JP2010089213A - Original position adjusting mechanism and robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an original position adjusting mechanism which can adjust an original position of a rotating part to a desired position even when a positioning accuracy of an original position adjusting jig to a base part is lower than that of a usual mechanism. <P>SOLUTION: The original position adjusting mechanism 30 is used for adjusting the original position of an adjusting arm body 14d in a multi-articulated manipulator 10 having the adjusting arm body 14d rotating relative to a reference arm body 14c. The original position adjusting mechanism 30 includes a position adjusting jig 32 and a positioning pin 31. The position adjusting jig 32 is attached to an attaching part 26 of the reference arm body 14c and has a reference surface 39 for specifying the original position. The positioning pin 31 is inserted into the adjusting arm body 14d and moved along the reference surface 39 to determine the original position of the adjusting arm body 14d. Even when the original position adjusting jig 32 is relatively displaced along the attaching part 26, the original position of the adjusting arm body 14d determined by the positioning member 31 and the reference surface 39 is not changed. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an origin position adjusting mechanism for adjusting an origin position of the rotating unit and a robot including the same in a robot in which a rotating unit rotates with respect to a base.

  Industrial robots in which a plurality of arms are rotatably attached to each other such as an articulated manipulator and a multi-axis robot have been put to practical use. The robot is configured to rotate the arm from the origin position in accordance with a program stored in the controller and move the end effector attached to the tip of the arm to the target position.

  In a robot, when a motor, a speed reducer, or the like that rotates an arm breaks down, the arm, a speed reducer, or the like is replaced after the arm is removed from the base that is the base, and the removed arm is attached to the base again. When the arm is attached, the arm is often attached to the base in a posture different from that when the arm is removed. If the posture is kept different, the arm origin position is changed from the position before the arm is removed. Therefore, even if the end effector is moved according to the program, the end effector does not move to the target position. Therefore, it is necessary to adjust the origin position of the arm after replacement and reset it to the same position as the origin position before replacement.

  As a first conventional technique for adjusting the origin position of the arm, for example, there is a reference position setting means described in Patent Document 1. The reference position setting means adjusts the origin position by rotating the robot forearm until the protrusion of the robot forearm contacts the positioning pin inserted in the robot upper arm.

  However, in the first conventional technique, although a dimensional tolerance is defined for the protrusion of the robot forearm, if the dimensional tolerance is large, the origin position of the robot forearm changes for each product, and the end is determined according to the program. The position to which the effector is moved is different for each product. In order to solve such a problem, it is conceivable to reduce the dimensional tolerance of the protrusion as much as possible. However, since the protrusion is formed integrally with the robot forearm, it is difficult to reduce only the dimensional tolerance of the protrusion. As a configuration for solving these problems, there is a tool formed separately from the base and the rotating part, which is brought into contact with or along the positioning pin, an example of which is the origin position adjusting mechanism of the second conventional technique, and This is an origin position adjusting mechanism 1 devised by the inventors.

  The origin position adjusting mechanism of the second conventional technique is an origin position adjusting mechanism described in Patent Document 2, for example, and includes a position adjusting plate provided on a rotating head that is a rotating portion, and a fixed base corresponding to a base portion. And a positioning member to be inserted. The adjustment of the origin position by the origin position adjustment mechanism is performed by rotating the rotary head and bringing the position adjustment plate closer to the positioning member until the clearance between the positioning member and the reference surface of the position adjustment plate reaches a predetermined value. The position where the gap becomes a predetermined value is set as the origin position.

  FIG. 12 is a perspective view showing the origin position adjusting mechanism 1 of the articulated manipulator 2. The origin position adjusting mechanism 1 devised by the inventors has a plurality of arm bodies 2a, 2b, 2c,... Arranged in series so that the adjacent arm bodies 2a, 2b, 2c,. It is used in the connected snake-shaped articulated manipulator 2. The origin position adjusting mechanism 1 includes a positioning pin 3 provided on the first arm body 2a and a position adjusting jig 4 attached to the second arm body 2b. The positioning pin 3 is inserted into the insertion hole 7 formed in the outer peripheral portion of the first arm body 2a, and is provided in parallel with the rotation axis of the first arm body 2a.

