JPH07129210A - Mass distribution determining method for multi-axial mechanism, acceleration/deceleration feature parameter determining method, mass distribution and acceleration/ deceleration feature parameter simultaneous determining method, and additional mass mounted robot and specific mass distribution equipped robot having mass distribution based on the same mass distribution determining method - Google Patents

Abstract

PURPOSE:To provide the mass distribution determining method for the multi-axial mechanism having optimum additional mass parameters for motor characteristics, robot arm mass distribution, and operation conditions when operation conditions of the multi-axial mechanism having inter-axis interference are given. CONSTITUTION:Dynamic interference between robot arms 2 and 4 is reduced by determining the mass distribution and acceleration/deceleration feature parameters of the robot so that restriction conditions are met with basic parameters and operation conditions and an evaluation function expressed with the restriction condition margin is maximized. Additional mass parameters can be determined unconditionally so as to consider speed variation characteristics of maximum torque which can be generated by a motor 3 and temperature rise characteristics of a motor 3 as the restriction condition evaluation function; and additional mass can be made smaller than that of conventional technology, so there is the advantage that the robot body can be reduced in weight.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot having a horizontal multi-joint type or a vertical multi-joint type arm mechanism.

[0002]

2. Description of the Related Art Conventionally, as a standard for determining the mass distribution of a robot arm, the prior art (1) (Proceedings of the Society of Instrument and Control Engineers, Vol. 20, No. 12, No. 1161 to No. 1168).
Pp. 59-12), the center of mass of the entire arm (including hand load mass) other than the first arm is set to the first arm.
It is stated that the method of setting it on the longitudinal centerline of the frame improves the controllability.

Prior art (2) (Journal of the Robotics Society of Japan, Vol. 5, No. 1, pages 67 to 71, Sho 62-2)
It is stated that high speed operation can be realized by applying the mass distribution described in the prior art (1) to the horizontal articulated robot as described in (1).

Further, the prior art (3) (Japanese Patent Laid-Open No. 3-245)
No. 978), a configuration of a horizontal articulated robot having a drive mechanism for moving an additional mass in order to realize the prior arts (1) and (2) is described.

Further, the prior art (4) (Japanese Patent Laid-Open No. 3-245)
No. 208), it is possible to achieve matching of drive motor characteristics, acceleration / deceleration patterns, and mechanism mass distribution by providing a counterweight in a multi-axis mechanism with inter-axis interference. Has been.

Further, as an acceleration / deceleration control technique for realizing a high-speed operation of a moving body, the conventional method of determining an acceleration / deceleration curve,
The optimization method, vibration suppression by mounting a dynamic vibration absorber, and method of giving initial value of integral term of variable structure control system have been proposed.

[0007]

In the prior arts (1) to (3) relating to the norm of mass distribution of a robot, the center of mass of an arm other than the first arm is set to the longitudinal center of the first arm. Although it is shown on the line, the problem is that it is not the first arm.
Since only the value of the product of the lumped mass of the arm and the distance from the longitudinal centerline of the first arm is determined, the lumped mass of the arm and the distance from the longitudinal centerline of the first arm are unique. There is a drawback that it cannot be specified in.

Further, the lumped mass required by this method has a considerably large value, and there is a question that it may not be optimal for realizing high-speed operation, and there is also a problem to reduce the weight of the robot body. .

Further, the prior art (4) has a problem that a guideline regarding how to determine the mass and installation position of the counterweight is not described.

Further, with regard to the conventional acceleration / deceleration control technology for realizing high-speed operation of the moving body, optimization by the acceleration / deceleration control technology alone has been studied, and it is optimized together with the mass distribution of the robot arm. There was a problem that it was not planned.

An object of the present invention is to optimize the mass distribution of robots.

[0012]

According to the present invention, in order to optimize the mass distribution of a robot, an additional mass parameter (added mass / additional mass installation position) is provided when an additional mass is provided in the tip arm. ) Is a neck due to the torque margin, the required average torque of the motor, the required average speed of the motor, and the temperature rise of the motor when the operating conditions are given. , The margin for the temperature rise threshold of
Further, it is realized by simultaneously optimizing the additional mass parameter and the acceleration / deceleration parameters of the acceleration / deceleration pattern of each axis drive motor.

[0013]

The mass distribution determination method of the multi-axis mechanism with inter-axis interference according to the present invention is capable of generating dynamic interference between each axis motor of the robot and generation of each axis motor depending on the operating conditions of the robot. Considering the maximum driving force (torque) and temperature rise characteristics of each axis motor,
Since the margin is designed to have an extreme value, the mass distribution can be uniquely determined, and as a result, the additional mass can be made smaller than the theoretical value of the conventional technique.

Further, in the additional mass mounting robot designed based on the mass distribution determining method of the present invention, the control system of the drive motor is configured so as to follow the acceleration / deceleration pattern of the drive motor. ， It is possible to follow good acceleration / deceleration pattern and shorten the operation time.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the mass distribution determining method for a multi-axis mechanism with inter-axis interference according to the present invention will be described with reference to FIGS. FIG. 1 is a flow chart of the mass distribution determination method of the present invention, FIG. 2 shows the appearance of a series mechanism horizontal articulated robot as an example of an additional mass mounting robot, and FIG. 3 shows a rigid body model of the robot of FIG. Fig. 4 shows an example of the maximum torque / speed that can be generated by the motor, Fig. 5 shows an example of the temperature rise characteristics of the motor direct-connection encoder part, and Fig. 6 shows an example of the operation pattern.
FIG. 7 shows an example of the motor acceleration / deceleration pattern, FIG. 8 shows the operation duty of the motor, and FIGS. 9 and 10 show the robot 1 and 2 of FIG. 2 before the mass distribution is determined. FIG. 11 and FIG. 12 show the time changes of the required torque of the 1 and 2 axis motors of the robot of FIG. 2 using the mass distribution determining method of the present invention.

The problem to be dealt with here is that in order to realize a high-speed positioning operation of a multi-axis mechanism having inter-axis interference, the mechanism (dynamics) parameters, motor specifications, and acceleration / deceleration pattern acceleration / deceleration patterns are used. Deceleration curve characteristic parameter (constant value), additional mass parameter (mass, installation position) initial value (0 when assuming additional mass attachment that can reduce the absolute value of the interference term in the dynamic equation) However, if the operating conditions {operation start point, operation end point, operation duty (see FIG. 8, later described), hand load mass} are given, the following constraint conditions are satisfied. , And the mass distribution is determined by determining the additional mass parameters so that the evaluation function takes the extreme value.

