JP2019038050A - robot - Google Patents

Abstract

To provide a robot capable of inserting piping and/or wiring with a large caliber in a link while downsizing the robot.SOLUTION: A first axis A1, a second axis A2, and a third axis A3 are disposed so as to be orthogonal to each other. A first link 11a is configured to rotate about the first axis 1A with respect to a second link 11b, the second link 11b is configured to rock about the second axis A2 with respect to a third link 11c, and the third link 11c is configured to rock about the third axis A3 with respect to a fourth link 11d. The first link 11a is formed in a cylindrical shape, and a first joint JT1 is configured to have a hollow portion. At an end portion of the first link 11a, piping and/or wiring is arranged so as to penetrate an inner space of the first link 11a and the hollow portion of the first joint JT1. The piping and/or wiring are disposed so as to intersect an axial center of the second axis A2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot.

  A robot is known in which the rotation center of an actuator is hollow and a linear body is inserted through the hollow portion (see, for example, Patent Document 1). In the robot disclosed in Patent Document 1, a hollow hole is opened at the rotation center of the servo motor and the speed reducer that drives each joint axis of the robot, and a linear body (for example, an actuator or an end effector for the end effector) is opened in the hollow hole. Power lines, signal lines, paint pipes, etc.) are provided. Further, a linear body is disposed in the arm body to which each joint shaft is connected so as to connect each actuator.

WO2007 / 037130

  However, in the robot disclosed in Patent Document 1, since the rotation center of the actuator arranged on each joint axis is hollow, the hollow diameter (opening area) depends on the size of the actuator. Further, in order to arrange the striatum in the arm body to which each joint shaft is connected, it is necessary to arrange the striatum while avoiding the actuator.

  For this reason, when a small actuator is used in order to reduce the size of the robot, the hollow diameter of the actuator is reduced, and the diameter of the pipe passing through the hollow is also reduced. When the diameter of the pipe is reduced, there is a first problem that the flow path resistance is increased.

  On the other hand, when the hollow diameter is increased in order to increase the diameter of the pipe, there is a second problem that the size of the actuator and the arm body increases and the size of the entire robot increases.

  SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described conventional problems, and to provide a robot capable of inserting a pipe and / or wiring having a large diameter into a link while reducing the size of the robot.

  In order to solve the above-described conventional problems, the robot according to the present invention includes a first axis, a second axis, and a third axis that are orthogonal to each other, and the third axis is perpendicular to the extending direction of the fourth link. The first link rotates about the first axis with respect to the second link, and the second link swings about the second axis with respect to the third link. The third link is configured to swing about the third axis with respect to the fourth link, and an actuator for rotationally driving the first link about the first axis is the fourth link or The first link is formed in a cylindrical shape, has an end effector attached to one end thereof, and the first joint has a hollow portion. The other end of the first link has an internal space of the first link. And pipes and / or wires are arranged so as to pass through the hollow portion of the first joint, and the pipes and / or wires are arranged so as to intersect with the axis of the second axis. Yes.

  Thereby, it is not necessary to arrange piping and / or wiring in the first link while avoiding the actuator. Therefore, it is possible to increase the diameter of the pipe and / or the wiring that passes through the inner space of the first link without increasing the size of the first link.

  According to the robot of the present invention, piping and / or wiring having a large diameter can be inserted into the link while reducing the size of the robot.

FIG. 1 is a side view showing a schematic configuration of the robot according to the first embodiment. FIG. 2 is a side view showing a schematic configuration of the tip of the robot shown in FIG. FIG. 3 is a front view showing a schematic configuration of the tip of the robot shown in FIG. FIG. 4 is a side view showing a schematic configuration of the tip portion of the robot according to the first modification example in the first embodiment. FIG. 5 is a front view showing a schematic configuration of the tip of the robot according to the first modification of the first embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same or corresponding parts are denoted by the same reference numerals, and redundant description is omitted. Moreover, in all drawings, the component for demonstrating this invention is extracted and shown in figure, and illustration may be abbreviate | omitted about another component. Furthermore, the present invention is not limited to the following embodiment.

