JPH06126663A - Double-armed robot - Google Patents

Abstract

PURPOSE:To secure a double-armed robot capable of preventing any damage due to an interference between an arm and a work and of improving the extent of operation efficiency without increasing any floor space. CONSTITUTION:Two ball screws 2A, 2B are parallelly housed in a drum 1 serving as a first shaft, and there are provided two support parts 3a, 3b to be driven up and down by these ball screws. Each base end of two arms 4A, 4B serving as a second shaft is connected to these support parts 3a, 3b, and two arms 6A, 6B serving as a third shaft are connected to each tip of these arms 4A, 4B. In addition, each of end effectors 8A, 8B is connected to each tip of these arms 6A, 6B as well.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot, and more particularly to a multi-arm robot.

[0002]

2. Description of the Related Art As is well known, industrial bots have a rectangular coordinate robot, a cylindrical coordinate robot, a rectangular coordinate robot, from the viewpoint of the operating mechanism, as defined in the Japanese Industrial Standard (JIS B0134).
There are polar coordinate robots and joint robots, but in any type of industrial robot, the number of axes that constitute the degree of freedom of movement is the same as the number of operating axes on the mechanism, and for one degree of freedom Is composed of one motion axis.

FIG. 4 is a perspective view showing the schematic construction and operation of these industrial robots. Of these, Figure 4 (a)
Is a so-called rectangular Cartesian robot, (b) is a general Cartesian robot, (c) is a parallel link polar coordinate robot, (d) is a horizontal articulated joint robot,
(E) shows an example of a cylindrical coordinate robot, and (f) shows an example of a vertical articulated joint robot.

In this robot, the Cartesian coordinate robot of FIG. 4 (a) has its first axis moved horizontally as indicated by arrow Q1 and its second axis in the direction orthogonal to the first axis as indicated by arrow Q2. It also works horizontally. Further, the third axis moves vertically as indicated by the arrow Q3 to move in the three-dimensional space inside the portal structure. Further, in the Cartesian coordinate robot of FIG. 4B, the first axis that operates in the direction of arrow R1, the second axis that operates in the direction of arrow R2, and the third axis that operates in the direction of arrow R3 Operates in a three-dimensional space.

In the polar coordinate robot shown in FIG. 4 (c),
The first shaft pivots as shown by arrow S2, the second shaft pivots as shown by arrow S2, and the third shaft pivots as shown by arrow S3. Further, the joint robot shown in FIG. 4D has a first axis that moves up and down in a direction indicated by an arrow T1 and an arrow T.
The cylindrical space is operated by the second shaft that rotates in the direction indicated by 2, the third shaft that rotates by the arrow T3, and the fourth shaft that rotates by the arrow T4.

Further, the cylindrical coordinate robot shown in FIG. 4 (e) has a first axis that moves up and down as shown by an arrow U1, a second axis that turns as shown by an arrow U2, and as shown by an arrow U3. The third space that moves forward and backward and the fourth shaft that rotates as indicated by arrow U4 operate in a cylindrical space. Also, FIG.
The joint robot shown in (f) has a first axis that turns as shown by arrow V1, a second axis that vertically turns at the upper end of this first axis as shown by arrow V2, and a tip of this second axis. With a third axis that turns more vertically as indicated by arrow V3 and a fourth axis that rotates at the tip of this third axis as indicated by arrow V4, a fan-shaped three-dimensional structure with the upper end of the first axis as a base point To work in space.

FIG. 5 is an enlarged detailed perspective view showing an example of the horizontal articulated robot shown in FIG. 4 (d), which is an example applied to the palletizing work. In FIG. 5, a uniaxial drive unit 32 accommodating a ball screw, a guide unit, and the like (not shown) is provided inside a body 31 which is erected vertically on the installation surface. This one-axis drive
A substantially U-shaped support portion 3 a of the biaxial drive portion 3 is connected to the shaft 32. An AC servomotor for two-axis drive that rotates as shown by an arrow P1 (hereinafter,
The motor 3b is fixed vertically.

