JPH05253872A - Robot - Google Patents

Abstract

PURPOSE:To reduce dead areas much more by disposing the paired long links of a four joint link mechanism in a different but parallel plane so as to be intersected with each other in a robot where one end of the four joint link mechanism is connected to a support stand so as to be hinged, and a hand is fitted thereon. CONSTITUTION:One end of a short link 16 and one end of a long link 17 are rotatably fitted independently to a support stand 15 in an U-shape at the same axial line so as to be freely revolved respectively in a definite range by means of stepping motors 18 and 19. A long link 21 identical in length to the long link 17 is rotatably fitted onto the other end of the short link 16 in a plane opposite to that of the long link 17, a link 23 equipped with a hand 22 at its tip end is rotatably fitted onto the other end of the long link 17 in such a way as to be in a plane identical to that of the short link 16. The long link 21 is intersected with the long link 17, and moreover, its tip end is rotatably fitted onto the ink 23 at the back side of the link 23 at a place identical in length to the short link 16. This constitution thereby allows the moving range of the hand 22 to be enlarged without interference between the long links 17 and 21.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot, and more particularly to a parallel link type robot capable of having a large movable range.

[0002]

2. Description of the Related Art There are various types of robots, which are used properly according to the work content. One of the representative ones is a parallel link type robot (ASEA type robot). The basic form of this robot is a four-bar linkage mechanism 1 in which links are connected in a parallelogram as shown in FIG.
Is connected to the support base 2 by a joint.

[0003]

In the above-mentioned conventional parallel link type robot, since the movement of the link mechanism 1 is restricted by the interference of the support base 2, the base 3 and the link members, the movable range of the hand 4 is as shown in FIG. The range is as shown in 2, and is limited to the front of the robot. In order to move the movable range of the hand 4 to the left of the support base 2 in FIG. 2, the support base must be rotated by 180 °.

As shown in FIG. 3, if the hand 4 is provided in the direction opposite to that shown in FIG. 1, the link mechanism 1 is fully attached to one side of the support base 2 as shown in FIG. The hand 4 can be extended, the maximum reach of the hand 4 can be expanded, and the hand 4 can be extended in front of and behind the robot. The trajectory of the hand 4 that comes closest to the support base 2 is the movement of the link mechanism 1 to the support base 2, Since it is regulated by the interference between the base 3 and the links, the locus becomes as shown in FIG. 4, and a wide dead area where the hand 4 does not reach is formed around the support base 2.

The present invention improves the conventional parallel link type robot described above so that the reachable range of the hand extends to the front and back of the support base, and a dead area formed around the support base where the hand cannot reach. To reduce the size of the robot to increase the movable range of the hand, and to make the hand perform symmetrical movements in the front and rear of the support table so that the robot can be easily controlled. To provide a robot for that purpose. With the goal.

[0006]

Therefore, the robot of the present invention is a parallel link type robot in which one end of a four-bar linkage having links connected in parallelogram is connected to a support by a joint, and a hand is attached to the other end. It is characterized in that a pair of links on the long side of the node link mechanism are delivered in different parallel planes and cross each other.

Several methods are conceivable so that the links can be crossed. Among them, a pair of short links facing each other on the same plane among links forming a link mechanism connected in a parallelogram are arranged. It is structurally simplest and desirable to place one of the long links on one side of the short link and the other of the long links on the other side of the short links, but each link is located on a different parallel plane. The links may be arranged so that the links located on the planes at both ends are connected to each other via a spacer, for example.

[0008]

As shown in FIG. 5, by arranging the long links 17 and 21 in different parallel planes, since the long links do not interfere with each other, their movements are not restricted and the conventional It can be used as a parallel link type robot (Fig. 6) or as a robot with long links intersecting each other. To move the hand to the same point, there are two postures with the links in parallel and in the state of crossing. In addition to the approach (FIG. 7), one long link can be arranged at the symmetrical position of the other link facing the long link, so that the movable range of the hand 22 can be made symmetrical in the longitudinal direction.

Further, as shown in FIG. 8, since the link 17 and the link 23 can be linearly extended to one side of the support base 15, the maximum reachable range of the hand 22 is expanded. Further, the locus of the hand 22 that comes closest to the support base 15 is also symmetrical as shown in the figure.

The robot according to the present invention can also be used by suspending it from the ceiling 20 as shown in FIG. in this case,
The support 15 does not hinder the work on the base 3.

[0011]

EXAMPLE One ends of a short link 16 and a long link 17 are axially attached to a U-shaped support base 15 independently of each other on the same axis, and stepping motors 18 and 1 are respectively provided.
The long link 21 having the same length as the long link 17 is provided at the other end of the short link 16 on the side opposite to the long link 17 (see FIGS. 6 and 6). 7 is attached to the back side of the short link 16) and the other end of the long link 17 is provided with a hand 22 at the tip,
The link 23 is axially mounted so as to be located on the same plane as the short link 16. The long link 21 intersects with the long link 17, and the tip of the long link 21 is pivotally attached to the back side of the link 23 at a portion having the same length as the link 23 and the short link 16.

In the robot configured as described above, when the hand 22 is brought closest to the support base 15 and all the links are integrated and rotated around the motors 18 and 19, the trajectory drawn by the hand 22 is The arc locus is as shown in FIG. 8, and the movable range of the hand 22 is the range shown by the diagonal line between the arc locus drawn by the hand 22 when the long link 17 and the link 23 are extended in a straight line.

[0013]

As described above, the robot of the present invention is configured such that the long side links of the parallel link type robot are arranged in different parallel planes so that they can cross each other.
Since the links on the long side do not interfere with each other and their movements are not restricted, they can be used as conventional parallel link robots or robots with crossed links, increasing the usage To move the hand to the same point in different ways.
Since the link on one long side can be moved to the symmetrical position of the other link facing it, the movement of the hand can be made symmetrical, the robot can be easily controlled, and the links can be aligned. Since the hand can be extended or rotated in an overlapping manner, the reach of the hand is expanded, the dead area around the support is reduced, and the movable range of the hand is substantially increased.

When the robot is hung on the ceiling and used like the robot according to the second aspect, the support base does not hinder the work and the work range is expanded.

[Brief description of drawings]

FIG. 1 is a perspective view of a conventional parallel link type robot.

FIG. 2 is a diagram showing a movable range of a hand of the robot shown in FIG.

FIG. 3 is a side view showing another aspect of the robot.

FIG. 4 is a diagram showing a movable range of a hand of the robot shown in FIG.

FIG. 5 is a rear view of the robot according to the present invention.

FIG. 6 is a side view showing one usage mode of the robot according to the present invention.

FIG. 7 is a side view showing another usage mode of the robot.

FIG. 8 is a diagram showing a movable range of the robot.

FIG. 9 is a diagram showing a movable range when the robot is mounted on a ceiling.

[Explanation of symbols]

15 ... Support base 16 ... Short link 17, 21 ... Long link 18, 19 ...
・ Stepping motor 22 ・ ・ ・ Hand 23 ・ ・ ・ Link

Claims (2)

[Claims] 1. A parallel link type robot in which one end of a four-bar link mechanism in which links are connected in a parallelogram are connected to a support by a joint, and a hand is attached to the other end of the four-bar link mechanism on the long side of the four-bar link mechanism. A robot characterized in that a pair of links are arranged in different parallel planes so that they can cross each other. 2. The robot according to claim 1, which is used by being hung on a ceiling.