Constraint conditions: Motor torque margin of each axis is positive. Margin for temperature increase of neck temperature of each axis motor is positive. The margin is smaller than the maximum value of additional mass parameter setting. Weighted square sum of ## EQU1 ## An example in which this mass distribution determination method is applied to a direct drive type (D / D type) series mechanism horizontal articulated robot shown in FIG. . The robot shown in FIG. 2 has a first arm 2 which is rotationally driven by a single-axis motor 1 and a second arm which is rotationally driven by a biaxial motor 3 provided at the tip of the first arm. 4, a wrist shaft 5 provided at the tip of the second arm 4 and driven in the vertical direction (3 axes) and the rotating direction (4 axes). In the figure, three- and four-axis motors are provided in the vicinity of the two-axis motor 3, and the belt is used as the second motor.
Power is transmitted to the tip of the shaft, the ball screw enables vertical movement, and the ball spline enables rotational movement. A fixed or detachable additional mass 6 (mass Δm) is attached to the biaxial motor 3 of the second arm 4 at a position of a distance lm on the side opposite to the wrist shaft 5. As will be described later, this serves to reduce interference components, centrifugal torque and Coriolis torque components in the motor dynamic equation, and realizes high-speed operation. In this robot, the vertical movement is independent movement of only three axes, and since the four axes contribute to the posture determination of the lower end of the wrist axis 5, they can be handled separately. on the other hand,
Although the 1st and 2nd axes realize horizontal positioning operation by their combined operation, they have dynamic interference with each other, and the required torque of the mechanism motor is strongly influenced by the mass distribution of the robot arm. Therefore, here, we focus on the horizontal positioning operation by the combined operation of the 1 and 2 axes to maximize the motor torque margin.

FIG. 3 shows dynamic parameters when the robot arm of the robot of FIG. 2 is modeled by a rigid body. The kinetic equation based on this model is shown by the following equation.

[0019]

[Equation 1]

Here, the inertia moment Jij is expressed by the following equation.

[0021]

[Equation 2]

Where Tj: j-axis motor torque, Ji
j: inertial moment, θj: j-axis acceleration, θj: j-axis velocity, θj: j-axis angle.

Here, according to the theory of the prior art, m ₂ l ₂ + m
₀ a ₂ −Δmlm = 0.

The relationship between the maximum torque that can be generated by the motor (including the characteristics of the motor drive amplifier) and the speed as seen at the j-axis output section is expressed by the following equation (in the equation, sgn (a)). Is
+1 when a> 0, 0 when a = 0, -1 when a <0
, And the function g is a function of the absolute velocity value).

[0025]

[Equation 3]

Under the above assumptions, the motion condition {1,2 axis motion start point coordinates / motion end point coordinates, motion duty (mode
The ratio of the energization time of the robot to the total operation time of the robot) and the load mass of the hand} are given, and as a method of determining the additional mass parameter, the optimum evaluation function is maximized under the constraint condition shown by the following formula Process.

[0027]

[Equation 4]

An example of the relationship between the maximum torque that can be generated by the motor and the speed is shown in FIG. 4, in which the temperature inside the motor is directly linked to the temperature of the motor, which is a bottleneck due to the temperature rise of the motor. -Required root mean square torque Tavg, required motor speed θ
An example of the relationship between the ratio of avg to the motor rated torque Tr and the motor rated speed θr (referred to as a specific rated torque or a specific rated speed) is shown in FIG. Here, the temperature rise threshold value is the lowest motor direct connection encoder with a heat resistant temperature of about 80 (° C) due to the temperature rise of the motor when the guaranteed temperature of the robot is 0 to 45 (° C). 35 (deg), considering the temperature rise of the part
And Further, the upper limit values of the additional mass parameters Δm ₀ , lm
0 was determined in consideration of arm length and arm mass. Here, as an example of the motion pattern, in contrast to the one shown in FIG. 6, each axis motor is used as an acceleration / deceleration pattern as shown in FIG. 7 as an exponential sine wave velocity pattern (described later). ) Shows the case driven by. The operation duty D of the motor is the ratio of the energization time of the motor to the total operation time of the robot as shown in FIG. 8. In the case of repetitive operation, it is represented by t ₃ / T as shown in FIG.

Under this operating condition, 1, 2 before the mass distribution is determined
9 and 10 show examples of time-varying characteristics of the required motor torque of the shaft and the torque that can be generated by the motor. From now on, the torque is insufficient in the reduction section for one axis. 1, 2 when the additional mass is attached based on the mass distribution determination method of the present invention.
11 and 12 show examples of time-varying characteristics of the required motor torque of the shaft and the torque that can be generated by the motor. From now on, 1, 2
The torque margin of the shaft is equalized, and good acceleration / deceleration operation without torque shortage can be realized. However, since the acceleration / deceleration characteristic parameters are constant, there is a problem that the operating time cannot be shortened even though the motor torque margin is sufficient.

Next, an embodiment of the method for determining the acceleration / deceleration characteristic parameter of the multi-axis mechanism with inter-axis interference according to the present invention will be described with reference to FIG.
~ It demonstrates using FIG. FIG. 13 shows the flow of the acceleration / deceleration characteristic parameter determination method of the present invention, and FIGS. 14 and 15 use a trapezoidal velocity pattern and an exponential sine wave velocity pattern as the acceleration / deceleration pattern. FIG. 16 and FIG. 17 show the acceleration / deceleration characteristic parameters in the case, and FIGS. 16 and 17 show the required torque for the 1 and 2 axis motors of the robot of FIG. 2 when the acceleration / deceleration characteristic parameter determination method of the present invention is used. The time change characteristic of the maximum torque that can be generated by the motor is shown.

The problem to be dealt with here is that in order to realize a high-speed positioning operation of a multi-axis mechanism having inter-axis interference, the mechanism (dynamics) parameters, motor specifications, and acceleration / deceleration pattern acceleration / deceleration patterns are used. Deceleration curve characteristic parameters Initial value, additional mass parameter (mass, installation position) (constant value, even at 0) assuming additional mass mounting that can reduce the absolute value of the interference term in the dynamic equation If the motion conditions {motion start point, motion end point, motion duty, hand load mass} are given, the following constraint conditions are satisfied, and the constraint margin value and evaluation function are satisfied. The acceleration / deceleration characteristic parameters are determined so that the (operating time) takes a minimum value (see FIG. 13).

Constraint condition: Each motor torque margin is positive. Each motor temperature rise is positive with respect to the neck temperature rise threshold. The sum of the acceleration distance and deceleration distance is smaller than the total operating distance. Does not become infinite and the acceleration / deceleration characteristic parameter is taken so that the jump (time derivative of acceleration) at the end of the operation becomes zero. The motor speed is smaller than the maximum speed at which torque can be generated Evaluation function: Operating time The specific formula is shown in the following formula.

[0033]

[Equation 5]

As the acceleration / deceleration pattern, uniform acceleration (trapezoidal) speed pattern, exponential function type speed pattern, spline function type speed pattern, exponential sine wave speed pattern, etc. are known. There is. Here, the trapezoidal velocity pattern and the exponential sine wave velocity pattern are taken as an example to describe the acceleration / deceleration characteristic parameter with reference to FIGS. 14 and 15.

Each speed pattern and operation time t ₃ are represented by the following equations.