A rotation detector (not shown) is attached to a shaft end (not shown) protruding above the motor 3b, and a base end of a biaxial arm 4 is connected to the output shaft protruding below. At the tip of the arm 4, a motor (not shown) for driving three axes (not shown) that rotates about the swivel shaft 5 as an axis as shown by an arrow P2 is vertically housed coaxially with the swivel shaft 5 together with a rotation detector. A motor (not shown) housed at the tip of the arm 4 is connected to the output shaft to the base end of an arm 6 for three axes, and the tip of the arm 6 has a rotary shaft 7 as an axis as shown by an arrow P3. A rotating motor (not shown) for driving four axes (not shown) and a rotation detector are vertically housed coaxially with the rotating shaft 7. The output shaft of a motor (not shown) housed at the tip of the arm 6 is connected to the central axis of an end effector 8 having a suction mechanism provided on the lower surface, and the lower surface of the end effector 8 is connected to the work 9 on the upper surface of the conveyor 10. Are adsorbed.

In the horizontal articulated industrial robot thus configured, the conveyor 10 is used to
When the works 9 carried to the right end of 10 are transferred and stacked on the right pallet 11, first, the uniaxial drive unit 32 is driven to position the support unit 3a at a predetermined height. next,
The two-axis drive unit 3 and the three-axis drive motor and the four-axis drive motor are driven to position the end effector 8 above the work 9 at a predetermined angle, and further the 1-axis drive unit 32 is moved downward slightly. The suction portion on the lower surface of the end effector 8 is brought into close contact with the upper surface of the work 9 by driving the motor.

After that, the air pressure source connected to the end effector 8 is operated to adsorb the work 9 by the end effector, and then the uniaxial drive unit 32 is slightly driven upward to lift the work 9. Next, the two-axis driving unit 3 and the three-axis driving motor and the four-axis driving motor are driven to drive the arms 4, 6
5 is rotated to the right in FIG. 5 to position the end effector 8 at a predetermined position above the pallet 11 at a predetermined angle.

Next, the uniaxial drive unit 32 is driven slightly downward to bring the lower surface of the end effector 8 into contact with the upper surface of the pallet 11 and release the air pressure source to move the work 9 to a predetermined position on the pallet 11. Place it in the position. Hereinafter, the 1-axis drive unit 32 is slightly driven to drive the arms 4, 6 and the end effector 8.
Lift, turn to the left and repeat the above work.

Next, FIG. 6 shows a case where the Cartesian coordinate robot shown in FIG. 4B is installed in a conveyor line and applied to a work assembling work. In FIG. 6, on the left side of the bed 22A installed on the left side, for the first axis that is horizontally driven in the direction indicated by the arrow J1 by a motor for single axis drive (not shown) housed in the left part of the bed 22. The body 23A is erected. At the upper end of the body 23A, a motor or a ball screw (not shown) housed in the body 23A vertically drives the body 23A in a direction indicated by an arrow K1, and a motor for driving a third axis inside the body 23A indicates a direction indicated by an arrow L1. The arms 24A for the second and third axes that are driven by are horizontally connected. Further, a fourth shaft end effector 25 driven as indicated by an arrow M1 is connected to the tip of the arm 24A.

Similarly, on the left side of the bed 22B installed on the right side, a first axis which is horizontally driven in the direction indicated by the arrow J2 by a motor (not shown) housed on the left side of the bed 22B for driving one axis is shown. A torso 23B is erected. In the middle portion of the body 23B, a motor or a ball screw (not shown) housed in the body 23B is driven to move up and down in a direction indicated by an arrow K2, and a motor for driving a third axis inside itself is indicated by an arrow L2. The arms 24B for the second and third axes which are driven as described above are laterally connected. Furthermore, at the tip of this arm 24B, an arrow M
An end effector 26 having a built-in gripping mechanism driven as indicated by 2 is connected.

In the Cartesian robot having the above structure, the arrow X is drawn from the right side of the conveyor 20 for transferring the work.
As shown in FIG. 1, the work piece 21 is conveyed and positioned at a predetermined position.
When assembling the works 28A and 28B which are fed and positioned as shown by the arrow Y on the supply conveyor 30 installed in the direction orthogonal to 20, the following steps are performed.