  FIG. 13 is a diagram showing a positional relationship between the positioning pin 3 and the position adjusting jig 4. The position adjustment jig 4 has a shape in which one corner of a rectangular parallelepiped block is cut out in a step shape, and a reference surface 4a is defined by a surface on which a stepped portion is erected. The position adjusting jig 4 is configured such that the origin position of the first arm body 2a is defined by the positioning pin 3 coming into contact with the reference surface 4a.

In the adjustment of the origin position using the origin position adjustment mechanism, the tip of the positioning pin 3 is first placed on the upper end portion of the position adjustment jig 4 (see the two-dot chain line in FIG. 13). Then, the first arm body 2a is rotated in the direction of the arrow A in FIG. 12 until the positioning pin 3 falls on the notched portion of the position adjusting jig 4. When the positioning pin 3 falls on the notch along the reference surface 4a, the origin position of the first arm body 2a is adjusted to a desired position.
JP-A-7-266266 No. 7-11903

  In the origin position adjusting mechanism of the second prior art, a positioning pin is inserted and fixed in the reference hole of the rotating head, and the positioning plate is fitted into the reference hole of the position adjusting plate. Attached to the rotating head. By tightly fitting, the position adjusting plate is positioned with high accuracy with respect to the rotating head, and the origin position of the rotating head can be set to a desired position. However, in order to closely fit the positioning pin to the reference hole of the position adjusting plate, it is required to form the reference hole and the positioning pin with high dimensional accuracy.

  FIG. 14 is a diagram illustrating a state when the position adjustment jig 4 is arranged to be inclined. In the origin position adjusting mechanism 1 devised by the inventors, when the position adjusting jig 4 is attached to the second arm body 2b, first, the positions of the two pin members 5a and 5b formed on the second arm body 2b are adjusted. It is inserted into the insertion hole of the jig 4 and positioned. Thereafter, the bolt 6 inserted into the position adjustment jig 4 is screwed to the second arm body 2b, whereby the position adjustment jig 4 is fastened and attached to the second arm body 2b.

  Also in this configuration, in order to prevent the position adjusting jig 4 from moving when the bolt 6 is tightened, the insertion hole of the position adjusting jig 4 and the two pin members 5a and 5b are formed with high dimensional accuracy and the insertion is performed. The pin members 5a and 5b must be tightly fitted in the holes. Otherwise, when the bolt 6 is tightened, the position adjusting jig 4 rotates with the bolt 6 and the position adjusting jig 4 is inclined toward the arrow B as shown in FIG. If tilted in this way, the origin position to be adjusted is shifted by Δx from the desired position (the one-dot difference line in FIG. 14).

  In order to set the origin position of the rotating portion to a desired position, it is necessary to position the position adjustment plate and the position adjustment jig 4 with high accuracy. And in order to position with high precision, it is required that each component is manufactured with high dimensional precision. Therefore, the production yield of each component is degraded, and as a result, the yield of the robot is degraded.

  Accordingly, an object of the present invention is to provide an origin position adjusting mechanism capable of adjusting the origin position of the rotating portion to a desired position even if the positioning accuracy with respect to the base of the origin position adjusting jig is lower than the conventional one, and a robot including the same Is to provide.

  The origin position adjusting mechanism of the present invention is an origin position adjusting mechanism for adjusting the origin position of the rotating unit in a robot in which the rotating unit rotates with respect to the base, and is attached to the base. An origin position adjustment jig having a reference surface for defining an origin position; and a positioning member provided on the rotating portion and defining the origin position along the reference plane, the origin position adjustment jig Is configured such that the origin position of the rotating portion defined by the positioning member and the reference surface does not change even if the relative displacement is made along the base portion.

