JPH03196990A - Tool holding part unit in industrial robot, etc. - Google Patents

Abstract

PURPOSE:To enable it to shift a working tool highly accurately in a lightweight and high speed manner by installing two gear systems being independently driven by each motor, and a single tool holding part being supported by these two gear systems and receiving a different rotational motion from these gear systems, respectively. CONSTITUTION:Each rotation outputted by two motors 3, 4 attached to a holding part of an industrial robot or the like is transmitted to two gear systems (7-10), (12-13) being supported on a frame 1 attached tight to an arm 20 of the industrial robot or the like, thereby causing two rotational motions different in central axes B, A in the rotation. These two rotational motions are simultaneously controlled, through which a working tool 19 attached to the holding part is shifted for operation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for movably supporting a tool on a tool gripping portion of an industrial robot or on a moving table of an industrial machine.

[Conventional technology]

In conventional industrial robots, when it is necessary to move the gripping part that supports the processing tool, the gripping part itself usually does not move, but the robot itself or an arm close to the robot body is used. Since the gripping section was moved by moving the gripping section, there were problems in that large horsepower was required to move the gripping section at high speed and positional accuracy was low. Therefore, in order to eliminate such problems, for example, the Utility Model Publication No. 55-41347 shown in Fig.
As in Publication No. 3, two drive sources are provided on the arm part 28 that supports the gripping part of the industrial robot, and the gear 23 connected to one of the drive sources via the drive shaft 21 is mounted on the rack 25. The processing tool 27 connected to the rack 25 is linearly moved, and the frame 26 supporting the rack is rotated by the gear 24 connected to the other drive source via the drive shaft 22. A device in which 27 is rotated has been proposed. This provides a mechanism for moving only the processing tool 27 attached to the gripping portion without moving the robot body or the like.

[Problem to be solved by the invention]

In the conventional example described above, the rack 25 that moves linearly is supported by the frame 26, so it is necessary to strengthen the support part of the rack 25, and the processing tool can be rotated by the frame 26 itself. Since the frame 27 was being moved, it was necessary to strengthen the frame 26 and the part that supports the frame 26. For this reason, there has been a problem in that the weight of the gripping portion increases, which may adversely affect the high-speed movement and positioning accuracy of the processing tool 27. However, the present invention aims to solve these problems. There is.

[Means and actions to solve the problem]

The present invention uses two motors and two gear systems in the gripping part of an industrial robot, etc. to generate two rotational movements with different centers of rotation, and by controlling these two rotational movements simultaneously. , the gripping part of the robot, in other words, only the machining tool is moved. According to such a grip device, there is no need for a configuration in which the rack that moves linearly at the tip of the arm is supported at two points.
It can be made small and lightweight, and the machining tool can be moved at high speed and with high precision.

〔Example〕

FIGS. 1 and 2 show the case where the tool gripping part of the industrial robot according to the present invention is used in a plasma cutter.
This will be explained using figures. Note that FIG. 2 shows only two gear systems extracted from the apparatus of FIG. 1.

A large diameter part of a cylindrical frame 1 having a large diameter part and a small diameter part formed on the outer circumference is fixed to a member 20 corresponding to the arm part of the robot body. It has a structure that supports two gear systems on the top and a motor that drives these two gear systems on the top.

That is, the motor mounting bases 2 are fixed to a total of two locations, one on the right and left sides, on the upper surface of the frame 1, and a motor 3.4 is disposed above each of the motor mounting bases 2.

The motor is attached to the plate 14 through two gear systems.
, that is, the machining tool 19 is moved, and the transmission system for these will be explained next.

First motor output transmission structure An external gear 7 is fixed to the drive shaft 5 of the first motor 3 inside the base 2 for mounting the motor.

The external gear 8 meshed with the external gear 7 has a diameter close to the internal diameter of the frame 1, and has a central axis A of the frame 1.
The tool 19 is supported by a bearing 15 fixed to the frame 1 so as to rotate around the center thereof, and has a hole in the center thereof for movement of the tool 19.

A coupling body 9 is fixed to the lower part of the external gear 8, and the coupling body 9 also has a hole in the center.