First, the arm 24 of the right-sided rectangular coordinate robot 19B.
After driving B to move it forward and lower it, the end effector 26 is driven to grip the work 28B. After driving the motor housed in the body 23B to raise the arm 24B, the arm 24B is retracted and lowered to load the work 28B to a predetermined position on the work 21. Next, after raising the arm 24B and driving the torso 23B to the left, the arm 24B is driven to move forward and lowered, and then the end effector 26 is driven to grip the work 28A. After driving the motor housed in the torso 23B to raise the arm 24B, the arm 24B is retracted and lowered to move the work 28A to the work 21A.
Load it in place.

Next, when the conveyor 20 is driven by a predetermined distance and the work 21 is positioned at a predetermined position in front of the Cartesian robot 19A on the left side, the body 23A, the arm 24A and the end effector 25 are driven. Then, the works 28A and 28B are screwed to the work 21 and assembled. When the workpieces 28A and 28B are attached by screw tightening with the Cartesian robot 19A on the left side, the Cartesian robot on the right side is used.
At 19B, the loading work of the works 28A and 28B described above is performed.

[0017]

However, in such a conventional single-arm type industrial robot, the work 9 is carried at the same takt time as the conveyor 10 shown on the left side in FIG. 5, for example. An incoming conveyor is also installed on the right side of the body 31, and when stacking the works 9 carried on this conveyor on the pallet 11, one more robot must be installed on the right side. Then, not only the floor area for installing the second robot is required, but also depending on the operation state of the arms of the two robots, the robot is transported by the end effector at the tip of both robots or this end effector. Workpieces contact each other,
May fall or be damaged.

On the other hand, also in the work of assembling the work by the Cartesian coordinate robot shown in FIG. 6, the work of loading and fixing the work becomes another work process by the robot, and not only the place for installing the robot increases but also the work 21. There is a risk that the work loaded on the robot will be displaced or fall due to vibration of the conveyor 20 while being conveyed to the front of the robot on the left side.

Therefore, as shown in FIGS. 7 (a) to 7 (d), the adhesive 38 is applied to the upper surface of the work 21, or the fixing means such as the dowel 39B, the guide 39A and the presser 39C is attached to the work 21. Must be provided on the upper surface of. Moreover, this not only has to be changed every time the shape of the work is changed, but these problems are common regardless of the type of the industrial robot described above with reference to FIG. Therefore, an object of the present invention is to obtain a multi-arm robot capable of preventing damage due to interference of an arm and a work and increasing work efficiency without increasing the installation area.

[0020]

The invention according to claim 1 is a multi-arm comprising a plurality of arms movably connected to a fixed part and a drive part for individually driving the plurality of arms. It is a robot.

The invention according to claim 2 is a multi-arm robot comprising a plurality of arms movably connected to a fixed part and a common drive part for simultaneously driving the plurality of arms. .

[0022]

According to the first aspect of the invention, the plurality of arms perform a plurality of times the work of the single-arm robot, with a single supporting portion as a base point.

Further, in the invention described in claim 2,
With respect to the plurality of arms, a single support unit serves as a base point, and a single drive unit performs a plurality of times of work of the single-arm robot.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a multi-arm robot of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a multi-arm robot according to a first aspect of the present invention, which is applied to a palletizing work and corresponds to FIG.

In FIG. 1, a pair of conveyors 10A, 10B
1 of the horizontal articulated multi-arm robot installed at the end of the robot
Ball screws 2A, 2B are provided in parallel in the vertical direction on the front side of the ball screws 2A, 2B, and guide parts not shown in detail are provided on both sides of the ball screws 2A, 2B.
It is provided in parallel with 2B.

A nut portion (not shown) is fitted to each of the ball screws 2A and 2B, and substantially U-shaped support portions 3a and 3b are fixed to the front surfaces of the nut portions with the opening sides facing forward. ing. Further, the lower ends of the ball screws 2A and 2B are respectively connected to a pair of uniaxial drive motors (not shown).