  According to the present invention, even if the origin position adjusting jig is relatively displaced along the base and changes its posture, the origin position of the rotating part defined by the positioning member and the reference surface does not change. Therefore, when the origin position adjusting jig is attached to the base, the origin position of the rotating part can be adjusted to a desired position without being positioned exactly as in the prior art. That is, even if the positioning accuracy of the origin position adjusting jig with respect to the base is lower than that of the conventional one, the origin position of the rotating part can be adjusted to a desired position.

  In the above invention, it is preferable that the reference surface is a flat surface, and the origin position adjusting jig is configured such that the reference surface is on an extended surface even if the origin position adjusting jig is relatively displaced along the base. .

  According to the above configuration, even if the origin position adjusting jig is displaced along the base and the posture is changed, the reference surface which is a plane is on the extended surface. For this reason, even if the origin position adjusting jig is relatively displaced along the base and changes its posture, the distance from the positioning member does not change, and the origin position of the rotating part defined by the positioning member and the reference plane changes. Absent.

  In the above invention, the positioning member is inserted into an insertion hole formed in the rotating portion, the origin position adjusting jig is attached to an attachment surface formed in the base portion, and the reference surface is the attachment surface. It is preferable that it is comprised so that it may become parallel to the surface containing the rotation axis of the said rotation part, and the axis of the said insertion hole at the time of positioning.

  According to the above configuration, when the origin position adjusting jig is relatively displaced along the attachment surface, the reference surface moves in parallel with the center surface. Therefore, even if the origin position adjusting jig is relatively displaced along the mounting surface and the posture changes, the reference surface does not move around the rotation axis of the base. Further, since the reference plane is parallel to the center plane, even if the interval between the rotation shaft and the insertion hole is different for each product, the origin of the rotation section can be brought to the same position by bringing the positioning member along the reference plane. The position can be adjusted. Therefore, it is possible to reduce the dimensional accuracy of the interval between the insertion hole and the rotation shaft, and it is possible to reduce the locations that should be defined with high processing accuracy.

  In the above invention, it is preferable that the origin position adjusting jig is fastened and attached to the base portion by a screw member screwed perpendicularly to a mounting surface.

  According to the above configuration, when the screw portion is screwed and the origin position adjusting jig is fastened to the base portion, the origin position adjusting jig is rotated around the screw portion by the screw portion so that the posture with respect to the mounting surface of the base portion is changed. Even if it changes, a rotation part can be arrange | positioned in the same origin position irrespective of the space | interval of a positioning member and a reference axis by making a positioning member follow a reference plane. Accordingly, with respect to the origin position adjusting jig, high processing accuracy is not required for the member for preventing the rotation due to screwing of the threaded portion, and the number of members to be defined with high processing accuracy can be reduced.

  The robot of the present invention includes any of the above-described origin position adjustment mechanisms. According to the present invention, the yield can be improved over that of the prior art.

  According to the present invention, even if the positioning accuracy with respect to the base of the origin position adjusting jig is lower than the conventional one, the origin position of the rotating part can be adjusted to a desired position.

  FIG. 1 is a schematic view of an articulated manipulator 10 according to a first embodiment of the present invention. FIG. 2 is an enlarged perspective view showing a part of the articulated manipulator 10. FIG. 3 is an enlarged front view showing a part of the articulated manipulator 10. FIG. 4 is an enlarged right side view showing a part of the articulated manipulator 10. The articulated manipulator 10 is an industrial robot that changes the posture and shape and moves the end effector 11 attached to the free end portion 10a to a target position. The articulated manipulator 10 is configured so that handling, sealing, painting, arc welding, or the like can be performed by replacing the end effector 11 to be attached.