(1) Trapezoidal speed pattern

[0037]

[Equation 6]

(2) Trapezoidal speed pattern operating time

[0039]

[Equation 7]

(3) Exponential sine wave velocity pattern

[0041]

[Equation 8]

(4) Exponential sine wave velocity pattern operating time

[0043]

[Equation 9]

Where θj: axis velocity, m ₁ : acceleration index,
m ₂ : deceleration index: th1: acceleration period, th2: deceleration period, θmj: j-axis maximum speed. Working distance of each axis Δθ
j.

From this, the trapezoidal velocity pattern has a maximum velocity: θm, a dimensionless acceleration distance (corresponding to the ratio of the acceleration distance to the total operation distance, and the acceleration time): α, a dimensionless deceleration distance (of the deceleration distance and the total operation distance). Ratio, deceleration time): β, there are three acceleration / deceleration characteristic parameters, and exponential sine wave velocity pattern
The maximum speed: θm, acceleration index: m ₁ , deceleration index: m ₂ , dimensionless acceleration distance: α, dimensionless deceleration distance:
There are 5 acceleration / deceleration feature parameters of β and β. this house,
The acceleration index and deceleration index are parameters corresponding to the bulge of the acceleration curve and deceleration curve, and can express curves that cannot be expressed by the trapezoidal speed pattern. Therefore, the following discussion is based on the exponential sine wave velocity pattern. The speed pattern changes greatly with the exponent, but at the start of acceleration, the acceleration does not become infinite so that the motor does not require infinite torque.
The following range of possible values is obtained from the viewpoint that the jump (time differential value of acceleration) becomes zero so that no significant residual vibration occurs at the end of deceleration.

(1) Acceleration section: It is desirable that the index m ₁ ≧ 1.

(2) Deceleration section: Exponent m ₂ ≧ 2 is desirable.

Here, the smaller the index, the shorter the operating time. Therefore, m ₁ and m ₂ are determined so as to take the smallest possible values while satisfying the above range.

A method for determining the acceleration / deceleration pattern of the motor of the robot by making use of the knowledge about the acceleration / deceleration characteristic parameters will be described below.

Here, in the simultaneous motion start / motion end motions regardless of motion trajectories, the ratio Δθj / θmj is the same for all axes (for all j) so as to take the value ξ shown in (Equation 10). Takes a value. Therefore, the maximum speed parameter is 1
The axis value θm1 will be used. 2-axis maximum speed θm2
Is set as θm2 = γθm1 (γ = Δθ ₂ / Δθ ₁ ). Here, θm1 = ξΔθ ₁ and θm2 = ξγΔθ ₁ are represented.

[0051]

[Equation 10]

Here, min (a, b) is a symbol for selecting the minimum value of a and b. The acceleration / deceleration characteristic parameters of the acceleration / deceleration pattern are acceleration index m ₁ , deceleration index m ₂ ,
5 speeds of 1 axis maximum velocity θm1, dimensionless acceleration distance α, dimensionless deceleration distance β are used.

Regarding the robot of FIG. 2 in this case, the relationship between the motor required torque for the first and second axes and the motor-producible torque is as shown in FIGS. 9 and 10 before the acceleration / deceleration characteristic parameters are determined. The results of applying the acceleration / deceleration characteristic parameter determination method of the present invention to the target are shown in FIGS. 16 and 17. from now on,
It is possible to realize an operation that does not cause torque shortage for both the 1st and 2nd axes, and the operation time is also shortened by about 2%.
However, while the 1-axis uses the motor's torque generation performance sufficiently, the 2-axis uses only about half of the motor's torque generation performance. There is a problem that is not taken enough.

Next, an embodiment of the method for simultaneously determining the mass distribution / acceleration / deceleration characteristic parameters of the multi-axis mechanism with inter-axis interference according to the present invention will be described with reference to FIGS. FIG. 18 shows a flow of a method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of a multi-axis mechanism with inter-axis interference according to the present invention.
2 shows the time-varying characteristics of the required motor torque and the maximum torque that can be generated by the motor for 1 and 2 axes when the present determination method is applied to the robot of FIG. 2, and FIG. 22 shows the acceleration / deceleration pattern of the motor when
Indicates the relationship between the added mass parameter and the operating time convergence value,
23 to 30 show the operating time and the converged value of each parameter when the operating conditions (operating duty, hand load mass) are variable.

The problem to be dealt with here is that in order to realize high-speed positioning operation of a multi-axis mechanism having inter-axis interference, the mechanism (dynamics) parameters, motor specifications, and acceleration / deceleration pattern acceleration / deceleration patterns are used. The initial values of the characteristic parameters of the deceleration curve and the initial values of the additional mass parameters (mass, installation position) when assuming the additional mass attachment that can reduce the absolute value of the interference term in the dynamic equation are known in advance. Operating conditions {operation start point, operation end point, operation duty, hand load mass}
Is given, the additional mass parameter / acceleration / deceleration feature parameter is determined so that the constraint condition margin value and the evaluation function (operating time) take the minimum value when the following constraint condition is satisfied. Yes (see FIG. 18).

Restriction condition: Each motor torque margin is positive. Each motor temperature rise is positive for the neck temperature rise threshold. The sum of the acceleration distance and deceleration distance is smaller than the total operating distance. Does not become infinite, and the acceleration / deceleration characteristic parameter is taken so that the jump (time derivative of acceleration) at the end of operation becomes zero. Additional mass parameter where the motor speed is smaller than the maximum speed at which torque can be generated. Is smaller than the maximum value that can be set. Evaluation function: Operating time The concrete formula is shown in the following formula.

[0057]

[Equation 11]

Here, in the constraint condition satisfaction process / constraint margin minimization process, the relation between the added mass / acceleration / deceleration parameter minute change amount and the constraint condition margin minute change amount is expressed by a linearized transfer function, This is realized by calculating the desired additional mass / acceleration / deceleration parameter minute change amount using the generalized inverse matrix and changing the parameter. Also, the evaluation function minimization process is realized by a method such as the steepest descent method, but after this process, the constraint conditions may not be satisfied, so the parameters converge between the process related to the constraint condition and the process related to the evaluation function. It is realized by repeatedly performing until.

When the mass distribution / acceleration / deceleration characteristic parameter simultaneous determination method of FIG. 11 of the present invention is applied to the robot having the initial conditions shown in FIGS. 9 and 10, the robot shown in FIG. The time variation characteristics of the required motor torque of the shaft and the maximum torque that can be generated by the motor are as shown in Figs.
The acceleration / deceleration pattern is as shown in Fig. 21. From this, the operating time is reduced by 7% compared to the initial condition.
The 2-motor uses the maximum torque that can be generated by the motor during acceleration / deceleration, except for the 2-axis deceleration part. Next, the parameters based on the mass distribution / acceleration / deceleration feature parameter simultaneous determination method described above.
The relationship between the data is shown below.