A motor 3A for a two-axis drive unit is vertically mounted on the upper portion of the support unit 3a with the rotating output shaft facing downward as indicated by arrow B1. A base end of a biaxial arm 4A is connected to an output shaft of the motor 3A, and a tip end of the arm 4A has an arrow C with a turning shaft 5A as an axis.
A motor for three axes (not shown) that rotates as indicated by 1 is stored.

A base end of an arm 6A for three axes is connected to an output shaft of the motor for three axes, and a tip end of the arm 6A rotates about a rotary shaft 7A as indicated by an arrow D1. A four-axis motor (not shown) is housed, and a central axis of the end effector 8A is connected to an output shaft of the four-axis motor. The end effector 8A has a suction mechanism (not shown) that is operated by pneumatic pressure on the lower surface side.

A pallet 11 is placed in front of the body 1,
On the left side of the body 1, the end of the conveyor 10A is provided, and the end of the conveyor 10A is shown in FIG.
A work 9 which is conveyed from the left end (not shown) of A and is stopped and positioned at a predetermined position is positioned.

Similarly, on the upper portion of the support portion 3b, the motor 3
A two-axis drive motor 3B having the same shape as A is vertically mounted with the output shaft that rotates as indicated by arrow B2 facing downward. The output shaft of the motor 3B is connected to the base end of a biaxial arm 4B, which is the same product as the arm 4A, and the tip end of the arm 4B rotates about the turning shaft 5B as indicated by an arrow C2. A three-axis motor (not shown) is housed.

The output shaft of the three-axis motor is connected to the base end of a three-axis arm 6B which is the same as the arm 6A.
A motor for four shafts (not shown) that rotates about the rotary shaft 7B as shown by an arrow D2 is housed at the tip of the arm 6B. The output shaft of the motor for four shafts is the same as the end effector 8A. The central axis of the end effector 8B of the product is connected. The end effector 8B has a suction mechanism (not shown) that operates by pneumatic pressure on the lower surface side. On the right side of the body 1, a conveyor 10B is provided with an end portion, and at the end portion of the conveyor 10B, a work (not shown) conveyed from the left end (not shown) of the conveyor 10B in FIG. 1 and stopped and positioned at a predetermined position is positioned. positioned.

In the thus constructed multi-arm robot, when the work 9 sent to the end of the left and right conveyors 10A and 10B is transferred to the pallet 11, the left and right arms 4A and 6A are arranged. Palletizing is performed by simultaneously rotating the arms 4B and 6B forming the right single arm to the left and right.

That is, as shown in FIG. 1, for example, when the right arm 4B, 6B and the end effector 8B are driven to stack the works 9 on the pallet 11, the left arm 4A, 6A and the end effector 8A ,
The suction work of the work 9 stopped at the end of the left conveyor 10A is performed. Next, when the work 9 stopped at the end of the right conveyor 10B is adsorbed by the right single arm, the work 9 is stacked on the pallet 11 by the left single arm.

Therefore, since the works 9 conveyed by the left and right conveyors 10A and 10B can be successively and alternately transferred to the pallet 11, simple calculation can be performed as compared with the single-arm robot shown in FIG. Can palletize twice as fast.

Further, the floor surrounded by the left and right conveyors 10A, 10B and the pallet 11 needs only the installation area of one single-arm robot, so that the restriction on the space for introducing the robot can be eliminated. it can. Furthermore, since the left and right single arms are controlled by one control box, it is not necessary to exchange interlocks between robots when two robots are installed, so that there is no risk of mutual interference between the arms.

In FIG. 1, the left and right support portions 3a,
By increasing the difference in the vertical position of 3b, it is possible to transfer the work sent by one conveyor to the pallet without interfering each arm. Furthermore, transfer from one pallet to one or two conveyors can be performed in the same manner.