The articulated manipulator 10 includes a manipulator body 12, a base 13, and an origin position adjustment mechanism 30. The manipulator body 12 includes a plurality of arm bodies 14a, 14b, 14c, 14d,... 14x (hereinafter referred to simply as “arm body 14” when referring to any one arm body) in series. Yes. The adjacent arm bodies 14 are joint portions 15a, 15b, 15c, 15d,... 15x interposed therebetween (hereinafter, when any one indirect portion is referred to, it is also simply referred to as “joint portion 15”). It is connected by. The joint unit 15 includes a drive motor and a speed reducer (not shown). By driving the drive motor,
The arm body 14 is configured to rotate around the reference axis L <b> 1 with respect to the adjacent arm body 14.

  A base end portion 12 a of the manipulator body 12 is attached to a base 13 installed on the floor or the like via a base-side joint member 16. The base end portion 12 a of the manipulator body 12 rotates about the reference axis L <b> 2 with respect to the base 13 by driving a drive motor built in the base-side joint member 16. The end effector 11 is attached to the free end portion 12 b of the manipulator body 12 via an effector side joint member 17. The end effector 11 rotates around the reference axis L <b> 3 with respect to the free end 12 b of the manipulator body 12 by driving a drive motor built in the effector side joint member 17.

  The multi-joint manipulator 10 configured as described above changes the posture and shape by driving the drive motor of the joint portion 15 in accordance with a command from a controller (not shown) to rotate the arm bodies 14 arranged in various places. . The articulated manipulator 10 moves the end effector 11 to a target position by changing the posture and shape.

  In the manipulator body 12 of the present embodiment, the base end portion 12a is attached to the base 13, and the end effector is attached to the free end portion 12b. Therefore, the arms arranged on the base end portion 12a and free end portion 12b side, respectively. The shapes of the bodies 14a, 14x are different from the shapes of the arm bodies 14b, 14c, 14d. The arm bodies 14 described below are arm bodies 14b, 14c, and 14d. The arm bodies 14a and 14x have the same function as the arm body 14 although the shape is different. Therefore, the configuration of the arm bodies 14a and 14x refers to the arm body 14, and a description thereof is omitted.

  FIG. 5 is a front view of the arm body 14. FIG. 6 is an arrow view of the arm body 14 of FIG. FIG. 7 is an arrow view of the arm body 14 of FIG. The arm body 14 has two housing parts 21 and 22. The first housing portion 21 is generally formed in a bottomed cylindrical shape. A mounting portion 23 that protrudes outward in the radial direction is provided on the outer peripheral portion of the first housing portion 21. An insertion hole 24 having an axis L6 parallel to the axis L4 of the first housing portion 21 is formed through the mounting portion 23.

  In addition, the second casing portion 22 is integrally formed on the outer peripheral portion of the first casing portion 21 on the side opposite to the mounting portion 23 in the circumferential direction and on the bottom portion 21 a side of the first casing portion 21. Is formed. The second housing portion 22 is generally formed in a cylindrical shape, and is arranged such that its axis L5 is orthogonal to the axis L4 of the first housing portion 21. The second housing portion 22 is configured such that its inner hole communicates with the inner hole of the first housing portion 21. On the outer peripheral portion of the second housing portion 22, an arm side mounting portion 26 having a mounting surface 25 parallel to the center plane P <b> 1 including the axis L <b> 4 of the first housing portion 21 and the axis L <b> 6 of the insertion hole 24. Is formed. Further, the mounting surface 25 is formed on a tangential plane P2 at a position p1 on the outer peripheral surface of the first casing portion 21 and at a position p1 at an angle of 90 degrees clockwise from the mounting portion 23.

  Further, the first casing portion 21 is inclined at an angle θ1, 45 degrees in this embodiment, with respect to a virtual plane whose bottom 21a is perpendicular to the axis L4. The bottom portion 21a is inclined so as to increase from the side where the mounting portion 23 is provided toward the opposite side. By being configured in this manner, the arm body 14 has a C shape with both ends open.

