JPH05301181A - Transfer robot - Google Patents

Abstract

PURPOSE:To eliminate a heavy substance on the tip and to realize a compact size by combining a rotary block which has a built-in rotary driving mechanism to the upper side of a base board which has a built-in rotary driving mechanism, and combining a rotation member or a tool installing member to the lower side of the rotary block through a link mechanism. CONSTITUTION:The first arm 14 is pivoted by a center shaft A to a base board 12, and it is driven by the output shaft 18 of the first rotary driving mechanism 16. A rotary block 26 is pivoted by a center shaft B to the tip of the first arm 14, and it is fixed to the output shaft 30 of the second rotary driving mechanism 28. Furthermore, one end of the first link member 38 is pivoted by a rotary shaft C to the rotary block 26, and one end of the second link member 40 is pivoted by a rotary shaft D. On the other hand, one end of the third link member 42 is pivoted by a rotary shaft E to the other end of the first link member 38, and the center of the third link member 42 is pivoted by a rotary shaft F to the other end of the second link member 40. A rotary member 44 is pivoted by a rotary shaft G to the other end of the third link member 42, and a tool installing member 46 is pivoted by a rotary shaft H to the rotary member 44.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer robot for linearly moving an object to be transferred.

[0002]

2. Description of the Related Art Conventionally, for example, when a component is positioned and attached to a main body, a positioning hole formed in the component is fitted to a positioning pin provided on the main body as shown in FIG. Often, methods such as positioning are used. In such a case, the robot for attaching the component to the main body needs to linearly insert the component along the length direction of the locating pin in order to smoothly insert the locating pin into the locating hole formed in the component. An operation to move it is required.

A robot device for performing such a linear operation is, for example, Japanese Patent Laid-Open No. 1-148286.
The one disclosed in Japanese Patent Publication is known. In this device, a shaft-shaped member is provided at the tip of an arm that is driven to rotate, and this member slides in the up-down direction (direction along the axis of the shaft) to cause linear movement in the up-down direction. The operation has been realized.

Further, as another example, the actual construction of Shokai 63-16
What is disclosed in Japanese Patent No. 9292 is known. In this device, the base portion of the arm slides and moves in the vertical direction. Further, as another example, the one disclosed in JP-A-63-306888 is known. In this device, a vertical linear movement operation is realized by vertically moving a link member provided at an intermediate portion.

[0005]

However, in the first example of the above-mentioned conventional examples, the weight of the ball screw, the guide, the motor, etc. for moving the shaft up and down is located at a position close to the tip of the arm. Since the objects are concentrated, it is necessary to use a high-output motor as a motor for driving the first arm and the second arm when trying to move the object to be transferred at high speed. Further, in order to withstand the reaction force of a heavy object moving at high speed, it is necessary to increase the strength of each part. Therefore, there is a problem that the size of the device becomes large and the cost becomes high.

Further, in the second example, since the base of the arm is moved, the moving speed of the tip can be increased by the amount that the tip is simple and light. Met. However, since the entire arm is moved up and down, the up-and-down moving mechanism becomes large in scale, the device also becomes large, and the cost becomes high.

Further, in the first and second examples, there is a problem that sealing is difficult when used in a clean environment because there is a linearly sliding portion. Further, in the third example, since the tip portion does not have the vertical movement mechanism, the tip portion becomes lighter as in the second example, and it is possible to move the arm at high speed. However, when the link provided in the middle portion is rotated to move the transfer object in the vertical direction, the position of the transfer object in the horizontal plane changes, so the position in the horizontal plane is set to the amount of swing of the arm. It was necessary to perform the vertical movement of the transfer target object while correcting it by changing every moment. Therefore, there is a problem in that the transfer target cannot be moved at high speed because a calculation time and the like for this correction are required.

Further, when the arm is rotated at a high speed, a centrifugal force acting on the tip portion exerts an outward force. At this time, if the link is not in the horizontal state, the centrifugal force causes the link to return to the horizontal state, so that a torque corresponding to the torque to return to the horizontal state is applied to the motor as a load. Therefore, there has been a problem that the amount of energy consumption of the motor increases, and accordingly the motor needs to be upsized.

Further, in the structure of the third example, since the vertical movement speed of the transfer target is not proportional to the rotation speed of the motor, when the transfer target is moved at a constant speed. Had to control the speed of the four motors used in this device simultaneously and non-linearly. Therefore, there is a problem in that an electric circuit for this rotation control is required, the cost becomes high, a calculation time for control is required, and the object to be transferred cannot be moved at high speed.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a small-sized and low-cost transfer robot which is capable of linear transfer. is there.