FIG. 2 shows a case where the support portions 3a and 3b provided on the front side of the case 1 so as to be movable up and down are driven by one motor as shown by an arrow A3. In this case, the works 9 conveyed to the left and right conveyors 10A and 10B have the same height,
At the bottom of the pallet 11, as shown in FIG. 2, a lifter 13 is required so that the transferred work 9 has the same height as the work 9 on the conveyors 10A and 10B.

In this case, since there is only one ball screw inside the body 1, the guide portion and the actuator for the first shaft, there is an advantage that the structure of the body 1 becomes simple.

Next, FIG. 3 shows a case of the Cartesian robot type multi-arm robot shown in FIGS. 4B and 6. In FIG. 3, on the left side of the bed 22, by a motor for uniaxial drive (not shown) housed in the left part of the bed 22,
A cylinder 23 for the first axis that is horizontally driven in the direction indicated by arrow J1.
A and 23B are erected facing each other. Of these, the torso 23A
At the upper end of the cylinder 23A, a motor or a ball screw (not shown) housed in the barrel 23A vertically drives in the direction indicated by arrow K1, and a motor for driving a third shaft inside itself is driven as indicated by arrow L1. Arms 24A for the second and third axes are horizontally connected. Furthermore, an arrow M is attached to the right end of the arm 24A.
A fourth axis end effector 25 driven as shown in FIG.
Are connected.

Similarly, in the middle part of the right-side body 23B, a motor or a ball screw (not shown) housed in the body 23B drives it up and down in the direction indicated by the arrow K2 to drive the third axis inside itself. The arms 24B for the second and third axes, which are driven by the motor as indicated by the arrow L2, are laterally connected. Further, a fourth shaft end effector 26, which is driven as shown by an arrow M2, is connected to the right end of the arm 24B.

In the Cartesian coordinate type multi-arm robot configured as described above, the left end effector 25 is screwed to assemble the parts positioned and placed in the predetermined positions by the right end effector 26. The work can be continuously performed by one multi-arm robot.

[0042]

As described above, according to the invention of claim 1,
By configuring a multi-arm robot with a plurality of arms movably connected to the fixed part and a drive part that individually drives the plurality of arms, the plurality of arms are operated with a single support part as a base point, Since the work is performed multiple times as compared with the single-arm robot, it is possible to obtain a multi-arm robot that can prevent damage due to interference of the arm and the work and increase work efficiency without increasing the installation area.

According to a second aspect of the present invention, a multi-arm robot is configured by a plurality of arms movably connected to a fixed part and a common drive part for simultaneously driving the plurality of arms. In this way, multiple arms were actuated by a single drive part with a single support part as the base point, and the work was performed multiple times as much as a single-arm robot, so damage due to interference of arms and works was prevented, and work was performed. A multi-arm robot that can improve efficiency can be obtained.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a multi-arm robot of the invention according to claim 1.

FIG. 2 is a perspective view showing an embodiment of a multi-arm robot according to claim 2;

FIG. 3 is a perspective view showing another embodiment of the invention described in claim 1.

FIG. 4 is a perspective view showing an outline of a typical example of a conventional single-arm type industrial robot by type.

FIG. 5 is a detailed perspective view showing an example of a conventional single-arm type cylindrical coordinate type industrial robot.

FIG. 6 is a perspective view showing an example of work performed by a conventional single-arm rectangular coordinate type industrial robot.

FIG. 7 is a perspective view showing an operation of a conventional single-arm rectangular coordinate type industrial robot.

[Explanation of symbols]

1 ... a body to be a fixed part, 2A, 2B ... a ball screw,
3A, 3B ... Motor, 4A, 4B, 6A, 6B ... Arm, 5A, 5B ... Swivel axis, 7A, 7B ... Rotation axis, 8A,
8B ... end effector, 9 ... work, 10A, 10B ... conveyor, 11 ... pallet, 13 ... lifter.

Claims (2)

[Claims] 1. A multi-arm robot comprising a plurality of arms movably connected to a fixed part and a drive part for individually driving the plurality of arms. 2. A multi-arm robot comprising a plurality of arms movably connected to a fixed part and a common drive part for simultaneously driving the plurality of arms.