(Embodiment 1)
The robot according to the first embodiment is arranged such that the first axis, the second axis, and the third axis are orthogonal to each other, and the third axis is orthogonal to the extending direction of the fourth link. The first link rotates about the first axis relative to the second link, the second link swings about the second axis relative to the third link, and the third link moves relative to the fourth link. The actuator is configured to swing around the third axis, and an actuator for rotationally driving the first link around the first axis is disposed on the fourth link or the fifth link, and the first link is cylindrical. An end effector is attached to one end, the first joint is configured to have a hollow portion, and the other end of the first link is connected to the interior of the first link. Piping and / or wiring is arranged so as to pass through the space and the hollow portion of the first joint. Piping and / or wiring is arranged so as to intersect the axis of the second shaft.

  In the robot according to the first embodiment, a hypoid gear or a bevel gear may be disposed in the hollow portion of the first joint.

  Furthermore, in the robot according to the first embodiment, the end effector may be configured by a spray gun that sprays paint.

  Hereinafter, an example of the robot according to the first embodiment will be described with reference to FIGS.

[Robot configuration]
FIG. 1 is a side view showing a schematic configuration of the robot according to the first embodiment.

  In FIG. 1, the vertical direction and the front-rear direction of the robot are represented as the vertical direction and the front-rear direction in the figure.

  As shown in FIG. 1, the robot 100 according to the first embodiment includes a connecting body of a plurality of links (here, the first link 11a to the sixth link 11f) and a plurality of joints (here, the first joint). JT1 to 6th joint JT6), a base 15 that supports these, and a control device 5 are articulated robot arms. The first link 11a to the sixth link 11f are each formed in a cylindrical shape.

  A control device 5 is arranged in the base 15. In the first embodiment, the control device 5 is arranged in the base 15, but is not limited to this. The control device 5 may adopt a form arranged in one of the links, may adopt a form arranged in the work space, or adopt a form arranged outside the work space. May be.

  In the sixth joint JT6, the base 15 and the base end portion of the sixth link 11f are coupled to be rotatable about a sixth axis A6 extending in the vertical direction. In the fifth joint JT5, the distal end portion of the sixth link 11f and the proximal end portion of the fifth link 11e are coupled so as to be rotatable around a fifth axis A5 extending in the horizontal direction. In the fourth joint JT4, the distal end portion of the fifth link 11e and the proximal end portion of the fourth link 11d are coupled so as to be rotatable around a fourth axis A4 extending in the horizontal direction.

  That is, at the base end portion of the robot 100, the fourth joint JT4 to the sixth joint JT6 and the fourth link 11d to the sixth link 11f are arranged so as to have an inverted L shape. In the fourth joint JT4 and the fifth joint JT5, the fourth link 11d to the sixth link 11f are arranged so that the fourth axis A4 and the fifth axis A5 are parallel to each other.

  In the third joint JT3, the distal end portion of the fourth link 11d and the proximal end portion of the third link 11c are coupled so as to be rotatable around a third axis A3 extending in the horizontal direction. In the second joint JT2, the distal end portion of the third link 11c and the proximal end portion of the second link 11b are coupled so as to be rotatable around the second axis A2 extending in the vertical direction. In the first joint JT1, the distal end portion of the second link 11b and the proximal end portion of the first link 11a are coupled to be rotatable around a first axis A1 extending in the horizontal direction.

  That is, at the tip of the robot 100, the first axis A1, the second axis A2, and the third axis A3 are arranged so as to be orthogonal to each other. The detailed structure of the tip of the robot 100 will be described later.

  Then, the control device 5 includes the first joints JT1 to JT1 so that the axes of the first axis A1 and the third axis A3 are positioned in the horizontal direction and the axis of the second axis A2 is positioned in the vertical direction. Each drive motor that rotates the third joint JT3 is controlled.

