JP6898484B2 - Robots and methods - Google Patents

Description

The present invention relates to robots and methods.

Conventionally, the forearm can be exchanged for a different length, and the operating range can be changed when the working position of the robot is concentrated at a short distance or a long distance with respect to the robot installation position. Robots that can do this are known (see, for example, Patent Document 1).
The robot of Patent Document 1 has a structure in which a plurality of concentric hollow pipes each having gear portions for transmitting a driving force from a motor can be detachably separated from the gear portions at both ends, and the hollow pipe is provided. The length of the forearm can be changed by exchanging with a different length.

Japanese Unexamined Patent Publication No. 61-30396

However, the robot of Patent Document 1 transmits power between the wrist portion arranged at the tip of the forearm and the gear portion arranged on the proximal end side of the forearm in order to change the length of the forearm. As hollow tubes for three axes, a plurality of hollow tubes having different lengths must be prepared. In addition, in order to accurately assemble with the gears at both ends so that the core does not shift when replacing the hollow pipes for three axes, an accurately configured attachment / detachment structure is required and the assembly work takes time. Therefore, there is an inconvenience that the cost is high.

The present invention has been made in view of the above circumstances, and the number of parts is reduced, the assembly work is facilitated, and the operating range and the operating range are low at low cost without disassembling or replacing the drive mechanism components. It is an object of the present invention to provide a robot and a method in which the arm form can be easily changed.

In order to achieve the above object, the present invention provides the following means.
In one aspect of the present invention, a first shaft unit for driving a second member relative to a first member by a first motor and a fourth member having a longitudinal axis with respect to a third member are relatively driven by a second motor. A fixing member that is detachably provided between the second member and the third member and integrally fixes the second member and the third member is provided, and the fixing is provided. The members can be fixed to at least one of the second member and the third member at different positions in the longitudinal axis direction or in a direction substantially orthogonal to the longitudinal axis, and the second member and the third member can be fixed. Provided is a robot capable of changing the size of the operating range of the wrist portion by changing the fixed position with respect to at least one of the above.

According to this aspect, by attaching the third member of the second shaft unit to the second member of the first shaft unit by a fixing member, the second member and the third member with respect to the first member are operated by the operation of the first motor. A robot that drives the members relative to each other and drives the fourth member relative to the second member and the third member by the operation of the second motor is configured. In this case, since the fixing member is detachably provided between the second member and the third member, the operating range of the robot can be easily changed by replacing the fixing member with a fixing member having a different length. it can.

That is, the operating range is changed by simply shifting the position with respect to the first shaft unit by using the second shaft unit as it is without disassembling the second shaft unit that drives the fourth member relative to the third member by the second motor. The number of parts can be reduced, the assembly work can be facilitated, and the operating range can be changed at low cost. Further, since the fixing member is provided so as to be able to be fixed at at least one of the second member and the third member at different positions, the fixing member is also standardized to further reduce the number of parts and reduce the cost. Can be achieved.

Further, in the above aspect, a relay member that relays the two members may be provided between the second member and the fixing member, and at least one of the third member and the fixing member.
By doing so, it is possible to more easily perform the work of attaching and detaching the fixing member in the relay member.

Further, in the above aspect, in the first shaft unit, the second member is rotationally driven with respect to the first member, and in the second shaft unit, the fourth member is rotated with respect to the third member. It may be driven.
By doing so, it is possible to provide a two-axis drive unit relatively easily.

Further, in the above aspect, at least one of the first axis unit and the second axis unit may be linearly driven.
By doing so, a part of the robot can be operated linearly.

Further, in the above aspect, the rotation axis of the fourth member with respect to the third member may extend in a plane substantially orthogonal to the rotation axis of the second member with respect to the first member.
By doing so, it can be applied to a robot in which two adjacent axes are substantially orthogonal axes.

Further, in the above aspect, the fixing member is integrally provided on one of the second member or the third member, and can be fixed at a different position with respect to the other of the second member or the third member. It may be provided.
By doing so, it is possible to further reduce the number of parts and reduce the cost by integrating one of the second member or the third member with the fixing member.