An internal gear 10 is further fixed to the lower part of the combined body 9, and this internal gear 10 is connected to the external gear 8 via the combined body 9, so that the frame 1 It rotates around a central axis A, and its diameter is slightly smaller than that of the external gear 8 described above. The external gear 11 meshed with the internal gear IO rotates inside the internal gear 10 around a rotation axis B that is a distance d1 away from the central axis A of the frame 1, and has a bearing 18 inside. The tool mount supported by the plate 14 grips the processing tool plasma cutter torch 19 .

The torch 19 of the processing tool is mounted at a position C, which is a distance d2 away from the rotation axis B.

Output transmission structure of the second motor 4 An external gear 12 is fixed to the drive shaft 6 of the second motor 4 . The external gear meshed with this external gear 12! The 1@car 13 has a diameter close to the internal diameter of the frame 1, and is supported by a bearing 16 fixed to the frame 1 so as to rotate about the central axis A of the frame 1. This external gear 13 supports the external gear 11 via a bearing 17 inside.

Movement of the tool grip In such a structure, the movement of the tool grip caused by the two motors will be explained.

The rotation of the first motor 3 is caused by the external gear 7 and the external gear 8.
As a result, the internal gear 10 fixed to the external gear 8 via the coupling body 9 rotates, and the internal gear I!
ll! When the external gear 11 meshing with the i-wheel 10 rotates around the rotation axis B, the processing tool torch 19 held inside via the bearing 18 also rotates around the rotation axis B. .

On the other hand, the rotation of the second motor 4 is transmitted to the external gear 13 by the external gear 12, and the external gear 13 rotates around the central axis A, and is supported inside the external gear 13 via a bearing 17. As the external gear 11 rotates around the central axis A, the torch 19 of the processing tool held inside the external gear 11 also rotates around the central axis A.

By creating two rotational movements with different centers of rotation as described above and controlling these two rotational movements simultaneously,
Only the gripping section, that is, the processing tool can be moved without moving the arm 20 of the robot body.

Furthermore, although the present invention has been shown as an example of being equipped with an industrial robot, in addition to industrial robots, for example, moving tables such as an It is possible to move only the tip without moving it.

〔Effect of the invention〕

According to the present invention, the rotation output by two motors attached to the gripping part of an industrial robot, etc. is transmitted to two gears and systems supported by a frame fixed to the arm of the industrial robot, etc. Generates two rotational movements with different central axes of rotation, and simultaneously controls these two rotational movements,
The processing tool attached to the grip can be moved.

This mechanism eliminates the need for a large and heavy mechanism in the gripping section of industrial robots, such as supporting a rack for straight movement at two points, which was required in the past, and allows for a compact and heavy mechanism. Moreover, a gripping unit device that is lightweight and capable of moving a processing tool at high speed and with high precision is provided.

Furthermore, according to such a gripping device, the processing tool always moves only around the center of the frame fixed to the arm, so the processing tool can be moved in a well-balanced manner. Be expected.

[Brief explanation of drawings]

FIG. 1 is a partially omitted longitudinal sectional view of an embodiment of the tool gripping device for an industrial robot or the like according to the present invention, and FIG. 2 is a schematic diagram in which only the relationship between two gear systems is extracted from FIG. 1. , FIG. 3 is a longitudinal sectional view of a conventional device. In the figure, number 1 is the frame, 2 is the motor mounting base, 3 is the first motor, 4 is the second motor 5 is the drive shaft, 6 is the drive shaft, 7 is the external gear, 8 is the external gear, 9 is the connection 10 is an internal gear, 11 is an external gear, 12 is an external gear, 13 is an external gear, 14 is a tool mounting plate, 15 is a bearing, 16 is a bearing,
17 is a bearing, 18 is a bearing, 19 is a processing tool torch, 2
0 is the arm of the industrial robot, 21 is the drive shaft, 22 is the drive shaft, 23 is the gear, 24 is the gear, 25 is the rack, 26 is the frame, 27 is the processing tool, 28 is the arm of the industrial robot, A is the center The axis, B is the rotating axis, and C is the tool mounting position.

Claims (1)

[Scope of Claims] A frame fixed to an arm of an industrial robot or the like, two motors supported by the frame, two gears supported within the frame and independently driven by each of the motors. a single tool grip that is supported by the two gear systems and receives different rotational movements from the two gear systems; and a control device that simultaneously controls the rotation of the two motors. Tool holding device for tool robots, etc.