FIG. 22 shows the relationship between the added mass parameter and the operating time. Δm = 3.0 (kg), l
m = 0.214 (m), θm1 = 5.658 (rad /
s), α = 0.44, β = 0.49, the operating time t ₃ = 0.7499 (s), which is the minimum value.
It indicates that the optimum value can be uniquely obtained. Further, the theoretical values of the prior arts (1) to (3) are shown by broken lines, but the optimum values are below the broken lines, and it is shown that optimum high-speed operation can be realized with a smaller mass. In this condition,
The optimum value of the added mass parameter experimentally searched is Δm =
The values are 3.0 (kg) and lm = 0.23 (m), which are in good agreement with the calculated values.

Among the operating conditions, the operating time and the optimum parameter values when the hand added mass m ₀ and the operating duty D are changed are as shown in FIGS. Is changing.

Although the optimum parameter values greatly differ depending on the operating conditions, the work realized by the robot often involves repeating the same operation. Therefore, by selecting the optimum parameter values for typical operating conditions, the robot can be selected. The shortest time positioning operation can be realized without significant residual vibration when the operation is stopped.

Next, an embodiment of the additional mass mounting robot of the present invention will be described with reference to FIGS. 31 and 3
2 shows the structure of a horizontal articulated robot equipped with an additional mass,
FIG. 33 shows the structure of a vertical articulated robot equipped with an additional mass. 31 and 32, horizontal mass articulated robots with additional mass are classified according to horizontal motion mechanism and vertical motion mechanism (including 4-axis motor arrangement), and in FIG. Are classified according to the vertical in-plane motion mechanism. In the figure, Mi indicates the position of the i-axis motor (which may be directly connected to the speed reducer). In the figure, 6 indicates the added mass. In these robots, the additional mass parameter and the acceleration / deceleration parameter have values determined by the above-described method with respect to the typical operation of the robot. Among these, the added mass parameter has a feature that it is smaller than the value that completely cancels the dynamic interference term, centrifugal torque term, and Coriolis torque term in the dynamic equation of each mechanism. In the figure, the horizontal articulated robot has 4 degrees of freedom,
The vertical articulated robot has 6 degrees of freedom, but the wrist articulation has insufficient degrees of freedom, that is, the horizontal articulated robot has 3 degrees of freedom without a twist axis. For 3 degrees of freedom, 4
The same holds for the case of five degrees of freedom, and the case of more posture determination degrees of freedom.

Next, an embodiment of the robot with specific mass distribution according to the present invention will be described with reference to FIGS. 34 and 35. FIG. 34
Shows the structure of a horizontal articulated robot with specific mass distribution, and FIG. 35 shows the structure of a vertical articulated robot with specific mass distribution. In FIG. 34, horizontal articulated robots with specific mass distribution are shown classified by the horizontal motion mechanism and vertical motion mechanism, and in FIG. 35, vertical articulated robots with specific mass distribution are classified by the vertical in-plane motion mechanism. It is shown. In the figure, Mi indicates the position of the i-axis motor (which may be directly connected to the speed reducer). The same effect is realized by installing the wrist drive motor at a position corresponding to when the additional mass is attached. In these robots, the mass distribution and the acceleration / deceleration parameters of the robot arm that realizes the effect equivalent to the added mass have the values determined by the above-described method with respect to the typical operation of the robot. Of these, the robot arm
The mass distribution of the system is the dynamic interference term in the dynamic equation of each mechanism,
It is smaller than the value that completely cancels the centrifugal torque term and Coriolis torque term. In the figure, the horizontal articulated robot has four degrees of freedom and the vertical articulated robot has six degrees of freedom. For 3 degrees of freedom with no twist axis, 3 degrees of freedom, 4 degrees of freedom, 5 degrees of freedom for vertical articulated robots, and more degrees of freedom for posture determination of the wrist. It holds.

[0065]

The mass distribution determining method for a multi-axis mechanism having inter-axis interference according to the present invention has the following effects as described in the above embodiments.

(1) The mass distribution of the robot arm including the additional mass can be uniquely determined in order to realize the high speed operation of the robot.

(2) By making the added mass of the robot arm smaller than the theoretical value of the prior art, the weight of the entire robot body can be reduced.

(3) Additional mass parameters and acceleration / deceleration parameters for typical robot operating conditions {motion start point coordinates, motion end point coordinates, motion duty, hand load mass}
By simultaneously determining the parameters, the robot can be operated in the shortest time without generating significant residual vibration.

[Brief description of drawings]

FIG. 1 is a flowchart of a method for determining mass distribution of a multi-axis mechanism with inter-axis interference according to the present invention.

FIG. 2 is a perspective view showing an external view of the additional mass mounting robot of the present invention.

FIG. 3 is a diagram showing a rigid body model of the robot shown in FIG.

FIG. 4 is a characteristic diagram showing an example of the relationship between the maximum torque and speed at which a motor can be generated.

FIG. 5 is a characteristic diagram showing an example of a temperature rise characteristic of a motor direct connection encoder section.

FIG. 6 is a diagram showing an example of an operation pattern of the present invention.

FIG. 7 is a diagram showing an example of a motor acceleration / deceleration pattern.

FIG. 8 is a characteristic diagram for explaining the operation duty of the motor.

FIG. 9 is a characteristic diagram showing an example of a time change of the required torque of the uniaxial motor of the robot of FIG. 2 before applying the mass distribution determining method of the present invention.

FIG. 10 is a characteristic diagram showing an example of a change over time in the required torque of the biaxial motor of the robot of FIG. 2 before applying the mass distribution determination method of the present invention.

11 is a characteristic diagram showing an example of a change over time in the required torque of the uniaxial motor of the robot of FIG. 2 after applying the mass distribution determination method of the present invention.

FIG. 12 is a characteristic diagram showing an example of a temporal change in required torque of the biaxial motor of the robot of FIG. 2 after applying the mass distribution determining method of the present invention.

FIG. 13 is a flowchart of the method for determining the acceleration / deceleration characteristic parameter of the multi-axis mechanism with inter-axis interference according to the present invention.

FIG. 14 is a characteristic diagram showing a trapezoidal speed pattern as an example of a motor acceleration / deceleration pattern.

FIG. 15 is a characteristic diagram showing an exponential sine wave velocity pattern as an example of a motor acceleration / deceleration pattern.

16 is a characteristic diagram showing an example of a time change of the required torque of the uniaxial motor of the robot of FIG. 2 after applying the acceleration / deceleration characteristic parameter determination method of the present invention.

FIG. 17 is a characteristic diagram showing an example of a temporal change in required torque of the biaxial motor of the robot of FIG. 2 after applying the acceleration / deceleration characteristic parameter determination method of the present invention.

FIG. 18 is a flowchart of the acceleration / deceleration characteristic parameter determination method for a multi-axis mechanism with inter-axis interference according to the present invention.

FIG. 19 is a characteristic diagram showing an example of a change over time in torque required for the uniaxial motor of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention.

FIG. 20 is a characteristic diagram showing an example of a change over time in the required torque of the biaxial motor of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention.