Further, in the above aspect, the fixing member may be provided so that both can be fixed only on both sides of the second member and the third member.
By doing so, the third member can be fixed to the second member with a double-sided structure, and the rigidity can be improved.

Further, in the above aspect, the fixing member may be made of a flat plate member.
By doing so, a fixing member made of a flat plate member can be manufactured easily and at low cost, and the first axis unit and the second axis unit can be connected in various ways by inverting the front and back sides. Can be done.

Further, in the above aspect, at least a part of the fixing member is a plurality of beam members that reinforce between the second member and the third member, and at least one reinforcing member that reinforces each of the beam members. It may be composed of an aggregate.
By doing so, it is possible to obtain a lightweight and strong fixing member.

Further, in the above aspect, the beam member or the aggregate of the reinforcing members may be bolted.
By doing so, it is possible to change to a fixed member having a different offset amount by exchanging only a part of the beam member and the reinforcing member according to the intended use of the robot.

Further, in the above aspect, the second shaft unit rotationally drives the fifth member with respect to the fourth member, and the fourth motor rotationally drives the sixth member with respect to the fifth member. The wrist portion may be composed of the fourth member, the fifth member, and the sixth member.

By doing so, the second shaft unit including the fourth member, the fifth member and the sixth member constituting the wrist portion and the second motor, the third motor and the fourth motor for driving them is not disassembled. The operating range can be changed simply by shifting, and the number of parts can be reduced, the time required for assembly work can be reduced, and the cost can be reduced.

In another aspect of the present invention, a first shaft unit for driving the second member relative to the first member by the first motor and a second shaft unit for driving the fourth member relative to the third member by the second motor. The operating range of a robot provided with a shaft unit and a fixing member detachably provided between the second member and the third member and integrally fixing the second member and the third member is changed. This is a method of changing the size of the operating range of the wrist portion by changing the fixing position of the fixing member with respect to at least one of the second member and the third member.
In another aspect of the present invention, a first shaft unit for driving the second member relative to the first member by the first motor and a second shaft unit for driving the fourth member relative to the third member by the second motor. The operating range of a robot provided with a shaft unit and a fixing member detachably provided between the second member and the third member and integrally fixing the second member and the third member is changed. A method of changing the size of the operating range of the wrist portion by exchanging the fixing member for fixing the second member and the third member with another fixing member having a different length. Is.

According to the present invention, the number of parts can be reduced, the assembly work can be facilitated, and the operating range can be changed at low cost.

It is a schematic side view which shows the whole structure of the robot (short arm) which concerns on one Embodiment of this invention. It is a schematic side view which shows the whole structure of the robot (long arm) of FIG. FIG. 5 is a schematic side view showing an axis configuration in which the first axis unit of the robot of FIG. 1 is shifted in the up-down direction. It is a partial side view of the robot of FIG. It is a perspective view of the 2nd axis unit of the robot of FIG. 1 seen from diagonally below. It is an exploded perspective view which shows the state which removed the bolt which attaches the fixing member of FIG. It is a perspective view of the 2nd axis unit of the robot of FIG. 2 seen from diagonally below. It is a partial side view of the robot of FIG. It is a partial perspective view of the robot of FIG. 1 seen from diagonally above. It is a perspective view which shows the robot which attached the 2nd axis unit with the upper limit inverted with respect to the robot of FIG. (It is also a partial perspective view of the second axis unit of the robot shown in FIG. 3 as viewed from diagonally above.) It is a partial side view which shows the modification of the robot of FIG. It is a partial side view which shows the modification of the robot of FIG. It is a partial perspective view explaining the effect of the robot of FIG. It is a partial side view explaining the effect of FIG. It is a partial perspective view which shows the other modification of the robot of FIG. It is a partial side view which shows the other modification of the robot of FIG. FIG. 16 is a partial perspective view of the robot in FIG. 16 in one direction. 16 is a partial perspective view of the robot of FIG. 16 in the other direction. It is a schematic side view which shows the whole structure of the other modification of the robot of FIG.

