JPH01199781A - Articulated robot - Google Patents

Abstract

PURPOSE:To enable the first arm to large tilt by arranging a 1-axis servomotor and a supporting part to be opposed in a turn bed interposing a turn axial center, positioning the second arm wrist part in a side of the 1-axis servomotor and providing a link mechanism, connecting an output shaft of a 3-axis servomotor to the rear end of the second arm, in an opposite side to the 1-axis servomotor. CONSTITUTION:When a 2-axis servomotor 16 is driven, the first arm 14 turns, and when a 3-axis servomotor 17 is driven, the second arm 15 turns through a link mechanism 18. Here the link mechanism 18, connecting an output shaft of the 3-axis servomotor 17 to the rear end of the second arm 15, is provided for the first arm 14 in an opposite side to a 1-axis servomotor 13. Consequently, when the first arm 14 turns, the link mechanism 18 and the 1-axis servomotor 13 generate no interference with each other, and the first arm 14 can be large tilted in an opposite side to the 1-axis servomotor 13. Further in the time of hanging in the upper from the second arm 15, a movable range of a wrist part 19 in the bottom from the second arm 15 can be large taken.

Description

[Detailed description of the invention] <Industrial application field> The present invention relates to an industrial articulated robot.

<Prior Art> Conventionally, as shown in FIGS. 4 and 5, this type of robot includes a swivel base 12 rotatably supported on a support base 10, and a base end aligned with the rotation axis of the swivel base 12. a first arm 14 rotatably supported around an axis perpendicular to the first arm 14;
A second arm 15 is rotatably supported at the tip of the arm about an axis parallel to the pivot axis of the first arm 14, and a wrist portion 19 is provided at the tip of the second arm 15.
An l-axis servo motor 13 for rotating the swivel base 12 with respect to the support base 10 is provided on the swivel base 12, a two-axis servo motor 16 for rotationally driving the first arm 14 with respect to the swivel base 12, and A three-axis servo motor 17 for rotationally driving the two arms 15 relative to the first arm 14 was mounted on the support portion 11 of the swivel base 12. The driving force of the three-axis servo motor is transmitted to the second arm 15 via the link mechanism 18.
was telling.

<Problem to be solved by the invention> However, in the robot with the above structure, the second arm 1
The movable range of the wrist part 19 provided at the tip of the robot is mainly in the lateral operating area of the robot, as shown by the dashed line l in FIGS. 4 and 5.

When the support base 10 of this robot is fixed to the ceiling and the robot is suspended downward, the connecting rod 18a of the link mechanism 18 interferes with the single-axis servo motor 13, so the second arm 15
There was a problem with not being able to get a large working area below.

Means for Solving the Problems> The present invention has been made to solve the above-mentioned problems, and includes a single-axis servo motor and a support section that are disposed opposite to each other across the rotation axis on a rotation base. The second arm is attached to the first arm so that the wrist of the 27th arm is on the side of the 1-axis servo motor, and the link mechanism connecting the output shaft of the 3-axis servo motor and the rear end of the second arm is attached to the 27th arm. It is installed on the opposite side of the single-axis servo motor for one arm.

<Function> When the two-axis servo motor is driven, the first arm rotates and the third
When the shaft servo motor is driven, the second arm pivots via the link mechanism. When rotating the first arm, there is no risk of interference between the link mechanism and the single-axis servo motor, so the first arm can be tilted down significantly, making the robot suitable for hanging from the ceiling. .

<Example> Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 1 and 2, a swivel table 12 is rotatably supported on the support base 10 around a vertical first axis 100, and this swivel table 12 is rotationally driven by a single-axis servo motor 13. . The single-axis servo motor 13 is a second
In the figure, the single-axis servo motor 13 is fixed to the swivel base 12 at a position offset by a predetermined amount with respect to the first axis 100.
A pair of support parts 11 that rotatably support the base end part 32 of the first arm 14 about the horizontal second axis 101 are likely to be provided at positions facing each other with the first axis 100 interposed therebetween. On both sides of the pair of support parts 11, there are two
An axis servo motor 16 and a three-axis servo motor 17 are installed. A second axis 101 is located at the tip of the first arm 14.
A second arm 15 is rotatably supported around a third axis 102 parallel to It is designed to be rotationally driven by a servo motor 20.5-axis servo motor 50 or the like.