  Specifically, as shown in FIG. 1, the control device 5 has the axis of the first axis A1 positioned in the front-rear direction of the robot 100 and the axis of the second axis A2 positioned in the vertical direction of the robot 100. The drive motors are controlled so that the axis of the third axis A3 is positioned in the left-right direction. The state in which the robot 100 is controlled in this way by the control device 5 is referred to as a first state.

  A mechanical interface is provided at the tip (one end) of the first link 11a. An end effector 12 corresponding to the work content is detachably attached to the mechanical interface.

  In the first embodiment, the end effector 12 is composed of a spray gun for spraying paint. A tube 13 is connected to the spray gun. In the paint tube 13, piping for supplying paint to the spray gun, wiring for the spray gun, signal lines and the like are arranged (see FIG. 2).

  Further, each of the first joint JT1 to the sixth joint JT6 is connected to a drive motor (not shown) as an example of an actuator that relatively rotates two members connected to each joint. The drive motor may be, for example, a servo motor that is servo-controlled by the control device 5. Further, a rotation sensor that detects the rotational position of the drive motor and a current sensor that detects a current for controlling the rotation of the drive motor are provided in the vicinity of each drive motor (each not shown). The rotation sensor may be an encoder, for example.

  In the first embodiment, the robot 100 has an explosion-proof structure. For example, each drive motor that rotates the first joint JT1 to the third joint JT3 is disposed in the fourth link 11d. Further, for example, each drive motor that rotates the first joint JT1 to the third joint JT3 is arranged at the fourth joint JT4 (the base end portion of the fourth link 11d) of the fourth link 11d or the distal end portion of the fifth link 11e. May be. Further, for example, each drive motor that rotates the first joint JT1 to the third joint JT3 includes a fourth joint JT4 of the fourth link 11d (a base end portion of the fourth link 11d) and a distal end portion of the fifth link 11e. , May be arranged so as to straddle.

  The control device 5 controls the operation of the robot 100. The control device 5 includes, for example, a calculation unit (not shown) including a microcontroller, MPU, PLC (Programmable Logic Controller), logic circuit, and the like, and a storage unit (not shown) including a ROM or a RAM. Has been. Note that the control device 5 is not limited to a configuration configured with a single control device, but may be configured with a control device group in which a plurality of control devices cooperate to execute control of the robot 100. Absent.

  Next, the structure of the tip of the robot 100 will be described in detail with reference to FIGS.

  FIG. 2 is a side view showing a schematic configuration of the tip of the robot shown in FIG. FIG. 3 is a front view showing a schematic configuration of the tip of the robot shown in FIG. In FIG. 2, the vertical direction and the front-rear direction of the robot are represented as the vertical direction and the front-rear direction in the figure. In FIG. 3, the front-rear direction and the left-right direction of the robot are represented as the front-rear direction and the left-right direction in the figure. Furthermore, in FIG.2 and FIG.3, a part of robot is shown by a cross section, and description of the end effector is abbreviate | omitted in FIG.

  As shown in FIGS. 1 to 3, shafts S4, S5a, and S6a are inserted into the fourth link 11d. The shafts S4, S5a, and S6a are each connected at their base ends directly to the output shaft of the drive motor for rotating the first joint JT1 to the third joint JT3, or indirectly by appropriate means. Has been.

  The distal end portion of the shaft S4 is connected to the third joint JT3 via appropriate means such as a bearing. Thereby, the rotation of the drive motor is transmitted to the third joint JT3 via the shaft S4, and the third joint JT3 can rotate (swing) around the third axis A3. That is, the third link 11c can swing around the third axis A3 with respect to the fourth link 11d.

  A bevel gear 50a is fitted to the tip of the shaft S5a. The bevel gear 50a meshes with the bevel gear 50b. The bevel gear 50b is fitted to the proximal end portion of the shaft S5b. The shaft S5b is disposed in a direction orthogonal to the shaft S5a, and the tip thereof is connected to the second joint JT2 via appropriate means such as a bearing.

  Accordingly, the rotation of the drive motor is transmitted to the second joint JT2 via the shaft S5a, the bevel gear 50a, the bevel gear 50b, and the shaft S5b, and the second joint JT2 rotates (oscillates) about the second axis A2. )can do. That is, the second link 11b can swing around the second axis A2 with respect to the third link 11c.