  Hereinafter, description will be made with reference to FIGS. 2 to 4 again. The joint portion 15 is attached to the opening end portion 21 b of the arm body 14 configured as described above, and the opening end portion 22 a of the second housing portion 22 of the other arm body 14 is further connected via the joint portion 15. Is attached, and the two arm bodies 14 are connected. At this time, the two arm bodies 14 are arranged such that the axis L4 of one arm body 14 and the axis L5 of the other arm body 14 are on the same axis, specifically on the reference axis L1. Similarly, a plurality of arm bodies 14a, 14b, 14c, 14d,... 14x are connected via a plurality of joint portions 15a, 15b, 15c, 15d,. Is configured. The arm body 14 configured as described above is provided with an origin position adjusting mechanism 30 used when adjusting the origin position of the arm body 14.

  The origin position adjustment mechanism 30 includes a positioning pin 31 and a position adjustment jig 32. The positioning pin 31 has a rod-shaped pin portion 33 extending in a straight line and a handle portion 34 provided on the base end portion 33 a side of the pin portion 33. The pin portion 33 is configured to be insertable into the insertion hole 24 of the mounting portion 23, and is formed so that the distal end portion 33 b protrudes from the insertion hole 24. The pin portion 33 is formed so as not to rattle when inserted into the insertion hole 24.

  The position adjustment jig 32 is made of, for example, carbon steel or jurite, and has a jig side attachment part 35 and an origin position adjustment part 36 as shown in FIG. The jig side attachment portion 35 is an L-shaped flat plate, and both surfaces in the thickness direction are formed flat. At one end portion 35b of the jig-side mounting portion 35, an origin position adjusting portion 36 projects from one surface in the thickness direction. The origin position adjustment unit 36 is a strip-shaped flat plate extending in the thickness direction of the jig-side attachment unit 35. The free end surface 36a in the longitudinal direction of the origin position adjusting portion 36 is flat and parallel to one surface in the thickness direction of the jig-side attachment portion.

  The position adjusting jig 32 configured in this way is attached to the arm body 14, in this embodiment, the attachment portion 26 of the arm body 14c. As a specific attachment method, first, an end portion bent in an L shape from one end portion 35 b of the jig side attachment portion 35, that is, one surface in the thickness direction of the other end portion 35 a is matched with the attachment surface 25. Then, the two bolts 37 and 38 are inserted into the jig-side mounting portion 35 and the two bolts 37 and 38 are screwed to the arm-side mounting portion 26 to fasten the jig-side mounting portion 35 and the arm-side mounting portion 26. . Thereby, the position adjustment jig 32 is attached to the arm body 14c. The two bolts 37 and 38 are screwed to the mounting portion 26 so as to be perpendicular to the mounting surface 25 when fastened.

  As shown in FIGS. 2 to 4, the position adjusting jig 32 attached to the arm body 14c has a jig side attaching portion 35 arranged in parallel to the tangential plane P2 (see FIG. 3). The jig-side attachment portion 35 extends from the attachment surface 25 toward the opening end portion 21b of the first housing portion 21, and then bends at a right angle and extends toward the mounting portion 23 of the adjacent arm body 14d. The origin position adjusting unit 36 is disposed perpendicular to the tangential plane P2, and extends from one end 35b of the jig-side mounting unit 35 toward the mounting unit 23 of the adjacent arm body 14d. The origin position adjusting portion 36 extends to the vicinity of the mounting portion 23 of the adjacent arm body 14d.

  By arranging the position adjustment jig 32 in this way and causing the positioning pin 31 inserted into the insertion hole 24 of the adjacent arm body 14d to be along the free end surface 36a of the origin position adjustment section 36, the origin of the adjacent arm body 14d is obtained. A position is defined. Hereinafter, the free end surface 36 a may be referred to as a reference surface 39 of the position adjustment jig 32. Hereinafter, a method of adjusting the origin position of the arm body 14d will be described.