The robot 1 according to the embodiment of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the robot 1 according to the present embodiment is a 6-axis articulated robot, and has a base 2 installed on a floor surface and a first axis A perpendicular to the base 2. A swivel cylinder 3 that is rotated around, a first arm (first member) 4 that is rotated around a second axis B that is horizontal to the swivel cylinder 3, and a second axis at the tip of the first arm 4. It includes a second arm 5 that is rotated around a third axis C parallel to B, and a wrist (wrist portion) 6 having a three-axis structure provided at the tip of the second arm 5.

The second arm 5 includes a motor (first motor) 7 attached to the tip of the first arm 4 and a first bracket that is rotated by the motor 7 around the third axis C with respect to the first arm 4. A motor that rotates the wrist 6 around the fourth axis D extending in a plane orthogonal to the third axis C with respect to the (second member) 8, the second bracket (third member) 9, and the second bracket 9. A second motor) 10 and a fixing member 11 that detachably connects the first bracket 8 and the second bracket 9 are provided.

Then, in the present embodiment, the first arm 4, the first bracket 8 swingably attached to the first arm 4 around the third axis C, and the first bracket 8 are attached to the third axis C. A first-axis unit is composed of a motor 7 that is rotationally driven to rotate, and a second bracket 9, a wrist 6 rotatably attached to the second bracket 9 around the fourth axis D, and the wrist 6 The second axis unit is composed of a motor 10 that rotationally drives the fourth axis D around the fourth axis D. The first shaft unit includes a power transmission mechanism (deceleration mechanism) that transmits the power of the first motor 7 to the first bracket 8, and the second shaft unit has a power transmission mechanism (reduction mechanism) that transmits the power of the second motor 10 to the second arm 5. It is equipped with a deceleration mechanism). In the example of FIG. 1, a power transmission mechanism is arranged between the first arm 4 and the first bracket 8, and the first motor 7 and the first bracket 8 rotate integrally around the third axis C.

The wrist 6 rotates around a proximal axis (fourth member) 16 that can be rotated around the fourth axis D by the motor 10 and an axis extending in a plane orthogonal to the fourth axis D with respect to the proximal axis 16. It is composed of a possible intermediate shaft (fifth member) 17 and a tip shaft (sixth member) 18 that is rotatable around an axis arranged in the same plane as the fourth axis D with respect to the intermediate shaft 17. There is.
Of the three axes 16, 17, and 18 that make up the wrist 6, two motors (third motor, fourth motor: not shown) and a power transmission mechanism (not shown) that rotate and drive the tip two axes 17, 18 respectively. ) Is arranged inside the second arm 5.

In the present embodiment, the fixing member 11 is a flat plate member, which is arranged so as to straddle the first bracket 8 and the second bracket 9, and the first bracket 8 and the second bracket are arranged by bolts (see FIG. 6) 12. It is designed to be detachably fixed to 9.
Further, as the fixing member 11, a short one shown in FIG. 1 and a long one shown in FIG. 2 are prepared.
The long fixing member 11 is configured such that the distance between the attachment position to the first bracket 8 and the attachment position to the second bracket 9 is longer than that of the short fixing member 11.

More specifically, as shown in FIGS. 4 to 8, the fixing member 11 is an L-shaped flat plate member, and the first bracket 8 and the second bracket 9 having the same width dimension in the horizontal direction. The first bracket 8 and the second bracket 9 are detachably fixed by being fastened to both side surfaces sandwiched in the horizontal direction by bolts 12.