  A bevel gear 60a is fitted to the tip of the shaft S6a. The bevel gear 60a meshes with the bevel gear 60b. The bevel gear 60b is fitted to the proximal end portion of the shaft S6b. The shaft S6b is disposed in a direction orthogonal to the shaft S6a, and a disc-shaped gear 61a is fitted to the tip portion thereof. The gear 61a meshes with the disc-shaped gear 61b. The gear 61b is fitted to the base end portion of the input hypoid gear 62a. The input hypoid gear 62a meshes with the output hypoid gear 62b. The output hypoid gear 62b is connected to the first joint JT1 via appropriate means such as a bearing. Further, a hollow portion 65 is formed in the first joint JT1 by the internal space of the output hypoid gear 62b.

  Thereby, the rotation of the drive motor is transmitted to the first joint JT1 via the shaft S6a, the bevel gear 60a, the bevel gear 60b, the shaft S6b, the gears 61a and 61b, the input hypoid gear 62a, and the output hypoid gear 62b. The joint JT1 can rotate around the first axis A1. That is, the first link 11a can rotate around the first axis A1 with respect to the second link 11b.

  Moreover, the tube 13 is arrange | positioned at the base end part (other end part) of the 1st link 11a so that the internal space of the said 1st link 11a and the hollow part 65 of 1st joint JT1 may be penetrated. . The tube 13 is disposed so as to intersect the axis of the second axis A2.

  In the robot 100 according to the first embodiment configured as described above, the first axis A1, the second axis A2, and the third axis A3 are arranged so as to be orthogonal to each other, and the third axis A3 is arranged so as to be orthogonal to the extending direction of the fourth link 11d.

  Thereby, the position coordinate of the tip of the end effector 12 (first link 11a) is input to the control device 5 in the state where the tip of the end effector 12 (first link 11a) faces forward (first state). Thus, the occurrence of a singular point is suppressed when the control device 5 calculates (inversely converts) the rotation angle of the drive motor that rotates each joint axis based on the input position coordinates. .

  In the robot 100 according to the first embodiment, the tube 13 is arranged so that the inner space of the first link 11a and the hollow portion 65 of the first joint JT1 are inserted into the proximal end portion of the first link 11a. The tube 13 is disposed so as to intersect with the axis of the second axis A2.

  Thereby, the tube 13 can be arrange | positioned in the space of the back side of 1st joint JT1. For this reason, contact (interference) with each link and / or each joint axis | shaft and the tube 13 is suppressed, and the robot 100 can change an attitude | position freely.

  In the robot 100 according to the first embodiment, the output hypoid gear 62b is disposed at the first joint JT1. Accordingly, the diameter of the hollow portion 65 of the first joint JT1 can be increased without increasing the diameter of the first joint JT1.

  Furthermore, in the robot 100 according to the first embodiment, each drive motor that rotates the first joint JT1 to the third joint JT3 is arranged in the fourth link 11d.

  Thereby, it is not necessary to arrange | position the tube 13 in the 1st link 11a so that an actuator may be avoided. For this reason, compared with the robot currently disclosed by patent document 1, the aperture of the tube 13 which penetrates the internal space of the 1st link 11a can be enlarged, without enlarging the 1st link 11a. That is, in the robot 100 according to the first embodiment, the tube 13 having a large diameter can be inserted into the first link 11a while reducing the size of the robot.

  In addition, although the robot 100 according to the first embodiment employs a configuration including a robot having six axes of freedom, the present invention is not limited to this. The robot 100 according to the first embodiment is only required that the first axis A1, the second axis A2, and the third axis A3 are orthogonal to each other, and the third axis A3 is orthogonal to the fourth link 11d. For example, a form constituted by a robot having four degrees of freedom may be adopted, or a form constituted by a robot having seven degrees of freedom may be adopted.

  In the robot 100 according to the first embodiment, the end effector 12 uses a spray gun that sprays paint. However, the present invention is not limited to this.