FIG. 21 is a characteristic diagram showing an example of a change over time in the required speeds of the 1-axis and 2-axis motors of the robot of FIG. 2 after applying the method for simultaneously determining the mass distribution / acceleration / deceleration characteristic parameters of the present invention.

22 is a diagram showing the relationship between the additional mass parameter and the operation time of the robot of FIG. 2 after applying the method for simultaneously determining the mass distribution / acceleration / deceleration characteristic parameters of the present invention.

FIG. 23 is a characteristic diagram showing the relationship between the operating time and the operating duty of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention.

FIG. 24 is a characteristic diagram showing the relationship between the maximum speed of one axis and the operation duty of the robot of FIG. 2 after the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention is applied.

FIG. 25 is a characteristic diagram showing the relationship between the acceleration index and the motion duty of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention.

FIG. 26 is a characteristic diagram showing the relationship between the deceleration index and the operation duty of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention.

FIG. 27 is a characteristic diagram showing the relationship between the dimensionless acceleration distance and the operation duty of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention.

28 is a characteristic diagram showing the relationship between the dimensionless deceleration distance and the motion duty of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration feature parameters of the present invention.

FIG. 29 is a characteristic diagram showing the relationship between the added mass and the operation duty of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention.

FIG. 30 is a characteristic diagram showing a relationship between an additional mass installation position and an operation duty of the robot of FIG. 2 after applying the method for simultaneously determining mass distribution / acceleration / deceleration characteristic parameters of the present invention.

FIG. 31 is a diagram showing a structure of a horizontal articulated robot equipped with an additional mass according to the present invention.

FIG. 32 is a diagram showing the structure of a horizontal articulated robot equipped with an additional mass according to the present invention.

FIG. 33 is a diagram showing the structure of a vertical articulated robot equipped with an additional mass according to the present invention.

FIG. 34 is a view showing the structure of a horizontal articulated robot with specific mass distribution according to the present invention.

FIG. 35 is a view showing the structure of a vertical articulated robot with specific mass distribution according to the present invention.

[Explanation of symbols]

1 ... 1-axis motor, 2 ... 1st arm, 3 ... 2-axis motor, 4
... 2nd arm, 5 ... Wrist shaft, 6 ... Additional mass.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical indication location G05D 3/12 305 V 9179-3H 306 R 9179-3H (54) [Title of invention] Multi-axis mechanism Mass distribution determination method, acceleration / deceleration characteristic parameter determination method, mass distribution / acceleration / deceleration characteristic parameter simultaneous determination method, additional mass mounting robot having mass distribution based on the mass distribution determination method, and specific mass distribution robot

Claims (63)