[0011]

In order to solve the above-mentioned problems and to achieve the object, a transfer robot of the present invention comprises a base and a first plane having a first point as a fulcrum on the base. A first arm rotatably supported in the first arm, and a first arm which passes through the first arm and a second point which is separated from the first point by a first predetermined distance and is orthogonal to the first plane. A rotation block rotatably supported around a first rotation axis, and a first rotation block that is rotatable in a second plane orthogonal to the first plane with a third point as a fulcrum. The link member and the rotation block have a fourth distance from the third point, which is a second predetermined distance from the third point.
The second predetermined distance from the third point to the first link member and the second link member that is rotatable in the third plane parallel to the second plane with the point Is rotatably supported in a fourth plane parallel to the second plane with a fifth point spaced apart as a fulcrum, and a fourth predetermined distance from the fourth point to the second link member. And a third link member rotatably supported in the fourth plane with a sixth point spaced apart from the fifth point by a fifth predetermined distance as a fulcrum, and the third link member. A rotating member that is rotatable about a second rotation axis that passes through a seventh point that is separated from the sixth point by a sixth predetermined distance and that is orthogonal to the second plane; A first drive means for rotationally driving the first arm in the first plane and the rotary block for the first rotation. A second driving means for rotating around an axis, said first link member, a third for rotating in the second plane the third point as a fulcrum
Drive means, a first pulley fixed to the rotation block about an axis passing through the fourth point and orthogonal to the third plane, the second link member, and the third link. A second member integrally rotatable with respect to the member about an axis passing through the sixth point and orthogonal to the third plane.
The pulley, the third pulley, and the third link member,
Between a fourth pulley rotatably supported integrally with the rotating member about an axis passing through the seventh point and orthogonal to the fourth plane, and between the first pulley and the second pulley. It is characterized in that it is provided with a first belt that is stretched around the second belt and a second belt that is stretched between the third pulley and the fourth pulley.

Further, the transfer robot according to the present invention is characterized in that a seal member is provided at a rotating portion of each joint. Further, in the transfer robot according to the present invention, a ratio of lengths of the second predetermined distance, the third predetermined distance, the fourth predetermined distance, the fifth predetermined distance, and the sixth predetermined distance. But 2: 1: 2.
It is characterized in that it is 5: 2.5: 2.5.

In the transfer robot according to the present invention, the rotation angle range of the first link member is 120.
It is characterized by being °. Further, the transfer robot of the present invention includes a base, a first arm rotatably supported on the base in a first plane with a first point as a fulcrum, and the first arm.
A second arm that is separated from the first point by a first predetermined distance
A rotation block rotatably supported around a first rotation axis that passes through the point, and is orthogonal to the first plane, and the rotation block that is orthogonal to the first plane with the third point as a fulcrum. A first link member that is rotatable in the plane of 2;
A second link member that is rotatable on the rotation block in a third plane parallel to the second plane with a fourth point that is a second predetermined distance from the third point as a fulcrum. And is rotatably supported by the first link member in a fourth plane parallel to the second plane with a fifth point spaced a third predetermined distance from the third point as a fulcrum. And a fourth point which is separated from the fourth point by a fourth predetermined distance and is separated from the fifth point by a fifth predetermined distance to the second link member, and the fourth point is used as a fulcrum. A third link member that is rotatably supported in the plane, and the second link member passes through a seventh point that is separated from the sixth point by a sixth predetermined distance. A rotation member rotatable about a second rotation axis orthogonal to the first rotation axis and a first rotation arm in the first plane. First drive means for driving, second drive means for rotationally driving the rotation block around the first rotation axis, and the first link member, the third point being a fulcrum. As a second drive means for rotating and driving in the second plane, and the rotating member as the second drive means.
And a fourth drive means for driving the rotation about the rotation axis of the.