Said servo motors 13, 16.17, 20.50 are controlled by a robot controller of the circuit.

As shown in FIG. 3, the swivel table 12 is rotatably mounted on the support base 10 about a first axis 100 via a circuit bearing.
0, and the rotation of this swivel table 12 is supported by the support base 10.
This is done by rotating a rotary gear that meshes with a fixed gear of the side circuit by the first servo motor 13.

The first arm 14 is connected to the drive shaft of the circuit of the two-axis servo motor 16, and the drive shaft 30 is connected to the drive shaft of the three-axis servo motor 17. The other end of the base connecting rod 37 of the link 36 of the drive shaft 30 is connected to the rear end of the second arm 15 via a pivot pin 35.

As a result, the rotation of the three-axis servo motor 17 is transmitted to the drive shaft 30, and the second arm 15 is driven to rotate about the third axis 102 through the link mechanism 18 made up of each member 34 to 37. ing.

The pair of supporting parts 11 are connected to each other via a connecting part 11a, and the connecting part 11a does not interfere even if the link thread 36 turns 10 degrees clockwise from the position shown in FIG. located at the location.

)S In this way, the link mechanism 18 is connected to the first arm 14.
By providing it on the side opposite to the axis servo motor 13, there is no fear of interference between the link mechanism 18 and the l-axis servo motor, and the first arm 14 can be pushed down significantly, so the range of movement of the wrist part 19 is The second arm 15 can be expanded upward as shown by the dashed line 2 in FIG.

<Effects of the Invention> As described above, in the present invention, a single-axis servo motor and a support part that supports the base end of the first arm are mounted on a rotatable swivel table with the center of rotation of the swivel table sandwiched between them. are arranged facing each other, a two-axis servo motor and a three-axis servo motor are mounted concentrically on this support part, and a link mechanism connected to the three-axis servo motor is made to protrude from the opposite side from the l-axis servo motor. Since it is connected to the rear end of the second arm, the first arm can be largely tilted to the side opposite to the single-axis servo motor,
The range of motion of the wrist above the second arm, or below the second arm when suspended from the ceiling, can be increased.
This has the advantage of making the robot suitable for hanging from the ceiling.

[Brief explanation of the drawing]

Fig. 1 is a plan view of the robot according to the embodiment of the present invention, Fig. 2 is a side view of the same robot, Fig. 3 is an enlarged view around the first axis, and Figs. 4 and 5 are views showing conventional robots. It is. 10... Support base, 11... Support part, 12...
Swivel base, 13...l-axis servo motor, 14...first
Arm, 15... Second arm, 16... 2-axis servo motor, 17... 3-axis servo motor, 18... Link mechanism, 19... Wrist portion.

Claims (1)

[Claims] (1) A swivel base rotatably supported by a support base, a first arm whose base end is rotatably supported by the swivel base around an axis perpendicular to the pivot axis of the swivel base, and the first arm a second arm supported rotatably around an axis parallel to the pivot axis of the first arm at the distal end thereof, and a wrist section provided at the distal end of the second arm; A 1-axis servo motor for rotationally driving the first arm relative to the swivel table is provided on the swivel table offset by a predetermined amount from the rotation axis of the swivel table, and a 2-axis servo motor for rotationally driving the first arm with respect to the swivel table and the second arm A multi-jointed robot in which a three-axis servo motor for rotationally driving one arm is attached to a support part of the swivel base, wherein the one-axis servo motor and the support part are mounted on the swivel base with a rotation axis sandwiched therebetween. The second arm is attached to the first arm so that the wrist portion of the second arm is on the one-axis servo motor side, and the output shaft of the three-axis servo motor and the rear end of the second arm An articulated robot characterized in that a link mechanism for connecting the first arm is provided on the opposite side of the single-axis servo motor.