[Claims] 1. A mass distribution determination method for a multi-axis mechanism having inter-axis interference, wherein the mechanical specifications of the multi-axis mechanism, a motor characteristic function, and operating conditions (starting point, end point, operating duty, Load mass) and acceleration / deceleration pattern of the drive motor to which the acceleration / deceleration characteristic parameters are given, with additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration. Assuming the additional mass parameters (mass and installation position), the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average of the motor A method for determining the mass distribution of a multi-axis mechanism with inter-axis interference, characterized in that the margins are determined in consideration of the speed relationship so as to maximize the margin, and such mass distribution is adopted. 2. A method for determining acceleration / deceleration characteristic parameters of a multi-axis mechanism having inter-axis interference, wherein the mechanical specifications of the multi-axis mechanism, a motor characteristic function, and operating conditions (starting point, end point of operation, Acceleration / deceleration characteristic parameters of the drive motor, the maximum torque-speed characteristic of the motor and the temperature rise of the motor The inter-axis interference is characterized in that the margins are minimized by taking into consideration the relationship between the allowable temperature rise value of the part to be controlled and the required average torque and required average speed of the motor, and the operating time is minimized. Acceleration / deceleration characteristic parameter determination method for multi-axis mechanism. 3. A mass distribution / acceleration / deceleration characteristic parameter simultaneous determination method for a multi-axis mechanism having inter-axis interference, in which the mechanical specifications of the multi-axis mechanism, a motor characteristic function, and operating conditions (starting point, End point, operation duty, hand load mass)
Additional mass parameters (mass and installation position) and additional acceleration / deceleration characteristic parameters of the drive motor acceleration / deceleration pattern assuming the installation of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term for acceleration Considering the relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise of the motor where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor, their margins are set. A method for simultaneous determination of mass distribution / acceleration / deceleration characteristic parameters of a multi-axis mechanism with inter-axis interference, which is characterized by minimizing the operation time. 4. A first arm connected directly from a single-axis motor installed on a base or via a speed reducer is rotationally driven about a vertical axis, and is attached to the tip of the first arm. Installed 2
A second arm connected directly from the shaft motor or via a speed reducer is driven to rotate about a vertical axis, and only the vertical movement of the wrist shaft provided at the tip of the second arm or vertical movement
In a horizontal articulated robot with a wrist drive mechanism that realizes a twisting motion, the mechanical specifications, motor characteristic function, motion condition (motion start point, motion end point, motion duty, hand load mass), and An additional mass parameter assuming an additional mass attachment that can reduce the absolute value of the coefficient of the dynamical interference term for acceleration with respect to the acceleration / deceleration pattern of the drive motor to which the deceleration characteristic parameter is given. (Mass and installation position) should be considered in consideration of the maximum torque-speed characteristics of the motor and the allowable temperature rise value of the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor. The additional mass is characterized in that a fixed type or a removable additional mass is provided on the side opposite to the wrist shaft with respect to the biaxial output shaft of the second arm so that these margins are maximized. Wearing robot. 5. A first arm connected directly from a single-axis motor installed on a base or via a speed reducer is rotationally driven about a vertical axis, and is attached to the tip of the first arm. Installed 2
A second arm connected directly from the shaft motor or via a speed reducer is driven to rotate about a vertical axis, and only the vertical movement of the wrist shaft provided at the tip of the second arm or vertical movement
In a horizontal articulated robot with a wrist drive mechanism that realizes a twisting motion, mechanical specifications, motor characteristic functions, and motion conditions (motion start point, motion end point, motion duty,
Load mass parameters (mass and installation position) and drive mode assuming additional mass attachment that can reduce the absolute value of the coefficient of the dynamical interference term for the acceleration
Acceleration / deceleration pattern of the motor The parameter parameters are the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the average torque required for the motor.
In consideration of the relationship between the required average speeds, their margins are minimized, and the operation time can be minimized, so that it can be fixed or detached on the side opposite to the wrist axis with respect to the 2 axis output axis of the 2nd arm. An additional mass mounting robot characterized by being configured with various additional masses. 6. A single-axis motor installed on a non-rotating base directly or via a speed reducer, which is connected directly or via a speed reducer to a vertical shaft drive motor installed on the base. The second arm connected to the first arm connected to the first arm is rotated about a vertical axis and connected directly from a two-axis motor installed at the tip of the first arm or via a speed reducer. In a horizontal articulated robot consisting of a wrist with a wrist drive mechanism that realizes a fixed structure provided at the tip of the second arm or a twisting motion by rotating the arm around a vertical axis, the mechanical specifications and motor Characteristic function, operating condition (start point, end point, duty, hand load mass), and acceleration / deceleration pattern of the drive motor with acceleration / deceleration characteristic parameters It is possible to reduce the absolute value of the coefficient of the scientific term for the acceleration. Additional mass parameters (mass and installation position) assuming mass mounting are used as the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the average torque required by the motor.・ Consider the relationship between the required average speeds so that the margins are maximized.
An additional mass mounting robot characterized in that a fixed type or a removable additional mass is provided on the side opposite to the wrist with respect to the biaxial output shaft of the robot. 7. A single-axis motor installed on a non-rotating base directly or via a speed reducer connected by a vertical shaft drive motor installed on the base or via a speed reducer. The second arm connected to the first arm connected to the first arm is rotated about a vertical axis and connected directly from a two-axis motor installed at the tip of the first arm or via a speed reducer. In a horizontal articulated robot consisting of a wrist with a wrist drive mechanism that realizes a fixed structure provided at the tip of the second arm or a twisting motion by rotating the arm around a vertical axis, the mechanical specifications and motor For the characteristic function and operating conditions (operation start point, operation end point, operation duty, hand load mass),
Additional mass parameters (mass and installation position) and additional acceleration / deceleration characteristic parameters of the drive motor acceleration / deceleration pattern assuming the installation of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term for acceleration Considering the relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise of the motor where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor, their margins are set. In order to minimize the operation time and minimize the operation time, a fixed type or a removable additional mass is provided on the side opposite to the wrist with respect to the biaxial output shaft of the second arm. Mass loading robot. 8. A first arm connected directly from a single-axis motor installed via a base or via a speed reducer to the first arm connected directly or via a speed reducer. It is driven to rotate about the vertical axis, and the second arm connected directly from the two-axis motor installed coaxially with the one-axis output shaft of the first arm or through a speed reducer is connected in the vertical direction. A third arm, which is rotatably driven around an axis, is rotatably provided at its tip, and is rotatably provided at a third arm tip and a second arm tip, which operate in parallel with the first arm. In addition, in a horizontal articulated robot consisting of a fourth arm having a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical / twist movements, the mechanical specifications, the motor characteristic function, the operating conditions (start of operation) Point, operation end point, operation duty, hand load mass), and acceleration / deceleration characteristic parameters It gills the drive motor - other acceleration and deceleration pattern -
In addition, the additional mass parameters (mass and installation position) assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term with respect to the acceleration are set to the maximum torque-speed characteristics of the motor and the motor. -The second arm and / or the second arm and / or the second arm and / or the second arm and / or An additional mass mounting robot characterized in that a fixed type or a removable additional mass is provided to the 3 arm and / or the 4th arm. 9. A first arm connected directly from a single-axis motor installed via a base or via a speed reducer to the first arm connected to the single-axis motor directly or via a speed reducer. It is driven to rotate about the vertical axis, and the second arm connected directly from the two-axis motor installed coaxially with the one-axis output shaft of the first arm or through a speed reducer is connected in the vertical direction. A third arm, which is rotatably driven around an axis, is rotatably provided at its tip, and is rotatably provided at a third arm tip and a second arm tip, which operate in parallel with the first arm. In addition, in a horizontal articulated robot consisting of a fourth arm having a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical / twist movements, the mechanical specifications, motor characteristic functions, and operating conditions Starting point,
Additional mass parameters (mass and installation position) assuming additional mass mounting that can reduce the absolute value of the coefficient of the dynamic interference term for acceleration with respect to the operation end point, operation duty, and hand load mass) And the acceleration / deceleration characteristic parameters of the drive motor, the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the motor. It is fixed to the 2nd arm and / or the 3rd arm and / or the 4th arm so that their margins are minimized in consideration of the relationship between the required average torque and the required average speed, and the operating time can be minimized. An additional mass mounting robot, characterized in that it is configured by providing a mold or a removable additional mass. 10. A non-rotating base connected directly or through a speed reducer by a vertical drive motor installed on the base.