  FIG. 8 is a front view showing the arm body 14d when the origin position of the arm body 14d is adjusted. FIG. 8A shows the arm body 14d at the start of adjustment of the origin position, and FIG. 8B shows the arm body 14d adjusted to the origin position. Hereinafter, description will be made with reference to FIGS. First, in the multi-joint manipulator 10, an arm body 14c (hereinafter referred to as “reference arm body 14c”) connected to the open end 21b side of an arm body 14d (hereinafter also referred to as “adjustment arm body 14d”) for adjusting the origin position. The position adjusting jig 32 is attached to the other. 8A, the insertion hole 24 and the origin position adjustment unit 36 overlap when the insertion hole 24 of the adjustment arm body 14d is viewed from the opposite side of the position adjustment jig 32, that is, from above the insertion hole 24. The adjustment arm body 14d is rotated until the adjustment arm body 14d is rotated.

  Next, the positioning pin 31 is inserted into the insertion hole 24, and the distal end portion 33 b of the positioning pin 31 is placed on the origin position adjusting unit 36. In this state, the adjustment arm body 14d is rotated to the arrow E shown in FIG. 2 and FIG. That is, the position adjustment jig 32 is rotated toward the reference surface 39. Eventually, the distal end portion 33 b of the positioning pin 31 reaches the reference surface 39, the distal end portion 33 b of the positioning pin 31 falls from the origin position adjusting portion 36, and descends along the reference surface 39. As the tip 33b of the positioning pin 31 falls in this way, the positioning pin 31 comes into contact with the reference surface 39 as shown in FIG. 8B (see also FIG. 3). Thereby, the origin position of the adjustment arm body 14d is defined, and the adjustment of the origin position is completed. The lowering positioning pin 31 stops when the handle portion 34 gets on the mounting portion 23.

  FIG. 9 is a view showing a state in which the position adjustment jig 32 is displaced from the reference position, where (a) is a side view and (b) is a front view. The origin position adjusting mechanism 30 has a basic posture as indicated by a two-dot chain line in FIGS. 9A and 9B, that is, the surface on which the positioning pin 31 of the origin position adjusting unit 36 is placed is inserted into the adjusting arm body 14d. It is attached in a basic posture perpendicular to the axis L6 of the hole 24. However, depending on the dimensional accuracy of the holes into which the bolts 37 and 38 of the position adjustment jig 32 are inserted, the position adjustment jig 32 may be attached in a posture different from the basic posture. Specifically, due to the dimensional accuracy of the holes into which the bolts 37 and 38 of the position adjusting jig 32 are inserted, the bolts 37 and 38 are rotated clockwise around the axis of the bolts 37 and 38 along the mounting surface 25. It may tilt as shown by the solid lines in (a) and (b).

  Even if the position adjusting jig 32 is attached in an inclined manner, the attachment surface 25 is formed in parallel to the center surface, so that the reference surface 39 only moves on the extended surface as shown in FIG. 9B. Thus, the position of the reference surface 39 around the reference axis L1 does not change. For this reason, the origin position of the adjustment arm body 14d defined is not changed. Therefore, when the position adjustment jig 32 is attached to the reference arm body 14c, the origin position of the adjustment arm body 14d can be adjusted to a desired position without being positioned exactly as in the prior art. That is, even if the positioning accuracy of the position adjustment jig 32 with respect to the mounting portion 26 is lower than the conventional one, the origin position of the adjustment arm body 14d can be adjusted to a desired position. Thereby, the origin position of the multi-joint manipulator 10 can be quickly adjusted. In addition, it is possible to increase the dimensional tolerances such as the hole diameters of the holes to which the bolts 37 and 38 are screwed in the arm side mounting portion 26 and the distance between them, thereby improving the yield of the arm body 14, and as a result, the multi-joint manipulator The yield at the time of manufacture of 10 can be improved.