Further, the transfer robot of the present invention comprises a base,
A first arm rotatably supported on the base by a first point as a fulcrum in a first plane, and the first arm and a first predetermined distance apart from the first point. After passing the second point, the first
And a rotation block rotatably supported around a first rotation axis orthogonal to the plane, and rotatable on the rotation block in a second plane orthogonal to the first plane with a third point as a fulcrum. In the third plane parallel to the second plane with a fourth point, which is separated from the third point by a second predetermined distance, as a fulcrum between the first link member and the rotation block. The second link member, which is rotatable, and the first link member, which are parallel to the second plane, have a fifth point, which is separated from the third point by a third predetermined distance, as a fulcrum. No. 4, which is rotatably supported in a plane of No. 4, and which is separated from the fourth point by a fourth predetermined distance and is separated from the fifth point by a fifth predetermined distance by the second link member. And a third link member rotatably supported in the fourth plane with point 6 as a fulcrum. The link members of the third, the sixth
A rotation member that is rotatable about a second rotation axis that is orthogonal to the second plane and that passes through a seventh point that is separated from the point by a sixth predetermined distance; The first drive means for rotationally driving in the plane of the second rotation axis, the second drive means for rotationally driving the rotation block around the first rotation axis, and the second link member, A third drive means for rotationally driving in the third plane with the point 4 as a fulcrum, and fixed to the rotation block about an axis passing through the fourth point and orthogonal to the third plane. With respect to the first pulley, the second link member, and the third link member, the first pulley is integrally rotatable about the axis passing through the sixth point and orthogonal to the third plane. The second pulley, the third pulley, and the third link member are passed through the seventh point. A fourth pulley rotatably supported integrally with the rotating member around an axis orthogonal to the fourth plane, and a first pulley hung between the first pulley and the second pulley. And a second belt stretched between the third pulley and the fourth pulley.

[0015]

As described above, since the transfer robot according to the present invention is constructed, the driving force does not increase due to the absence of a heavy object at the tip, and the driving means can be downsized. As a result, the size of the robot can be reduced. Further, since the linear motion at a substantially constant speed can be performed only by the rotary motion of one link, a complicated control device is not required and the cost of the robot can be reduced.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. First, the configuration of the transfer robot 10 will be described with reference to FIG. 1, which is a side view of the transfer robot of one embodiment.

In FIG. 1, a substantially cylindrical base 12 is fixed to a floor surface of a factory or the like. A first arm 14 extending in the horizontal direction is rotatably supported on an upper portion of the cylindrical base 12 about a central axis A extending in the vertical direction in a horizontal plane. A first rotation drive mechanism 16 is fixed to the upper portion of the base 12, and an output shaft 18 of the first rotation drive mechanism 16 projects above the base 12.
The output shaft 18 is the rotation center axis A of the first arm 14.
The output shaft 18 has one end portion of the first arm 14 fixed thereto. Therefore, the first arm 14 is rotationally driven in the horizontal plane about the output shaft 18 of the first drive mechanism 16.

Here, the first rotation drive mechanism 16 includes a motor 20 as a drive source, a speed reduction mechanism 22 connected to the upper portion of the motor 20, and a rotation detector 24 connected to the lower portion of the motor 20. It is composed of The output shaft 18 projects upward from the speed reduction mechanism 22, and the output shaft 18 is connected to the first arm 14 as described above.

A rotary block 26 extending downward is rotatably supported at the horizontal end of the first arm 14 about a central axis B extending in the vertical direction (Z-axis direction). (Hereinafter, the vertical direction is the Z-axis direction and the horizontal direction is the X-axis direction.
Expressed as the axial direction). A second rotation drive mechanism 28 is fixed to the upper surface of the tip end of the first arm 14 with the center of the output shaft 30 aligned with the central axis B. The rotation block 26 is fixed to the output shaft 30 of the second rotation drive mechanism 28.
Is rotationally driven about the output shaft 30 with respect to the first arm 14 by the second rotational drive mechanism 28.

The second rotary drive mechanism 28 is similar to the first rotary drive mechanism 16 in that it includes a motor 32, a reduction mechanism 34 connected to a lower portion of the motor 32, and a motor 32.
And a rotation detector 36 connected to the upper part of the. The output shaft 30 projects downward from the reduction mechanism 34, and the output shaft 30 is connected to the rotation block 26 as described above.

An end portion of the first link member 38 is rotatably supported on a portion extending downward of the rotary block 26 about a rotary shaft C extending in the horizontal direction. Further, at a position further below the rotation axis C of the rotation block 26, one end portion of the second link member 40 is parallel to the rotation axis C and around the rotation axis D located vertically below the rotation axis C. It is rotatably supported.

On the other hand, one end of the third link member 42 is rotatably supported by the other end of the first link member 38 about a rotation axis E parallel to the rotation axis C. In addition, the other end of the second link member 40 has a third link member 4
A substantially central portion of 2 is rotatably supported about a rotation axis F parallel to the rotation axis D. That is, the first link member 38, the second link member 40, and the third link member 4
The reference numeral 2 constitutes a four-bar linkage having the rotary axes C, D, E, and F as nodes.

