JPH04354691A - Articulated robot - Google Patents

Abstract

PURPOSE:To set reference positions of joint elements of an articulated robot via a very simple action. CONSTITUTION:A positioning jig 26 setting the reference positions of joint elements of a robot 17 by bringing the positioning pins 23, 24, 25 provided on a wrist member 22 into contact is fitted on the side section of a base 19. The positioning jig 26 is located on a swaying locus taken by the positioning pin 23 of the wrist member 22 when a vertical arm 20 is swayed while a horizontal arm 21 is bent forward and swayed to the action limit position. When the wrist member 22 is merely brought into contact with the positioning jig 26 while the robot 17 is kept in the preset attitude, the reference positions of the joint elements of the robot 17 can be set very simply.

Description

[Detailed description of the invention]

0001

[Field of Industrial Application] The present invention relates to an articulated robot that is controlled based on preset reference positions for each joint element, and more specifically, the present invention relates to an articulated robot that is controlled based on reference positions set in advance for each joint element. The present invention relates to an articulated robot equipped with the following functions.

0002

2. Description of the Related Art In general, as this type of robot, one shown in FIG. 5, for example, is known. In the robot 1 shown in the figure, a base 3 is rotatably disposed on a base 2, and a vertical arm 4 is swingably disposed on the base 3. A horizontal arm 5 is swingably disposed on the free end side of the vertical arm 4.
A wrist member 6 is disposed on the free end side of. The wrist member 6 includes a joint element that is rotatable on the axis α of the horizontal arm 5, a joint element that is rotatable on the axis β that intersects the axis α at a predetermined angle, and a joint element that is rotatable on the axis β that intersects the axis α at a predetermined angle. The joint element is configured to include a joint element that is rotatable on an axis γ that intersects at a predetermined angle. When setting the reference position of the robot 1 as described above, the following steps are performed. First, the base 3 is positioned by aligning reference marks 2a and 3a engraved in advance on the base 3 and the base 2, respectively. Subsequently, regarding the vertical arm 4 and the horizontal arm 5, jigs 7 and 8 and levels 9 and 10 are attached to the respective reference planes, and the vertical arms are adjusted so that the levels are indicated by the levels 9 and 10. The reference position is set by appropriately swinging the horizontal arm 4 and the horizontal arm 5. After the respective reference positions for the base 3, vertical arm 4, and horizontal arm 5 are set as described above, the three-axis joint elements as described above can be collectively positioned for the wrist member 6. When the motor is turned off and the brake is released, a positioning jig 14 that can simultaneously engage the positioning pins 11, 12, and 13 provided on each element of the wrist member 6 is attached to the positioning pin 1.
Attach to 1, 12, and 13. In this case, the above-described work is performed on the premise that the jig 8 on the wrist member 6 is maintained in a horizontal state by the level 15 provided on the jig 8. In this way, reference positions are set for each joint element in the robot 1. Then, after this, the value of the detector provided in the servo axis system of each joint element is set to a predetermined value. In addition, 16 in the figure is a level for checking the horizontal state of the base 2 and the base 3.

0003

However, when trying to set the reference position for each joint element in the robot 1, it is necessary to swing each arm using a spirit level or use a positioning tool, as described above. The tool 14 must be attached directly to the wrist member 6, which is a problem in that the work is extremely complicated and troublesome. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an articulated robot having a function that allows setting the reference position of each joint element with an extremely simple operation.

0004

[Means for Solving the Problems] In order to achieve the above object, the main means adopted by the present invention is that the tip of the first arm swingably provided on the base is In an articulated robot that is equipped with a swingable second arm that includes a wrist member and is controlled based on preset reference positions for each joint element, by bringing a predetermined portion of the wrist member into contact with the The second positioning jig is used to set the reference position of each joint element.
An articulated robot according to a point provided on the robot main body portion on the rocking locus of the predetermined portion of the wrist member when the first arm is rocked with the arm rocking to the operating limit position. It is.

[0005]

[Operation] In the articulated robot according to the present invention, the first arm is swung while the second arm is swung to the operating limit position, and a predetermined portion of the wrist member is brought into contact with the positioning jig. The reference position of each joint element is set by this.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention. Here, FIG. 1 is a side view of an articulated robot according to an embodiment of the present invention, FIG. 2 is a plan view taken in the direction of arrow A in FIG. 1, and FIG. 3 is a reference for each joint element of the articulated robot. FIG. 4 is an explanatory diagram showing the operation when setting the position. FIG. 4 is a flowchart showing the operating procedure when setting the reference position of each joint element of the robot. In the articulated robot 17 according to this embodiment, as shown in FIGS. 1 to 3, a base 19 is rotatably disposed on a base 18, and a vertical arm 20 ( The first arm) is swingably arranged. A horizontal arm 21 (second arm) is swingably provided on the free end side of the vertical arm 20.
A wrist member 22 is provided at the tip of the horizontal arm 21. In the wrist member 22, the horizontal arm 21
A joint element that can pivot on an axis α, a joint element that can pivot on an axis β that intersects at a predetermined angle with the axis α, and a joint element that intersects at a predetermined angle with the axis β. The joint element is rotatable on the axis γ. On both sides of the wrist member 22 corresponding to each joint element,
Positioning pins 23, 24, and 25 are removably attached to each of them. A positioning jig 26 is removably attached to the side of the base 19, and the reference position of each joint element of the robot 17 is set by abutting the positioning pins 23, 24, 25 of the wrist member 22. It will be installed. The mounting position of the positioning jig 26 is the horizontal arm 2.
This is on the rocking trajectory that the positioning pin 23 of the wrist member 22 can take when the vertical arm 20 is rocked with the wrist member 1 bent forward and rocked to the operating limit position. Subsequently, based on FIG. 4, the procedure for setting the reference position of each joint element in the robot 17 will be described.