  Even if the position of the position adjusting jig 32 changes, the position of the reference surface 39 around the reference axis L1 does not change, and the reference surface 39 is parallel to the center plane P1. Therefore, if the distance L1 between the center plane P1 and the tangential plane P2 is high in dimensional accuracy, the relative position in the radial direction of the first housing portion 21 of the axis L6 of the insertion hole 24 with respect to the reference axis L1 varies from product to product. Even if the positioning pin 31 is moved along the reference plane 39, the origin position of the adjusting arm body 14d is adjusted to the same position. Therefore, it is possible to reduce the dimensional accuracy of the distance ΔL2 between the insertion hole 24 and the reference axis L1, and it is possible to reduce locations that should be defined with high processing accuracy. Thereby, the yield of the robot can be improved.

  FIG. 10 is a diagram showing an origin position adjusting mechanism 30A according to the second embodiment of the present invention. The origin position adjusting mechanism 30A according to the second embodiment of the present invention is similar in configuration to the origin position adjusting mechanism 30 according to the first embodiment. Therefore, the configuration of the origin position adjustment mechanism 30 according to the second embodiment will be described only with respect to the difference from the configuration of the origin position adjustment mechanism 30 according to the first embodiment, and the same configuration is denoted by the same reference numeral. The description is omitted. The same applies to a third embodiment described later. 10 is an arrow view of the arm body 14A viewed in the direction of the arrow C in FIG. 4 as in FIG.

  The arm body 14A of the articulated manipulator 10 is configured such that the mounting surface 25A of the arm-side mounting portion 26A is parallel to the reference axis L1 and is inclined at an angle θ2 with respect to the center plane P1 (or tangential plane P2). Yes. Further, the position adjustment jig 32A of the origin position adjustment mechanism 30A has an angle (π) with respect to one surface in the thickness direction of the end surface 35c of the other end portion 35a of the jig-side attachment portion 35A (hereinafter also simply referred to as “other end surface”). −θ2) is inclined, and further, the reference surface 39A is inclined so as to be parallel to the other end surface 35c. The position adjusting jig 32A is attached by two bolts 37 and 38 with the other end face 35c facing the attachment face 25.

  In the origin position adjusting mechanism 30A configured as described above, since the reference surface 39A is configured in parallel with the other end surface 35c, it is also parallel to the mounting surface 25A, and the mounting surface 25A is parallel to the reference axis L1. is there. Therefore, even when the position adjustment jig 32A is rotated clockwise along the mounting surface 25 to change the posture when fastened with the bolts 37 and 38, the reference surface 39A does not change as shown by the two-dot chain line in FIG. On the extended surface. Therefore, even if the position of the position adjustment jig 32 changes, the reference surface 39A only slides on the extended surface, and the distance between the reference surface 39A and the positioning pin 31 does not change, and the origin of the adjustment arm body 14d. The position does not change.

  However, in the origin position adjusting mechanism 30A of the second embodiment, since the reference plane 39A is inclined with respect to the center plane P1, if the distance ΔL2 between the insertion hole 24 and the reference axis L1 changes, the adjustment arm body 14d The origin position changes. Therefore, in the multi-joint manipulator 10 of the second embodiment, it is necessary to define the ΔL2 with high dimensional accuracy. In that respect, the origin position adjusting mechanism 30A of the first embodiment is superior.

  However, the origin position adjusting mechanism 30A of the second embodiment does not need to form the attachment surface 25 on the tangential plane P2 or in parallel with the origin position adjusting mechanism 30 of the first embodiment. Therefore, the processing accuracy of the arm body 14A can be made lower than the arm body 14 of the first embodiment, and the yield is improved.

  FIG. 11 is a front view showing an origin position adjusting mechanism 30B according to the third embodiment. In the arm body 14B of the multi-joint manipulator 10, a groove-like arm-side attachment portion 26B extending in parallel with the axis L5 is formed on the outer peripheral portion of the second housing portion 22. The arm-side attachment portion 26B is opened at the open end 22a of the second casing portion 22, and the attachment surface 25B is configured by the bottom surface thereof. The mounting surface 25B is formed parallel to the tangential plane P2.