The operation of the robot 1 according to the present embodiment configured in this way will be described below.
According to the robot 1 according to the present embodiment, as shown in FIGS. 4 and 5, a pair of horizontal side surfaces of the first bracket 8 of the first axis unit and the second bracket 9 of the second axis unit are set. In a state where the first bracket 8 and the second bracket 9 are integrated by the fixing member 11 in a state where they are arranged so as to be sandwiched between the short fixing members 11 and fixed by the bolts 12, the operation of the motor 7 causes the first bracket 8 and the second bracket 9 to be integrated by the fixing member 11. The entire second axis unit can be swung around the third axis C with respect to the first arm 4.

From this state, as shown in FIG. 6, the bolt 12 is loosened, the fixing member 11 is removed, and as shown in FIGS. 7 and 8, it is replaced with a long fixing member 11 and fixed again by the bolt 12. Thereby, the entire second shaft unit can be shifted toward the tip side of the wrist 6.
As a result, the operating range can be changed so as to extend the maximum reaching position of the tip of the wrist 6.

In this case, according to the robot 1 according to the present embodiment, the second axis unit can be shifted forward as a whole without disassembling the second axis unit in order to change the operating range of the robot 1. That is, a movable cable to the motor for driving the wrist 6 is arranged in the second axis unit, or a power transmission mechanism from the motor to the wrist 6 is arranged as in the conventional case. When disassembling and changing to different dimensions and reassembling, assembly work and adjustment work are required.

If the operating range can be changed without disassembling the second axis unit as in the present embodiment, all the members constituting the second axis unit can be shared before and after the change of the operating range, and the number of parts can be changed. There is an advantage that the time required for adjustment work and assembly work can be reduced, and the cost can be significantly reduced. Further, since the fixing member 11 is made of a flat plate member, there is an advantage that it is easy to process and can be manufactured at low cost. When the motor is arranged in the wrist 6, in consideration of the shift amount of the second axis unit, between the first arm 4 and the second axis unit, in the motor 10 and the second arm 5. The motor drive cable (not shown) may have an extra length, whereby the cable can be shared.

Further, in the present embodiment, assuming that the vertical direction in the figure is the vertical direction, the first bracket 8 and the second bracket 9 are fixed by a pair of fixing members 11 arranged at positions sandwiched in the horizontal direction. Therefore, there is an advantage that the second shaft unit can be supported in a double-sided state and the rigidity can be improved.

Further, as shown in FIGS. 7 and 8, by shifting the second axis unit forward, a space is formed between the two fixing members 11, and this space can be used, for example, for example. A wire feeding device 13 or the like for welding wires can be arranged, and the robot can be used as an arc welding robot.
Further, in the present embodiment, as shown in FIG. 13, the fixing member 11 made of an L-shaped flat plate member is arranged on both side surfaces of the first bracket 8 and the second bracket 9 in the horizontal direction. In the region surrounded by the broken line, it is not necessary to project the fixing member 11 to the lower portion of the base end of the second shaft unit, and there is an advantage that interference with peripheral devices can be reduced.

In this embodiment, two types of fixing members 11 of short length and long length are adopted, but instead of this, three or more types of fixing members 11 are prepared so that the operating range can be changed stepwise. You may decide.
Further, since the fixing member 11 made of a flat plate member is adopted, it is possible to use it by inverting the front and back surfaces. For example, as shown in FIGS. 1 and 9, the second axis unit arranged on the upper side of the motor 7 that swings the second arm 5 is inverted as shown in FIGS. 3 and 10. By fixing the first bracket 8 and the second bracket 9 with the fixing member 11 whose left and right sides are inverted, it is possible to configure the robot 1 having an axis configuration in which the fourth axis is offset in the upside-down direction.

Further, instead of changing the operating range by preparing and exchanging two types of fixing members 11, the fixing position to the second bracket 9 is changed in the front-rear direction as shown in FIGS. 11 and 12. As possible, one type of fixing member 15 having a plurality of through holes 14 may be prepared.
In addition, instead of changing the fixed position to the second bracket 9, or at the same time, the fixed position to the first bracket 8 may be changed.

Further, when a plurality of fixing positions are prepared for one type of fixing member 15 as shown in FIGS. 11 and 12, the fixing member 15 may be integrated with the first bracket 8 or the second bracket 9. ..
This has the advantage that the number of parts can be further reduced to reduce the cost.