On the other hand, a rotating member 44 is supported at the other end of the third link member 42 so as to be rotatable about a rotating shaft G parallel to the rotating shaft F. And this rotating member 4
A tool mounting member 46 is rotatably supported at the lower end of the shaft 4 around a vertical rotation axis H. The transfer robot 10 of one embodiment is for linearly moving a point I at the tip of the tool attachment member 46 in the vertical direction.

In the following description, the length of the first link member 38 (the distance between the rotating shaft C and the rotating shaft E) is L1, the distance between the rotating shaft C and the rotating shaft D is L2, and the second distance is L2. Link member 4
The length of 0 (the distance between the rotation axis D and the rotation axis F) is L3, and the length of the third link member 42 (the distance between the rotation axis E and the rotation axis F)
Is denoted by L4, and the distance between the rotation axis F and the rotation axis G is denoted by L5.

Next, with reference to FIGS. 2 and 3, the internal structure of the transfer robot 10 will be described in more detail. FIG. 2 is a sectional view taken along line MM of FIG. In FIG. 2, a third rotation drive mechanism 48 extending along the rotation axis C is fixed in the rotation block 26. The third rotation drive mechanism 48 includes a motor 50, a speed reduction mechanism 52 connected to the tip of the motor 50, a rotation detector 54 connected to the other end of the motor 50, and a power supply when the power is turned off. The motor 50 is roughly configured by a brake mechanism 56 for braking the motor 50. The output shaft 58 of the third rotation drive mechanism 48 (the output shaft of the reduction mechanism 52) is coaxial with the rotation axis C of the first link member 38, and the first link member 3
One end of 8 is fixed to the output shaft 58 by a key 59. Therefore, the first link member 38 is driven to rotate about the rotation axis C by the third rotation driving mechanism 48.

The output shaft 5 of the third rotary drive mechanism 48
A seal member 60 (for example, a magnetic fluid seal) around 8
Is provided to seal the space between the rotation block 26 and the output shaft 58 so that dust, oil and the like do not come out. On the other hand, the bearing 6 is attached to the other end of the first link member 38.
2, the rotary shaft 64 coaxial with the rotary shaft E is rotatably supported. Since one end of the third link member 42 is fixed to the other end of the rotary shaft 64, the third link member 42 moves around the rotation axis E with respect to the first link member 38. It is rotatably supported. The periphery of the rotary shaft 64 is also sealed by the seal member 66.

Next, a cylindrical protrusion 42a having the rotation axis F as its central axis is formed in the substantially central portion of the third link member 42. And this cylindrical protrusion 42a is
The bearing 68 arranged at the other end of the second link member 40
Thus, it is rotatably supported with respect to the second link member 40. A space between the periphery of the cylindrical protrusion 42a and the second link member 40 is also sealed by the seal member 70.

At the center of the cylindrical protrusion 42a, a rotary shaft 72 is supported rotatably around a rotary shaft F via a bearing 74, and the rotary shaft 72 is connected to the second link member 40 and the second link member 40. It is possible to rotate relative to each of the third link members 42. A third pulley 76 is fixed by a key 78 to an end portion of the rotating shaft 72 on the side extending into the third link member 42. Further, a second pulley 82 is attached to the end of the rotary shaft 72 on the side extending into the second link 40 via a friction clutch 80.

On the other hand, the rotating member 44 has a substantially cylindrical shape extending in the vertical direction, and a cylindrical protruding portion 44a having the rotating shaft G as its central axis is formed at the lower end thereof. There is. The cylindrical protruding portion 44 a is rotatably supported with respect to the third link member 42 by the bearing 84 arranged at the other end of the third link member 42. A space between the periphery of the cylindrical protrusion 44a and the third link member 42 is also sealed by the seal member 86.

A fourth pulley 88 is fixed to the tip of the cylindrical protrusion 44a that is inserted into the third link member. The fourth pulley 88 and the cylindrical protrusion 4 are fixed to the fourth pulley 88.
4a is rotatable about the rotation axis G with respect to the third link member 42. That is, the rotation member 44 is rotatable around the rotation axis G with respect to the third link member 42 integrally with the fourth pulley 88.

