JPH0547894U - Camera mounting mechanism for horizontal articulated robot - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a camera mounting mechanism that facilitates teaching work in a horizontal articulated robot. [Arrangement] In a horizontal articulated robot, the camera is rotatably held and connected in a one-to-one relationship with the work axis in the rotation direction, and the camera follows the rotation of the work axis that is interlocked with the rotational movement of the robot arm. Rotates. [Effect] Since the tilt of the coordinate axis of the camera with respect to the work axis due to the rotational movement of the arm is corrected, the coordinate operation in the robot control device is not necessary and the teaching work is facilitated.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a camera mounting mechanism used by being mounted on an industrial robot.

[0002]

[Prior Art]

 For example, as shown in FIG. 2, a horizontal articulated robot that performs various works on a work with high positional accuracy is known. A drive unit 8 is provided on the base unit 7, and the drive unit rotatably supports the first arm 9 around the first shaft 10 in the direction of the arrow θ1. Further, the first arm 9 is provided with a drive unit (not shown) for driving the second arm 12, and the first arm 9 rotates the second arm 12 around the second shaft 11 in the direction of the arrow θ 2. It supports freely. Subsequently, the second arm 12 supports the work shaft 6, and the work shaft 6 is configured to rotate and ascend / descend in the directions of the two axes of arrow R 1 and arrow Z 2 by two driving means (not shown). . The camera 1 is attached to the second arm 12, and the first arm 9 and the second arm 12 are pivotally moved to recognize the work 13 by the camera 1 and grasp the work position with high accuracy. The controller does not teach the robot.

[0003]

[Problems to be solved by the device]

 In the horizontal articulated robot as described above, for example, when the second arm 12 is rotationally moved in the arrow t direction as shown in FIG. 4 which is a plan view of the horizontal articulated robot viewed from above, When the control device (not shown) teaches the robot its movement based on the workpiece coordinate system, the coordinate axis 14 of the workpiece 13 is tilted with respect to the workpiece coordinate axis 15, and the position information of the camera coordinate system of the workpiece 13 detected by the camera 1 is displayed. Work coordinates had to be converted into position information, complicating robot teaching work. An object of the present invention is to solve this problem and provide a camera mounting mechanism for a horizontal articulated robot that is easy to teach.

[0004]

[Means for Solving the Problems] In order to achieve the above object, in the present invention, a camera is rotatably held via a bearing, and a pair of rotary shafts of the camera are provided in a rotating direction of a work shaft by a timing belt or the like. A unit is provided which is connected to the camera and corrects the rotation of the camera coordinate axis with respect to the workpiece coordinate axis.

[0005]

[Action]

 The horizontal articulated robot of the present invention configured as described above rotates the work shaft by rotating the work shaft in conjunction with the rotation movement of the arm in the teaching work of the robot using the camera. The camera is rotated by the same amount as the amount of movement, and the inclination of the camera coordinate axis with respect to the workpiece coordinate axis is kept constant.

[0006]

【Example】

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a horizontal articulated robot equipped with the camera mounting mechanism of the present invention. FIG. 3 is a sectional view and a mechanical view showing the camera mounting mechanism of the present invention. The camera 1 is rotatably held by bearings 2. The pulley 5 rotates in conjunction with the work shaft 6 by a mechanism (not shown). The camera 1 is connected by a pulley 3, a timing belt 4 and a pulley 5 in a one-to-one manner in the rotating direction of the work shaft 6. The work shaft 6 is rotated by the drive unit 16 so as to follow the rotational movement of the first arm 9 and the second arm 12, and is constantly facing the same direction with respect to the work 13. That is, when the first arm 9 and the second arm 12 rotate, the drive shaft 16 rotates the work shaft 6, and the pulley 5 rotates in conjunction with the work shaft 6. Then, the rotational movement of the pulley 5 is transmitted to the pulley 3 via the timing belt 4, and the camera 1 rotates with the rotation of the pulley 3. Since the camera 1 and the work shaft 6 are connected in a one-to-one manner in the rotation direction of the work shaft 6, the rotation of the camera 1 is to correct the inclination of the coordinate system 14 of the camera with respect to the work coordinate system 15. Become.

In the above embodiment, the tilt of the coordinate axis of the camera with respect to the work coordinate axis is corrected by transmitting the rotation of the work shaft 6 to the camera 1 by the timing belt 4 and the pulleys 3 and 4. It suffices that the work shaft 6 and the camera 1 be connected one-to-one in the rotating direction of the work shaft 6. For example, as shown in FIG. 5, a gear 105 interlocking with the work shaft 6, a gear 103 having the same number of teeth as the gear 105 and interlocking with the camera 1, and a gear for transmitting the rotation of the gear 105 to the gear 103. The same effect can be obtained by using 104 and.

[0009]

[Effect of the device]

 As is clear from the above description, in the horizontal articulated robot that operates based on the position information of the workpiece detected by the camera, the camera mounting mechanism according to the present invention allows the coordinate axis of the camera to move as the arm moves. Since the tilt of the robot is corrected with respect to the workpiece coordinate axis along with the rotational movement of the arm, when the robot controller teaches the robot the movement, the position information of the camera coordinate system detected by the camera is used as in the conventional robot controller. There is no need to convert the coordinates to coordinate system position information, and easy teaching operations are possible.

[Brief description of drawings]

FIG. 1 is a front view of a horizontal articulated robot equipped with a camera mounting mechanism according to an embodiment of the present invention.

FIG. 2 is a front view of a horizontal articulated robot equipped with a conventional camera mounting mechanism.

FIG. 3 is a plan view when a second arm of a horizontal articulated robot equipped with a conventional camera mounting mechanism is rotationally moved.

FIG. 4 is a camera mounting mechanism of a horizontal articulated robot according to an embodiment of the present invention.

FIG. 5 is a camera mounting mechanism of a horizontal articulated robot according to a second embodiment of the present invention.

[Explanation of symbols]

 1 Camera 2 Bearing 3 Pulley 4 Timing Belt 5 Pulley 6 Working Axis 7 Base Section 8 Drive Section 9 First Arm 10 First Axis 11 Second Axis 12 Second Arm 13 Work 103 Gear 104 Gear 105 Gear Gear

Claims (1)

[Scope of utility model registration request] 1. A horizontal articulated robot that operates based on position information of a work detected by a camera, and has a work shaft that rotates with the movement of an arm that constitutes the robot and a rotating mechanism for the work shaft. In the robot,
A camera for a horizontal articulated robot, comprising a bearing for rotatably holding the camera and a rotating mechanism for connecting the rotating shaft of the camera in a one-to-one correspondence with the rotating direction of the working shaft. Attachment mechanism.