Further, in the present embodiment, the second shaft unit is supported in a double-sided manner by fixing the fixing members 11 on both side surfaces sandwiching the first bracket 8 and the second bracket 9 in the horizontal direction. Alternatively, as shown in FIG. 15, it may be arranged on either side surface and supported in a cantilever shape.

Further, in the present embodiment, a structure in which the second axis unit can be shifted in the front-rear direction at a position where the second arm 5 is attached to the first arm 4 is illustrated, but the structure is not limited to this, and the swivel cylinder It may be applied to the case where the second axis that swings the first arm 4 with respect to 3 is shifted in the front-rear direction, or the second axis unit is shifted in the longitudinal direction of the first arm 4.

Further, in the present embodiment, as the fixing member 11, a member made of a flat plate member is adopted, but instead, in order to improve the strength of the fixing member 11, a fixing member 11 with a rib is adopted. May be good. Further, it may be fixed by using three or more fixing members 11.
Further, in the present embodiment, as the robot 1, a robot 1 in which the third axis C and the fourth axis D are vertically arranged so that the fourth axis D extends in a plane orthogonal to the third axis C is illustrated. Instead of this, the plane orthogonal to the third axis C and the plane orthogonal to the fourth axis D are parallel, and the third axis C and the fourth axis D are arranged in parallel. May be good.

Further, in the present embodiment, as shown in FIGS. 16 to 18, at least a part of the fixing member 11 is a plurality of beam members 19 connecting between the first bracket 8 and the second bracket 9. It may be composed of an aggregate of a plurality of reinforcing members 20 for reinforcing the beam member 19 of the above. Further, the beam member 19 and the reinforcing member 20 may be provided with a plurality of holes and taps so that the mounting portion can be changed. In this case, it is preferable that the aggregate of the beam member 19 and the reinforcing member 20 is bolted. As a result, the fixing member 11 is made lighter and stronger, and only a part of the beam member 19 and the reinforcing member 20 are replaced according to the intended use of the robot 1, so that the fixing member 11 has a different offset amount. Can be changed.

Further, as shown in FIGS. 16 to 18, a relay member 21 that relays the two members at least one between the first bracket 8 and the beam member 19 and between the beam member 19 and the second bracket 9. May be provided. As a result, it is not necessary to remove the fixing member 11 on the output shaft or the like to reduce the sealing property of the drive unit, and the attachment / detachment work can be performed more easily.

Further, in the present embodiment, as the axis configuration of the robot 1, a 6-axis articulated robot is exemplified, but the present invention is not limited to this.
For example, it can be applied to a 7-axis articulated robot or the like in which one rotation axis is added in the direction of twisting the first arm 4 on the first arm 4 of FIG. It is also possible to form the first arm 4 in the middle and to configure each divided portion of the first arm 4 as a fixing member of the newly added uniaxial unit.

As a result, the length of the first arm 4 can be adjusted, and the number of axes can be changed to 6 axes, 7 axes, or the like. This is not limited to vertical articulated robots, but can also be applied to horizontal articulated scalar type robots and parallel link robots.

Further, the first-axis unit and the second-axis unit can be not only a rotating shaft but also a linear motion shaft. For example, to explain using a robot mounted on a traveling shaft, the operating range of the robot 1 can be expanded by setting the installation base of the robot 1 as a robot base offset from the slider unit installation surface of the traveling shaft. Is possible. At this time, by configuring the robot base as the fixing member 11, the offset amount can be adjusted, and the operating range of the robot 1 can be adjusted.