A toothed timing belt 90 is stretched between the fourth pulley 88 and the third pulley 76 which is rotatable about the rotation axis F. The fourth pulley 88 with the rotation of the
It is designed to be transmitted to. The third pulley 7
A tension pulley 92 rotatably supported by the third link member 42 is disposed between the sixth and fourth pulleys 88, and the tension pulley 92 is adapted to remove the slack of the timing belt 90. ing.

At the lower end of the rotating member 44, a tool mounting member 46 for mounting a hand or the like for holding an object to be transferred.
Are rotatably supported about a rotation axis H extending in the vertical direction via a bearing 94. This tool mounting member 46
A space between the periphery of the rotary member 44 and the rotating member 44 is also sealed by the seal member 96. Then, inside the rotating member 44,
The fourth rotation drive mechanism 98 is fixed in a state of extending in the direction along the rotation axis H, and the fourth rotation drive mechanism 98 is fixed.
The output shaft 100 is connected to the upper end of the tool mounting member 46. Therefore, the tool attachment member 46 is driven to rotate about the rotation axis H by the fourth rotation drive mechanism 98.

The fourth rotation drive mechanism 98 is generally composed of a motor 102, a speed reduction mechanism 104 connected to the tip of the motor 102, and a rotation detector 106 connected to the rear end of the motor 102. The speed reduction mechanism 10 is configured.
4 is the output shaft 1 of the fourth rotary drive mechanism 98.
It matches with 00. Next, FIG. 3 is a sectional view taken along line NN of FIG. Based on FIG. 3, the connecting portion of the second link member 40 to the rotation block 26 and the second link member 4 are connected.
The structure of the connecting portion between the 0 and the third link member 42 will be described.

First, at the lower end of the rotary block 26, a cylindrical protrusion 26a having the rotary shaft D as its central axis is formed. The cylindrical protruding portion 26 a is rotatably supported by the bearing 108 arranged at one end of the second link member 40 with respect to the second link member 40. The seal member 110 also seals the space between the periphery of the cylindrical protruding portion 26a and the second link member 40.

A first pulley 112 having a rotation axis D as a central axis is fixed to a tip end portion of the cylindrical protrusion 26a which is inserted into the second link member 40. Therefore, the second link member 40 is rotatable around the cylindrical protrusion 26 a of the rotation block 26 and the first pulley 112. A toothed timing belt 114 is stretched between the first pulley 112 and the second pulley 82 that is rotatable about the rotation axis F, and rotation of the first pulley pulley 112 is prevented. Second with no slippage
Is transmitted to the pulley 82. A tension pulley 116 rotatably supported by the second link member 40 is arranged between the first pulley 112 and the second pulley 82.
Thus, the slack of the timing belt 114 is removed.

Next, the operation of the transfer robot configured as described above will be briefly described with reference to FIG. First, the first rotation drive mechanism 16 rotates the first arm 14 in a horizontal plane, and the second rotation drive mechanism 28 rotates the rotation block 26 around the rotation axis B, so that the tool attachment member 46. The point I, which is the lower end of the, is moved to an arbitrary position in the plane.

Next, as a characteristic operation of the transfer robot of one embodiment, an operation of linearly moving the point I in the Z-axis direction is performed. Therefore, first, the third rotary drive mechanism 48
Thus, the first link member 38 is rotated around the rotation axis C in the arrow A1 direction. The first link member 38 has an arrow A
When rotated in one direction, the first link member 38, the second link member 40, and the third link member 42 move to 4 as described above.
Since the joint link mechanism is configured, the second link member 4
0 rotates in the direction of arrow A2, and the third link member 42 rotates in the direction of arrow A3. Then, as a result, the point I moves to the position of the point I ′ through a linear path in the Z-axis direction as illustrated. At this time, if the rotation speed of the first link member 38 is constant, the moving speed of the point I in the Z-axis direction is substantially constant, and complicated rotation speed control of the third rotation drive mechanism 48 is not required. It becomes possible to move the point I linearly in the Z-axis direction at a substantially constant speed.

On the other hand, when the second link member 40 rotates in the direction of arrow A2 as the first link member 38 rotates,
Since the first pulley 112 is fixed to the rotation block 26 and the first pulley 112 and the second pulley 82 are connected by the timing belt 114, the second pulley 82 is the second link member 40 of the second link member 40. Arrow B with rotation
Rotate in one direction. Since the second pulley 82 is fixed to the same rotating shaft 72 as the third pulley 76, when the second pulley 82 rotates, the third pulley 76 is rotated.
Rotate by the same rotation angle as the second pulley 82. Along with the rotation of the third pulley 76, the fourth pulley 88 connected to the third pulley 76 by the timing belt 90 rotates in the arrow B2 direction. Then, the rotating member 44 fixed to the fourth pulley 88 rotates in the arrow B1 direction, and as a result, the tool mounting member 46 rotates in the arrow B1 direction. That is, the third link member 4
When 2 rotates in the direction of arrow A3, the rotating member 44 and the tool mounting member 46 rotate in the direction opposite to this rotating direction. Accordingly, when the point I at the lower end of the tool attachment member 46 moves upward, the rotation member 44 and the tool attachment member 46 are moved.
Can move while maintaining their posture.