  In the position adjustment jig 32B of the origin position adjustment mechanism 30B, one surface portion in the thickness direction of the other end 35a of the L-shaped jig side attachment part 35B is attached to the arm side attachment part 26, and the arm side attachment part 26 extends. It extends to. An origin position adjusting unit 36 is integrally provided at one end which is an end portion bent in an L shape.

  Thus, even if the arm side attaching part 26 is formed in a groove shape, the same operational effects as those of the first embodiment can be obtained.

  In the first to third embodiments, the case where the present invention is applied to an articulated manipulator is described. However, the present invention may be applied to a multi-axis robot such as a six-axis robot, and is configured to be rotatable with respect to a base. The present invention can be applied to an industrial robot that needs to adjust the origin position of the rotating unit.

  In the first to third embodiments, the positioning pin 31 and the reference surface 39 are in contact with each other. However, the positioning pin 31 and the reference surface 39 are not necessarily in contact with each other. It may be the origin position.

It is the schematic of the articulated manipulator of 1st Embodiment of this invention. It is a perspective view which expands and shows a part of articulated manipulator. It is a front view which expands and shows a part of articulated manipulator. It is a right view which expands and shows a part of articulated manipulator. It is a front view of an arm body. FIG. 6 is an arrow view of the arm body of FIG. 5 viewed from the direction of an arrow C. FIG. 6 is an arrow view of the arm body of FIG. 5 viewed from the direction of an arrow D. It is a front view which shows the arm body at the time of adjusting the origin position of an arm body. It is a figure which shows the state which the position adjustment jig shifted | deviated from the reference position. It is a figure which shows the origin position adjustment mechanism of 2nd Embodiment of this invention. It is a front view which shows the origin position adjustment mechanism of 3rd Embodiment. It is a perspective view which shows the origin position adjustment mechanism 1 of an articulated manipulator. It is a figure which shows the positional relationship of a positioning pin and a position adjustment jig. It is a figure which shows a state when a position adjustment jig is arrange | positioned inclined.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Articulated manipulator 14, 14A, 14B Arm body 23 Mounting part 24 Insertion hole 25, 25A, 25B Mounting surface 26, 26A, 26B Mounting part 30, 30A, 30B Origin position adjustment mechanism 31 Positioning pin 32, 32A, 32B Position adjustment Jig 37,38 Bolt 39,39A Reference plane

Claims (5)

In a robot in which a rotating unit rotates with respect to a base, an origin position adjusting mechanism for adjusting an origin position of the rotating unit,
An origin position adjusting jig attached to the base and having a reference surface for defining the origin position;
A positioning member that is provided in the rotating part and defines the origin position by being along the reference plane;
The origin position adjusting jig is configured so that the origin position of the rotating portion defined by the positioning member and the reference surface does not change even when the relative displacement is performed along the base portion. Origin position adjustment mechanism. The reference plane is a plane;
2. The origin position adjusting mechanism according to claim 1, wherein the origin position adjusting jig is configured such that the reference surface is on an extended surface even if the origin position adjusting jig is relatively displaced along the base portion. The positioning member is inserted into an insertion hole formed in the rotating part,
The origin position adjustment jig is attached to an attachment surface formed on the base,
The reference surface is parallel to the mounting surface, and is configured to be parallel to a surface including a rotation axis of the rotation unit and an axis of the insertion hole when positioning. The origin position adjusting mechanism according to claim 2.   4. The origin position adjusting mechanism according to claim 3, wherein the origin position adjusting jig is fastened and attached to the base by a screw member that is screwed perpendicularly to a mounting surface.   A robot comprising the origin position adjusting mechanism according to any one of claims 1 to 4.

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