JPH0115514Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) The present invention relates to a tool holding device for an assembly tool, and more specifically, to securely hold a tool attached to a working arm of an assembly robot. This invention relates to a tool holding device for an assembly tool that can be used to hold an assembly tool.

(Prior art and its problems) The present applicant previously filed Japanese Patent Application No. 55-103560 (Japanese Unexamined Patent Publication No.
No. 57-33993), we proposed the ``assembly robot'' shown in Figure 1.

This is a first arm 1 that rotates about one end as a fulcrum.
01, and a first link 103 having a rotation fulcrum substantially on the same axis as the rotation fulcrum 102 of the first arm 101.
, the other end portion 106 of the first arm 101 and the second arm 1
A second link 108 is rotatably connected to the intermediate portion 107 of the second arm 105, and a tool 108 is connected to the tip of the second arm 105.
It is constructed by attaching the first arm 10.
By rotating the first link 1 and the first link 103 using separate drive motors, the tool 108 at the tip of the second arm 105 can be moved smoothly.

However, the above-mentioned configuration may have the following problems. That is, since a bearing is normally used in the intermediate portion 107 of the second arm 105 to which the second link 108 is rotatably connected, the second arm 105 and the second link 108 are connected to the shaft and the bearing at the bearing portion. There will be a slight swing gap between them. Therefore, if the swing gap is E, then the second arm 105 and the second link 108 each have a swing of E in the right angle direction. The swing E of the second link 108 in the perpendicular direction is expressed as Ecos θ in the perpendicular direction of the second arm 105 with respect to the second arm 105, where θ is the angle formed by the first arm 101 and the second arm 105. Therefore, the total amount of swing of the second arm 105 is approximately E+Ecosθ, and therefore, as shown in FIG.
As the link 108 and the second arm 105 are aligned in a straight line, that is, as the angle θ approaches 0, the swinging motion (E+Ecos θ) of the second arm 105 increases.
Thus, the second arm 105 can easily swing left and right, and
Even if an attempt is made to stop the arm 105, the positioning of the tool 108 is not constant.

(Purpose of the invention) The present invention was devised in view of the above-mentioned problems, and is a tool holder for an assembly tool that can securely hold the tool by preventing the swinging that occurs in the second arm as much as possible. The aim is to provide the equipment.

(Structure of the idea) The present invention will be described in detail below with reference to the accompanying drawings.

In FIG. 3, reference numeral 1 is a first arm that rotates around a fulcrum at one end, and the first arm has its rotation fulcrum on the same axis as the rotation fulcrum 2 of the first arm 1. The link 3 is on a plane perpendicular to the rotation axis, and has a pair of rotation fulcrums 4 and 5 provided at right angles and equidistant from the rotation fulcrum 2 as a base point. Reference numeral 6 denotes a second arm whose one end is rotatably pivotally attached to the other end of the first arm 1, and the second arm 6 is on a plane perpendicular to the rotation axis, and its rotation Fulcrum 7
It has a pair of pivot points 8 and 9 that are perpendicular to the base point and are at the same distance from the pivot pivot point as the pair of pivot pivot points 4 and 5 of the first link 3; 6 is provided with a tool 10 at the extended end of the rotation fulcrum 8. 11 is a second link that rotatably connects the rotation fulcrum 4 of the first link 3 and the rotation fulcrum 8 of the second arm 6; 12 is the rotation fulcrum 5 of the first link 3 and the second link This is a third link that rotatably connects the rotation fulcrum 9 of the two arms 6. The distance between each fulcrum of the second and third links 11 and 12 is the distance between the first arm 1
The distance between the pivot points 2 and 7 of the second arm 6 is equal to the distance between the pivot points 2 and 7 of the second arm 6, that is, the pivot points 2, 7, 8, 4 and ,5
and form separate parallelograms with different phases.

(effect) Next, the operation will be explained with reference to FIG.

The second arm 6 includes a second link 11 and a third link 12
Since the rotation of the first link 3 enables rotation about the rotation fulcrum 7 due to the connection of the The tool 10 of the second arm 6 can be positioned at any position within a plane. During this movement, as shown in FIG. 4, the first arm 1 and the rotation fulcrum 4,
8 are in a straight line or close to it, the other pivot points 5, 9 of the first link 3 and the second arm 6 are at right angles to the pivot points 4, 8, and they are in the third Since the link 12 is connected, the swinging motion of the second arm 6 does not increase, and thus the swinging motion occurring in the second arm can be prevented as much as possible.

(Effects of the invention) As described above, the present invention has the first arm 1 that rotates about one end and the rotation fulcrum on the same axis as the rotation fulcrum 2 of the first arm 1. A first link 3 having a pair of pivot points 4 and 5 located on a plane perpendicular to the axis and provided at right angles and equidistant from the pivot point 2, and the first arm 1 and the like. A pair of rotation fulcrums 4 of the first link 3, one end of which is rotatably pivoted to the end, and are on a plane perpendicular to the rotation axis and are perpendicular to the rotation fulcrum 7 of the first link 3; ，
5, a second arm 6 having a pair of rotation supports 8, 9 with equal distances from the rotation support, a pair of rotation supports 4, 5 provided on the first link 3, and a second arm 6; A pair of pivot points 8 and 9 provided in the second and third links have a distance equal to the distance between the pivot points 2 of the first arm 1 and the pivot point 7 of the second arm 6. 11,12
Since the second arm 6 is rotatably connected and the tool 10 is provided at the tip of the second arm 6, it is possible to prevent the second arm from swinging as much as possible, and the tool can be reliably moved within its movable range. Positioning can be performed by stopping at

[Brief explanation of the drawing]

Fig. 1 is a top view showing the conventional example, Fig. 2 is an explanatory diagram of the operation of Fig. 1, Fig. 3 is a top view showing the embodiment of the present invention, and Fig. 4 is an explanatory diagram of the operation of Fig. 3. . 1...First arm, 2,4,5,7,8,9...Rotation fulcrum, 3...First link, 6...Second arm, 10
...Tool, 11...Second link, 12...Third link.

Claims (1)

[Scope of utility model registration request] A first arm 1 that rotates about one end thereof as a fulcrum, and having a rotation fulcrum on the same axis as the rotation fulcrum 2 of the first arm 1 and on a plane perpendicular to the rotation axis, A first link 3 having a pair of pivot points 4 and 5 provided at right angles and equidistant from the pivot point 2, and one end rotatably connected to the other end of the first arm 1; The first link 3 is pivoted on a plane perpendicular to the rotation axis, is perpendicular to the rotation fulcrum 7 of the first link 3, and has a distance from the rotation fulcrum to the pair of rotation fulcrums 4 and 5 of the first link 3. A second arm 6 having a pair of equal pivots 8 and 9, a pair of pivots 4 and 5 provided on the first link 3, and a pair of pivots 8 provided on the second arm. , 9 are the pivot point 2 of the first arm 1 and the second arm 6.
The second arm 6 is rotatably connected by second and third links 11 and 12 having a distance equal to the distance between the pivot points 7 and the pivot point 7, and a tool 10 is provided at the tip of the second arm 6. Tool holding device for tools.