As described above, according to the transfer robot of the embodiment, the transfer object is linearly moved while maintaining its posture.
Moreover, it can be moved at a constant speed. However,
In order to move the point I linearly at a constant speed as described above, the length L1 of the first link member 38, the length L3 of the second link member 40, and the length of the third link member 42 are set. L4
And must be in a certain ratio. Also,
Similarly, in order for the rotating member 44 to move without changing its posture, the diameter D1 of the first pulley 112, the diameter D2 of the second pulley 82, the diameter D3 of the third pulley 76, and the fourth pulley 76 are used. The diameter D4 of 88 and the diameter D4 of 88 need to be set to a certain ratio.

The length ratio of these link members and the diameter ratio of the pulleys will be described below. First, the ratio of the lengths of the link members will be described. In one embodiment, the length L1 of the first link member 38, the distance L2 between the rotation axis C and the rotation axis D, and the second link member 40 are described. L3, the length L4 of the third link member 42, and the rotation axis F
And the distance L5 between the rotation axis G and L1: L2: L3: L4: L5 = 1: 2: 2.5: 2.
It is set to 5: 2.5.

By determining the lengths as described above, the linearity of the locus of movement from the point I to the point I'is very good.
Specifically, when L1 = 35 mm, for example, when the first link member 38 rotates 180 ° in the counterclockwise direction from the position shown in FIG. 1, the vertical direction of the point I (Z-axis direction). Is 140 mm, and the locus of movement of the point I at that time is as shown in FIG.

According to FIG. 5, the point I is 140 m in the Z-axis direction.
During the movement of m, the point I is 0.3 mm at the maximum in the horizontal direction (X
You can see that it moves in the axial direction). However, in the actual assembly work, the movement distance in the Z-axis direction is only required to be about 5 mm at most, so the movement amount in the X-axis direction at that time is 0.02 mm, which is sufficient for practical use. Becomes

FIG. 6 shows changes in the moving speed of the point I in the Z-axis direction when the first link member 38 is rotated at a constant speed (1 rps). When the moving distance of the point I in the Z-axis direction is from 21 mm to 119 mm,
It can be seen that the moving speed is substantially constant (293 mm / sec). This means that the work to be moved must be moved vertically at a constant speed (eg, coating work).
In the case of, it is shown that it is possible to cope with it by a very simple control of rotating the motor 50 at a constant speed.

Next, the ratio of the diameters of the pulleys will be described. In one embodiment, the diameter D1 of the first pulley 112, the diameter D2 of the second pulley 82, and the diameter D3 of the third pulley 76 are described. And the ratio of the diameter D4 of the fourth pulley 88 is set such that D2 / D1 = D3 / D4.

By setting the value of the diameter of each pulley as described above, the rotary member 44 always faces the same direction regardless of the rotation of the link member. This is very important when performing assembly work. Next, the influence of centrifugal force generated by the weight of the tool or hand attached to the tool attachment member 46 when the first arm 14 and the rotation block 26 rotate will be described.

7 and 8 are schematic views showing the positional relationship of the link members. Then, FIG. 7 shows a balance of forces generated in respective parts when a tool having a weight W is attached to the tool attachment member 46 when the positional relationship of the respective link members is in the state shown in FIG. Further, FIG. 8 shows the first arm 14 and the rotation block 26 in the same state as FIG. 7.
The case where the centrifugal force of the tool is applied to the tool mounting member 46 due to the rotation of FIG.

In these figures, the first link member 3
The torque T for rotating 8 is represented by T = L1 · F3. Here, as shown in FIGS. 7 and 8, the magnitude of F3 is equal to the weight W of the tool regardless of whether the centrifugal force does not act or the centrifugal force acts. Is also true. That is, it can be seen that the third rotary drive mechanism 48 for rotating the first link member 38 is not affected by the centrifugal force at all. This always holds even when the positional relationship between the link members is other than the state shown in FIG. Therefore, the motor 50 does not consume useless energy due to the influence of the centrifugal force, and the motor can be downsized.