Further, in the present embodiment, as the first axis unit and the second axis unit, the first bracket 8 is rotated around the third axis C with respect to the first arm 4, and the second bracket 9 is based on the first bracket 8. An example is shown in which the end shaft 16 is rotated around the fourth axis D, but the present invention is not limited to this, and the base end shaft 16 with respect to the first arm 4 and the first bracket 8 and the second bracket 9 is not limited thereto. May be used which is driven relative to each other. For example, the first bracket 8 is linearly driven in the direction along the third axis C with respect to the first arm 4, and the proximal axis 16 is linearly driven in the direction along the fourth axis D with respect to the second bracket 9. You may use the thing. Further, as shown in FIG. 19, a unit in which the first axis unit is rotationally driven and the second axis unit is linearly driven, or a first axis unit is linearly driven and the second axis unit is rotationally driven is used. You may.

1 Robot 4 1st arm (1st member)
6 Wrist (wrist)
8 1st bracket (2nd member)
9 2nd bracket (3rd member)
7,10 motors (first motor, second motor)
11, 15 Fixing member 16 Base shaft (4th member)
19 Beam member 20 Reinforcing member 21 Relay member C 3rd axis (rotation axis)
D 4th axis (rotation axis)

Claims (14)

A first shaft unit that drives the second member relative to the first member by the first motor,
A second shaft unit that relatively drives a fourth member having a longitudinal shaft with respect to a third member by a second motor,
A fixing member that is detachably provided between the second member and the third member and integrally fixes the second member and the third member is provided.
The fixing member can be fixed to at least one of the second member and the third member at different positions in the longitudinal axis direction or a direction substantially orthogonal to the longitudinal axis, and the second member and the first member. A robot that can change the size of the operating range of the wrist by changing the fixed position with respect to at least one of the three members. The robot according to claim 1, wherein a relay member that relays two members is provided between the second member and the fixing member, and at least one of the third member and the fixing member. In the first shaft unit, the second member is rotationally driven with respect to the first member.
The robot according to claim 1 or 2, wherein the second axis unit is rotationally driven by the fourth member with respect to the third member. The robot according to claim 1, wherein at least one of the first axis unit and the second axis unit is linearly driven. The robot according to claim 3, wherein the rotation axis of the fourth member with respect to the third member extends in a plane substantially orthogonal to the rotation axis of the second member with respect to the first member. 1. Claim 1 in which the fixing member is integrally provided on one of the second member or the third member and can be fixed at a different position with respect to the other of the second member or the third member. The robot according to any one of claims 5. The robot according to any one of claims 1 to 6, wherein the fixing member is provided so that both can be fixed only on both sides of the second member and the third member. The robot according to any one of claims 1 to 6, wherein the fixing member is provided on one side surface of the second member and the third member so that both can be fixed. The robot according to any one of claims 1 to 8 , wherein the fixing member is a flat plate member. At least a part of the fixing member is composed of a plurality of beam members for reinforcing between the second member and the third member, and an aggregate of at least one reinforcing member for reinforcing each of the beam members. The robot according to any one of claims 1 to 9. The robot according to claim 10 , wherein the beam member or an aggregate of the reinforcing members is bolted. The second shaft unit includes a third motor that rotationally drives the fifth member with respect to the fourth member, and a fourth motor that rotationally drives the sixth member with respect to the fifth member.
The robot according to any one of claims 1 to 11 , wherein the wrist portion is composed of the fourth member, the fifth member, and the sixth member. A first shaft unit that drives the second member relative to the first member by the first motor,
A second shaft unit that drives the fourth member relative to the third member by the second motor,
It is a method of changing the operating range of a robot provided detachably between the second member and the third member and including a fixing member for integrally fixing the second member and the third member. hand,
A method of changing the size of the operating range of the wrist portion by exchanging the fixing member for fixing the second member and the third member with another fixing member having a different length. A first shaft unit that drives the second member relative to the first member by the first motor around the axis.
A second shaft unit that drives the fourth member relative to the third member by the second motor,
A fixing member that is detachably provided between the second member and the third member and integrally fixes the second member and the third member is provided.
The fixing member can be fixed at different positions with respect to at least one of the second member and the third member in a direction substantially orthogonal to the axis, and is attached to at least one of the second member and the third member. A robot that can change the size of the wrist movement range by changing the fixed position.

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