  For example, the end effector 12 may be configured to use a transport hand that is driven by air or hydraulic pressure and holds (grips) or transports the workpiece. In this case, the tube 13 is connected to the transport hand so as to pass through the internal space of the first link 11a and the hollow portion 65 of the first joint JT1. In the tube 13, a large-diameter pipe through which air or oil flows, wiring for the transfer hand, signal lines, and the like are arranged.

  Further, as the end effector 12, for example, a form using a cleaning tool configured to suck and remove the cleaned dust while rotating the brush and performing cleaning, deburring, etc. May be adopted. In this case, the tube 13 is connected to the cleaning tool so as to pass through the internal space of the first link 11a and the hollow portion 65 of the first joint JT1. Further, in the tube 13, piping having a large diameter for suction, wiring for the cleaning tool, signal lines, and the like are arranged.

[Modification 1]
Next, a modified example of the robot 100 according to the first embodiment will be described with reference to FIGS.

  FIG. 4 is a side view showing a schematic configuration of the tip portion of the robot according to the first modification example in the first embodiment. FIG. 5 is a front view showing a schematic configuration of the tip of the robot according to the first modification of the first embodiment. In FIG. 4, the vertical direction and the front-rear direction in the robot are represented as the vertical direction and the front-rear direction in the figure. In FIG. 5, the front-rear direction and the left-right direction of the robot are represented as the front-rear direction and the left-right direction in the figure. Furthermore, in FIG.4 and FIG.5, a part of robot is shown with a cross section, and description of the end effector is abbreviate | omitted in FIG.

  As shown in FIGS. 4 and 5, the robot 100 according to the first modification of the first embodiment has the same basic configuration as the robot 100 according to the first embodiment, but the input hypoid gear 62a and the output hypoid gear 62b are different. Instead, an input bevel gear 63a and an output bevel gear 63b are provided. By using the input bevel gear 63a instead of the input hypoid gear 62a, the input bevel gear 63a is directly fitted to the shaft S6b.

  Even the robot 100 according to the first modification configured as described above has the same effects as the robot 100 according to the first embodiment.

  From the foregoing description, many modifications or other embodiments of the present invention are obvious to one skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

  According to the robot of the present invention, piping and / or wiring with a large diameter can be inserted into the link while reducing the size of the robot, which is useful in the field of robots.

5 control device 11a 1st link 11b 2nd link 11c 3rd link 11d 4th link 11e 5th link 11f 6th link 12 End effector 13 Tube 15 Base 50a Bevel gear 50b Bevel gear 60a Bevel gear 60b Bevel gear 61a Gear 61b Gear 62a Input hypoid gear 62b Output hypoid gear 63a Input bevel gear 63b Output bevel gear 65 Hollow part 100 Robot A1 1st axis A2 2nd axis A3 3rd axis A4 4th axis A5 5th axis A6 6th axis JT1 1st joint JT2 2nd joint JT3 3rd joint JT4 4th joint JT6 6th joint S4 shaft S5b shaft S6a shaft S6b shaft

Claims (3)

The first axis, the second axis, and the third axis are orthogonal to each other, and the third axis is arranged to be orthogonal to the extending direction of the fourth link;
The first link rotates about the first axis with respect to the second link, the second link swings about the second axis with respect to the third link, and the third link becomes the fourth link. And configured to swing around the third axis,
An actuator for rotationally driving the first link around the first axis is disposed on the fourth link or the fifth link;
The first link is formed in a cylindrical shape, and an end effector is attached to one end,
The first joint is configured to have a hollow portion,
On the other end of the first link, piping and / or wiring is disposed so as to pass through the internal space of the first link and the hollow portion of the first joint,
The robot, wherein the pipe and / or the wiring are arranged so as to intersect with an axis of the second axis.   The robot according to claim 1, wherein a hypoid gear or a bevel gear is disposed in the hollow portion of the first joint. The robot according to claim 1, wherein the end effector includes a spray gun that sprays paint.

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