In summary, the transfer robot of one embodiment has the following advantages. (1) Since there is no heavy object at the tip, the moving speed can be increased without increasing the size of the robot itself. (2) Since the centrifugal force generated when the first arm and the rotation block rotate does not load the rotation drive mechanism, the motor can be downsized and the robot can be downsized. (3) Since it is possible to perform linear movement at a constant speed by simply rotating one link member at a constant rotation speed, complicated calculation processing for control is not required, and high-speed movement operation is possible. Become. (4) Since the robot is composed of only rotating parts,
The joint part can be easily sealed and it can be used in a clean environment.

The present invention can be applied to modifications and variations of the above embodiments without departing from the spirit of the present invention. For example, in the above embodiment, the posture of the rotating member 44 is made constant by the first to fourth pulleys, but
As shown in FIG. 9, a fifth rotary drive mechanism 118 may be provided on the third link member 42, and the posture of the rotary member 44 may be corrected by this rotary drive mechanism 118.

[0050]

As described above, according to the transfer robot of the present invention, since there is no heavy object at the tip, the driving force does not increase, and the driving means can be downsized. As a result, The size of the robot can be reduced.
Further, since the linear motion at a substantially constant speed can be performed only by the rotary motion of one link, a complicated control device is not required and the cost of the robot can be reduced.

[Brief description of drawings]

FIG. 1 is a side view showing a configuration of a transfer robot according to an embodiment.

FIG. 2 is a sectional view taken along line AA in FIG.

3 is a sectional view taken along line BB in FIG.

FIG. 4 is a diagram showing an operation of the transfer robot.

FIG. 5 is a diagram showing linearity of transfer.

FIG. 6 is a diagram showing how the transfer speed changes.

FIG. 7 is a diagram showing a balance state of forces when centrifugal force does not act.

FIG. 8 is a diagram showing a force balance state when a centrifugal force is applied.

FIG. 9 is a diagram showing a modified example.

FIG. 10 is a diagram showing a state in which components are positioned and attached.

[Explanation of Codes] 10 Transfer Robot 12 Base 14 First Arm 16 First Rotation Drive Mechanism 18 Output Shaft 20 Motor 22 Reduction Mechanism 24 Rotation Detector 26 Rotation Block 28 Second Rotation Drive Mechanism 30 Output Shaft 32 Motor 34 deceleration mechanism 36 rotation detector 38 first link member 40 second link member 42 third link member 44 rotation member 46 tool attachment member 48 third rotation drive mechanism 50 motor 52 speed reduction mechanism 54 rotation detector 56 brake Mechanism 58 Output Shaft 59 Key 60 Sealing Member 62 Bearing 64 Rotating Shaft 66 Sealing Member 68 Bearing 70 Sealing Member 72 Rotating Shaft 74 Bearing 76 Third Pulley 78 Key 80 Friction Clutch 82 Pulley 84 Bearing 86 Sealing Member 88 Fourth Pulley 90 Timing belt 92 tension Pulley 94 bearing 96 sealing member 98 fourth rotating mechanism 100 output shaft 102 motor 104 speed reduction mechanism 106 rotation detector 108 bearing 110 sealing member 112 first pulley 114 timing belt 116 tension pulley 118 rotating mechanism

Claims (6)