[0007] In the figure, S1, S2, . . . indicate each operation step. First, with each motor of the robot 17 turned on, the base 19 is oscillated to the vicinity of the center of its rotation range, the vertical arm 20 is oscillated to the vicinity of the rear end, and the horizontal arm 21 is oscillated to the vicinity of the lower end. Then, the robot 17 is swung to a predetermined posture as shown in FIG. 1 (S1). In this case, the wrist member 22 is rotated around the axis α so that the positioning pin 23 is oriented in the horizontal direction. Subsequently, after the power to each motor is turned off, the positioning jig 26 is attached to the base 19, and the lid 27 of the positioning jig 26 is opened (S2). After that, the motor is turned on to swing the vertical arm 20 forward (S3), and the positioning pin 23 of the wrist member 22
When the positioning jig 26 is fitted into the groove 28 on the positioning jig 26 formed by opening the lid 27, the motor is turned off and the lid 27 is closed. Subsequently, by releasing the clutch (S4), the robot 17 uses its own weight to move the vertical arm 20 and horizontal arm 21 forward to a position where the positioning pin 23 engages within the groove 28 ( (see figure). At this time, each joint element is positioned around the axis α of the vertical arm 20, horizontal arm 21, and wrist member 22. In this state,
An operator supports one side of the pins 24 and 25 of the wrist member 22 and rotates the wrist member 22 clockwise when viewed from the front, and the positioning pins 24 and 25 on the other side and the upper surface side of the positioning jig 26 are By engaging these, the reference position of the joint element around the axes β and γ axes of the wrist member 22 is determined (S5). At the same time, by aligning the reference mark 18a provided on the base 18 and the reference mark 19a provided on the base 19, the base 19 is positioned with respect to the joint element. By operating the robot 17 according to the procedure described above, the reference positions for each joint element of the robot 17 can be set extremely easily. In addition, in the robot 17 as described above, the positioning jig 26 is attached to the base 1.
In addition, the positioning jig 26 is provided with an engagement groove 29 as shown by the two-dot chain line in FIG.
Further, a positioning pin 30 is attached to the lower surface side of the wrist member 22, and when the robot 17 is operated as described above, the positioning pin 30 is passed through the engagement groove 29 and engaged. By making sure that
By omitting the reference marks 18a and 19a, the reference position of the base 19 relative to the base 18 can be set at the same time by a series of operations.

[0008]

[Effects of the Invention] As described above, the present invention includes a second arm that is swingable and includes a wrist member at the tip of the first arm that is swingably provided on the base. In an articulated robot that is controlled based on reference positions set in advance for the elements, a positioning jig is provided that allows the reference position of each joint element to be set by bringing a predetermined part of the wrist member into contact with the robot. The robot body is provided on a swing locus of the predetermined portion of the wrist member when the first arm swings with the second arm swinging to the operating limit position. Since it is an articulated robot, it is possible to set the reference position for each joint element with an extremely simple operation.

[Brief explanation of drawings]

FIG. 1 is a side view of an articulated robot according to an embodiment of the present invention.

FIG. 2 is a plan view of the section viewed from arrow A in FIG. 1.

FIG. 3 is an explanatory diagram showing an operation when setting a reference position for each joint element of the multi-joint robot.

FIG. 4 is a flowchart showing the operating procedure for setting the reference position of each joint element of the robot.

FIG. 5 is a side view of a conventional articulated robot.

[Explanation of symbols]

17...Robot 18...Base 18a, 19a...Reference mark 19...Base 20...Vertical arm (first arm) 21...Horizontal arm (second arm) 22...Wrist member 23, 24, 25, 30...Positioning pin 26... Positioning jig 29...Engagement grooves α, β, γ...Axis S1 to S5...Operation steps

Claims (1)

[Claims] Claim 1: A swingable second arm is provided with a wrist member at the distal end of a first arm swingably provided on a base, and the swingable second arm is mounted at a preset reference position with respect to each joint element. In the articulated robot controlled based on the above, a positioning jig is provided that can set the reference position of each of the joint elements by bringing a predetermined part of the wrist member into contact with the robot.
The robot body is provided on a swing locus of the predetermined portion of the wrist member when the first arm swings with the second arm swinging to the operating limit position. An articulated robot.