first to third aspects, since a pair of levers is arranged on one side of the connecting member and one end of the arm is attached to the other side, there is no member that interferes with the arm on the other side of the connecting member. Therefore, one end of the arm may be attached to any position of the connecting member, and the operating range of the wrist can be freely set.

[Brief description of the drawings]

FIG. 1 is a front view and FIG. 1B is a right side view of a robot apparatus according to a first embodiment of the present invention.

FIG. 2 is a sectional view of a main part of the robot apparatus according to the first embodiment of the present invention.

FIGS. 3A and 3B are operation explanatory diagrams of the robot apparatus according to the first embodiment of the present invention, wherein FIG. 3A is a front view and FIG. 3B is a right side view.

FIGS. 4A and 4B are operation explanatory diagrams of a robot device according to a second embodiment of the present invention, wherein FIG. 4A is a front view and FIG.

FIGS. 5A and 5B are operation explanatory diagrams of a robot device according to a third embodiment of the present invention, wherein FIG. 5A is a front view and FIG. 5B is a right side view.

FIG. 6 is a configuration diagram of a conventional robot device.

FIG. 7 is a right side view of a conventional robot device.

FIG. 8 is a sectional view of a main part of a conventional robot device.

[Explanation of symbols]

 4, 5, 10a, 10b, 11 ... axis 6 ... lower arm 7 ... lower link 8, 14 ... motor 9 ... upper link 12 ... upper arm

Claims (3)

[Claims] An end of a pair of levers rotatably coupled to each other at a position separated from each other, and the other end of the pair of levers being coupled to each other via a coupling member to form a parallel link mechanism; A first driving means for rotating one of the levers, an end of the arm is rotatably provided on the connecting member, and a second driving means for rotating the arm is provided. A robot apparatus, wherein the connecting member is arranged on one side of each of a pair of levers, and the arm is arranged on one side of the connecting member. 2. An end of the arm is connected to a connecting portion between the connecting member and one of the levers.
The robot device according to item 1. 3. The robot device according to claim 1, wherein one end of an arm is connected to a portion of the connecting member near a connecting portion with one of the levers.