[Claims] 1. A base, a first arm rotatably supported on the base in a first plane about a first point as a fulcrum, and the first arm on the first arm. A rotation block that is rotatably supported around a first rotation axis that is orthogonal to the first plane and that passes through a second point separated from the point by a first predetermined distance; and a third point on the rotation block. A first link member that is rotatable in a second plane that is orthogonal to the first plane with the fulcrum as a fulcrum, and a fourth block that is separated from the third point by a second predetermined distance in the rotation block. A second link member that is rotatable in a third plane parallel to the second plane with the point as a fulcrum, and a third predetermined distance from the third point to the first link member. Is rotatably supported in a fourth plane parallel to the second plane with a fifth point spaced apart as a fulcrum, and the second phosphorus. The member is rotatable in the fourth plane with a sixth point, which is separated from the fourth point by a fourth predetermined distance and is separated from the fifth point by a fifth predetermined distance, as a fulcrum. A supported third link member and a second rotation orthogonal to the second plane that passes through the third link member through a seventh point that is separated from the sixth point by a sixth predetermined distance. A rotating member rotatable about an axis; a first driving means for rotationally driving the first arm in the first plane; rotating the rotating block about the first rotating axis. A second drive means for driving the first link member, a third drive means for rotationally driving the first link member in the second plane about the third point as a fulcrum, and the rotary block. , A first plate fixed about an axis passing through the fourth point and orthogonal to the third plane. And a second link member that is integrally rotatable with respect to the second link member and the third link member about an axis that passes through the sixth point and is orthogonal to the third plane. A pulley, a third pulley, and the third link member, passing through the seventh point, the fourth link
A fourth pulley rotatably supported integrally with the rotating member about an axis orthogonal to the plane of the first belt, and a first belt stretched between the first pulley and the second pulley. A transfer robot, comprising: a second belt that is stretched between the third pulley and the fourth pulley. 2. The transfer robot according to claim 1, wherein a seal member is provided at a rotating portion of each joint. 3. The length ratio of the second predetermined distance, the third predetermined distance, the fourth predetermined distance, the fifth predetermined distance, and the sixth predetermined distance is 2: 1. : 2.5: 2.
The transfer robot according to claim 1, wherein the transfer robot is 5: 2.5. 4. The transfer robot according to claim 1, wherein the range of the rotation angle of the first link member is 120 °. 5. A base, a first arm rotatably supported on the base in a first plane about a first point as a fulcrum, and the first arm on the first arm. A rotation block that is rotatably supported around a first rotation axis that is orthogonal to the first plane and that passes through a second point separated from the point by a first predetermined distance; and a third point on the rotation block. A first link member that is rotatable in a second plane that is orthogonal to the first plane with the fulcrum as a fulcrum, and a fourth block that is separated from the third point by a second predetermined distance in the rotation block. A second link member that is rotatable in a third plane parallel to the second plane with the point as a fulcrum, and a third predetermined distance from the third point to the first link member. Is rotatably supported in a fourth plane parallel to the second plane with a fifth point spaced apart as a fulcrum, and the second phosphorus. The member is rotatable in the fourth plane with a sixth point, which is separated from the fourth point by a fourth predetermined distance and is separated from the fifth point by a fifth predetermined distance, as a fulcrum. A supported third link member and a second rotation orthogonal to the second plane that passes through the third link member through a seventh point that is separated from the sixth point by a sixth predetermined distance. A rotating member rotatable about an axis; a first driving means for rotationally driving the first arm in the first plane; rotating the rotating block about the first rotating axis. A second driving unit for driving the first link member, a third driving unit for rotationally driving the first link member in the second plane with the third point as a fulcrum, and the rotating member. And a fourth driving means for rotationally driving about the second rotation axis. robot. 6. A base, a first arm rotatably supported by the base on a first point as a fulcrum in a first plane, and the first arm having the first arm. A rotation block that is rotatably supported around a first rotation axis that is orthogonal to the first plane and that passes through a second point separated from the point by a first predetermined distance; and a third point on the rotation block. A first link member that is rotatable in a second plane that is orthogonal to the first plane with the fulcrum as a fulcrum, and a fourth block that is separated from the third point by a second predetermined distance in the rotation block. A second link member that is rotatable in a third plane parallel to the second plane with the point as a fulcrum, and a third predetermined distance from the third point to the first link member. Is rotatably supported in a fourth plane parallel to the second plane with a fifth point spaced apart as a fulcrum, and the second phosphorus. The member is rotatable in the fourth plane with a sixth point, which is separated from the fourth point by a fourth predetermined distance and is separated from the fifth point by a fifth predetermined distance, as a fulcrum. A supported third link member and a second rotation orthogonal to the second plane that passes through the third link member through a seventh point that is separated from the sixth point by a sixth predetermined distance. A rotating member rotatable about an axis; a first driving means for rotationally driving the first arm in the first plane; rotating the rotating block about the first rotating axis. A second driving means for driving the second link member, a third driving means for rotationally driving the second link member in the third plane with the fourth point as a fulcrum, and the rotary block. , A first plate fixed about an axis passing through the fourth point and orthogonal to the third plane. And a second link member that is integrally rotatable with respect to the second link member and the third link member about an axis that passes through the sixth point and is orthogonal to the third plane. A pulley, a third pulley, and the third link member, passing through the seventh point, the fourth link
A fourth pulley rotatably supported integrally with the rotating member about an axis orthogonal to the plane of the first belt, and a first belt stretched between the first pulley and the second pulley. A transfer robot, comprising: a second belt that is stretched between the third pulley and the fourth pulley.