The first arm connected directly from the single-axis motor installed in the space or via a reducer is driven to rotate around the vertical axis, and is coaxial with the single-axis output shaft of the first arm. Installed 2
A third arm, which is rotatably driven around a vertical axis about a second arm connected directly from the shaft motor or through a speed reducer, and is rotatably provided at the tip of the second arm and operates in parallel with the first arm. A horizontal arm consisting of a fourth arm which is rotatably provided at the tip of the arm, the third arm and the tip of the second arm, and has a wrist having a fixed structure or a wrist drive mechanism for realizing a twisting motion at the tip. In an articulated robot, mechanical specifications, motor characteristic functions, operating conditions (starting point, end point, operating duty
(Tee, hand load mass) and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters. The additional mass parameters (mass and installation position) that are assumed to be mounted are set to the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the average torque required for the motor. The second arm and / or the third arm and / or the fourth arm is provided with a fixed type or a removable additional mass so that the margins thereof are maximized in consideration of the relationship of the required average speed. A robot equipped with an additional mass characterized by being configured as follows. 11. A non-rotating base connected directly or via a speed reducer by a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed in the space or via a reducer is driven to rotate around the vertical axis, and is coaxial with the single-axis output shaft of the first arm. Installed 2
A third arm, which is rotatably driven around a vertical axis about a second arm connected directly from the shaft motor or through a speed reducer, and is rotatably provided at the tip of the second arm and operates in parallel with the first arm. A horizontal arm consisting of a fourth arm which is rotatably provided at the tip of the arm, the third arm and the tip of the second arm, and has a wrist having a fixed structure or a wrist drive mechanism for realizing a twisting motion at the tip. In an articulated robot, the coefficient to the acceleration of the dynamical interference term for the mechanical specifications, the motor characteristic function, and the operating conditions (start point, end point, duty, hand load mass) The additional mass parameters (mass and installation position) and the acceleration / deceleration pattern parameters of the drive motor, which are assumed to be mounted with additional mass that can reduce the absolute value of the -Velocity characteristics and motor temperature rise are bottlenecks The second arm and / or the third arm are designed so that their margins are minimized and the operating time can be minimized in consideration of the relationship between the allowable temperature rise value of each unit and the required average torque and required average speed of the motor. An additional mass mounting robot characterized in that a fixed type or a removable additional mass is provided to the arm and / or the fourth arm. 12. A first arm connected directly from a single-axis motor installed via a base or via a speed reducer to the first arm connected directly or via a speed reducer. A second arm that is driven to rotate about a vertical axis and is directly connected to the base from a two-axis motor installed coaxially with the one-axis output shaft of the first arm or via a speed reducer. The arm is rotatably driven around a vertical axis, and is rotatably provided at the tip of the arm and rotates to a third arm, a third arm tip and a second arm tip. In the horizontal articulated robot consisting of the 4th arm, which has a wrist drive mechanism that realizes only the vertical movement of the wrist axis or the vertical and twisting movements, the mechanical specifications, the motor characteristic function, and the movement Conditions (operation start point, operation end point, operation duty, hand load mass),
And an additional mass parameter assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term with respect to the acceleration for the acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameter. -Consider the relationship between the maximum torque and speed characteristics of the motor (mass and installation position), the allowable temperature rise value of the part where the temperature rise of the motor is a bottleneck, and the required average torque and required average speed of the motor. The second arm and / or the third arm and / or the fourth arm is provided with a fixed type or a removable additional mass so that the margins thereof are maximized. Robot with additional mass. 13. A first arm connected directly from a single-axis motor installed via a base or via a speed reducer to the first arm connected directly or via a speed reducer. A second arm that is driven to rotate about a vertical axis and is directly connected to the base from a two-axis motor installed coaxially with the one-axis output shaft of the first arm or via a speed reducer. The arm is rotatably driven around a vertical axis, and is rotatably provided at the tip of the arm and rotates to a third arm, a third arm tip and a second arm tip. In a horizontal articulated robot consisting of a fourth arm, which has a wrist drive mechanism that realizes only vertical movement or vertical / twist movement of the wrist axis, the mechanical specifications, motor characteristic function, and Power for operating conditions (starting point, ending point, duty, hand load mass) The additional mass parameters (mass and installation position) and the acceleration / deceleration characteristic parameters of the acceleration / deceleration pattern of the drive motor, which are assumed to be mounted with an additional mass that can reduce the absolute value of the coefficient of the interference term to the acceleration, Considering the relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor, their margins are minimized. , The second arm and / or the third arm so that the operating time can be minimized.
An additional mass mounting robot characterized in that a fixed type or a removable additional mass is provided on the arm and / or the fourth arm. 14. A non-rotating base connected directly or via a speed reducer by a vertical shaft driving motor installed on the base.
A first arm connected directly from a single-axis motor installed on the base or via a speed reducer is driven to rotate about a vertical axis, and the first arm of the first arm is attached to the non-rotating base. A second arm connected directly or via a reducer from a two-axis motor installed coaxially with the shaft output shaft is driven to rotate about a vertical axis, and is rotatably provided at the tip of the second arm. A third arm that operates in parallel with one arm, and a wrist drive mechanism that is rotatably provided at the tip of the third arm and the tip of the second arm and that achieves a fixed structure or a twisting motion at the tip. In a horizontal articulated robot comprising a fourth arm having a wrist,
Mechanism specifications, motor characteristic function, operating conditions (start point, end point, duty, hand load mass), and acceleration / deceleration pattern of the drive motor given acceleration / deceleration characteristic parameters. -Additional mass parameters (mass and installation position) assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the kinetic interference term with respect to acceleration are set to the maximum torque of the motor-
Considering the relationship between the speed characteristic and the temperature rise allowable value at the part where the temperature rise of the motor becomes a bottleneck, and the relationship between the required average torque of the motor and the required average speed, the margins are maximized.
An additional mass mounting robot characterized in that the arm and / or the third arm and / or the fourth arm is provided with a fixed type or a removable additional mass. 15. A non-rotating base connected directly or through a speed reducer by a vertical shaft drive motor installed on the base.
A first arm connected directly from a single-axis motor installed on the base or via a speed reducer is driven to rotate about a vertical axis, and the first arm of the first arm is attached to the non-rotating base. A second arm connected directly or via a reducer from a two-axis motor installed coaxially with the shaft output shaft is driven to rotate about a vertical axis, and is rotatably provided at the tip of the second arm. A third arm that operates in parallel with one arm, and a wrist drive mechanism that is rotatably provided at the tip of the third arm and the tip of the second arm and that achieves a fixed structure or a twisting motion at the tip. In a horizontal articulated robot comprising a fourth arm having a wrist,
It is possible to reduce the absolute value of the coefficient of the dynamic interference term for the acceleration with respect to the mechanical specifications, the motor characteristic function, and the operating conditions (start point, end point, duty, hand load mass). The additional mass parameters (mass and installation position) and the acceleration / deceleration characteristic parameters of the drive motor, which are assumed to be installed with various additional masses, are used to determine the maximum torque-speed characteristics of the motor and the motor. Considering the relationship between the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor, these margins are minimized and the second operation time is set to be the shortest. An additional mass mounting robot, characterized in that the arm and / or the third arm and / or the fourth arm is provided with a fixed type or a removable additional mass. 16. A first arm connected directly from a single-axis motor installed on a base or via a speed reducer and directly connected to the first arm via a speed reducer. A second arm rotatably driven around a vertical axis and rotatably provided at the tip of the first arm was installed on the base coaxially with the 1-axis output shaft of the first arm. The power generated by the two-axis motor directly or by the speed reducer is transmitted to the tip of the first arm via the belt so that it is driven to rotate about the vertical axis and is installed at the tip of the second arm. In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical / twist movement,
Motor characteristic function, operation condition (operation start point, operation end point,
Motion duty, hand load mass), and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters, the absolute value of the coefficient of the dynamic interference term for acceleration can be reduced. The additional mass parameters (mass and installation position) assuming various additional masses are required for the maximum temperature-speed characteristics of the motor and the temperature rise allowable value and the motor where the temperature rise of the motor becomes a bottleneck. Considering the relationship between average torque and required average speed, a fixed type or removable additional mass is installed on the side opposite to the wrist axis with respect to the two-axis output axis of the second arm in order to maximize the margins. An additional mass mounting robot, characterized by being configured with. 17. A first arm connected directly or through a speed reducer to a single axis motor installed directly on the base or through a speed reducer. A second arm rotatably driven around a vertical axis and rotatably provided at the tip of the first arm was installed on the base coaxially with the 1-axis output shaft of the first arm. The power generated by the two-axis motor directly or by the speed reducer is transmitted to the tip of the first arm via the belt so that it is driven to rotate about the vertical axis and is installed at the tip of the second arm. In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical / twist movement,
Additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to acceleration for the motor characteristic function and operating conditions (starting point, ending point, duty, hand load mass) The additional mass parameters (mass and installation position) and the acceleration / deceleration characteristic parameters of the drive motor's acceleration / deceleration pattern are used for the maximum torque-speed characteristics of the motor and the motor.
Considering the relationship between the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor, these margins are minimized and the second operation time is set to be the shortest. An additional mass mounting robot, characterized in that a fixed type or a removable additional mass is provided on the side opposite to the wrist shaft with respect to the biaxial output shaft of the frame. 18. A non-rotating base connected directly or via a speed reducer by a vertical shaft drive motor installed on the base.
The first arm connected directly from the single-axis motor installed on the space or through a speed reducer is driven to rotate around the vertical axis, and the first arm is rotatably provided at the tip of the first arm. 2 a
The non-rotating base uses a two-axis motor installed coaxially with the one-axis output shaft of the first arm on the non-rotating base to directly or motive power generated by the reducer to the tip of the first arm. By transmitting power via a belt, it is driven to rotate about the vertical axis,
In a horizontal articulated robot consisting of a wrist having a fixed structure provided at the tip of the second arm or a wrist driving mechanism for realizing a twisting motion, the mechanical specifications, the motor characteristic function,
Operating conditions (operation start point, operation end point, operation duty,
Load mass) and acceleration / deceleration pattern of the drive motor to which the acceleration / deceleration characteristic parameters are given, with additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration. Assuming the additional mass parameters (mass and installation position), the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average of the motor In consideration of the speed relationship, a fixed type or removable type additional mass is provided on the side opposite to the wrist with respect to the biaxial output shaft of the second arm so as to maximize the margins. A robot equipped with an additional mass. 19. A non-rotating base connected directly or through a speed reducer to a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed on the space or through a speed reducer is driven to rotate around the vertical axis, and the first arm is rotatably provided at the tip of the first arm. 2 a
The non-rotating base uses a two-axis motor installed coaxially with the one-axis output shaft of the first arm on the non-rotating base to directly or motive power generated by the reducer to the tip of the first arm. By transmitting power via a belt, it is driven to rotate about the vertical axis,
In a horizontal articulated robot consisting of a wrist having a fixed structure provided at the tip of the second arm or a wrist driving mechanism for realizing a twisting motion, the mechanical specifications, the motor characteristic function,
Also, for the operating conditions (starting point, ending point, operating duty, hand load mass), an additional mass parameter is assumed, which can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration. -The acceleration / deceleration characteristic parameters of the motor (mass and installation position) and the acceleration / deceleration pattern of the drive motor are used to determine the maximum torque-speed characteristics of the motor and the temperature rise of the motor. Considering the relationship between the allowable temperature rise and the required average torque and required average speed of the motor, their margins are minimized so that the operating time can be minimized. An additional mass wearing robot characterized in that a fixed type or removable type additional mass is provided on the side opposite to the wrist. 20. A first arm connected directly or via a speed reducer to a single axis motor installed directly on the base or via a speed reducer. A second arm rotatably driven around a vertical axis and rotatably provided at the tip of the first arm has a two-axis motor installed coaxially with the one-axis output shaft of the first arm. The power generated directly from the motor or by the speed reducer is transmitted to the tip of the first arm via the belt to drive the rotation about the vertical axis, and the wrist shaft provided at the tip of the second arm is driven. In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movements or vertical / twist movements, mechanical specifications, motor characteristic functions, and operating conditions (starting point, ending point, operating duty, Load mass) and acceleration / deceleration characteristic parameters For the acceleration / deceleration pattern of the motor, an additional mass parameter (mass and installation position) is assumed that can be used to reduce the absolute value of the coefficient of the dynamical interference term for acceleration. Considering the relationship between the maximum torque-speed characteristics of the motor and the temperature rise allowable value of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor, the margins are maximized. An additional mass mounting robot characterized in that a fixed type or a removable additional mass is provided on the side opposite to the wrist shaft with respect to the two-axis output shaft of the second arm. 21. A first arm connected directly from a single-axis motor installed on a base or via a speed reducer and directly connected to the first arm via a speed reducer. A second arm rotatably driven around a vertical axis and rotatably provided at the tip of the first arm has a two-axis motor installed coaxially with the one-axis output shaft of the first arm. The power generated directly from the motor or by the speed reducer is transmitted to the tip of the first arm via the belt to drive the rotation about the vertical axis, and the wrist shaft provided at the tip of the second arm is driven. In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movements or vertical / twist movements, mechanical specifications, motor characteristic functions, and operating conditions (starting point, ending point, operating duty, Load mass) to acceleration of dynamical interference term The additional mass parameters (mass and installation position) and the acceleration / deceleration pattern parameters of the drive motor acceleration / deceleration pattern are set to the maximum of the motor. Considering the relationship between the torque-speed characteristics and the temperature rise allowable value at the part where the temperature rise of the motor becomes a bottleneck, and the relationship between the required average torque and required average speed of the motor, their margins are minimized and the operating time is shortened. to be able to do,
An additional mass mounting robot characterized in that a fixed type or a removable additional mass is provided on the side opposite to the wrist shaft with respect to the biaxial output shaft of the second arm. 22. A non-rotating base directly or via a speed reducer connected to a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed on the space or through a speed reducer is driven to rotate around the vertical axis, and the first arm is rotatably provided at the tip of the first arm. 2 a
2 is installed coaxially with the 1-axis output shaft of the 1st arm.
The power generated directly from the shaft motor or by the speed reducer is transmitted to the tip of the first arm via the belt to drive the rotation about the vertical axis, and the tip of the second arm is provided. In a horizontal articulated robot consisting of a wrist with a fixed structure or a wrist drive mechanism that realizes a twisting motion, the mechanical specifications, the motor characteristic function, and the motion condition (motion start point, motion end point, motion duty, Load mass), and drive mode with acceleration / deceleration characteristic parameters
With respect to the acceleration / deceleration pattern of the motor, the additional mass parameters (mass and installation position) that can reduce the absolute value of the coefficient of the dynamical interference term with respect to the acceleration are assumed to be
Considering the relationship between the maximum torque-speed characteristics of the motor and the temperature rise allowable value of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor, the margins are maximized. An additional mass mounting robot characterized in that a fixed type or a removable additional mass is provided on the side opposite to the wrist with respect to the biaxial output shaft of the second arm. 23. A non-rotating base connected directly or through a speed reducer by a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed on the space or through a speed reducer is driven to rotate around the vertical axis, and the first arm is rotatably provided at the tip of the first arm. 2 a
2 is installed coaxially with the 1-axis output shaft of the 1st arm.
The power generated directly from the shaft motor or by the speed reducer is transmitted to the tip of the first arm via the belt to drive the rotation about the vertical axis, and the tip of the second arm is provided. In a horizontal articulated robot consisting of a wrist with a fixed structure or a wrist drive mechanism that realizes a twisting motion, the mechanical specifications, the motor characteristic function, and the motion condition (motion start point, motion end point, motion duty, Hand load mass)
On the other hand, the additional mass parameters (mass and installation position) and the acceleration / deceleration pattern of the drive motor, which are assumed to be equipped with an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term for acceleration, are added. The deceleration characteristic parameter is the maximum torque of the motor.
Considering the relationship between the speed characteristic and the temperature rise allowable value at the part where the temperature rise of the motor is a bottleneck, and the relationship between the required average torque and the required average speed of the motor, their margins are minimized to minimize the operating time. An additional mass mounting robot characterized in that a fixed type or removable additional mass is provided on the side opposite to the wrist with respect to the biaxial output shaft of the second arm. 24. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly to the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm and the forearm arm connected to the upper arm motor output shaft, which is installed at the tip of the upper arm arm, are connected directly or via a reducer by a forearm shaft motor having an output rotation axis parallel to the upper arm arm. -In a vertical articulated robot having a wrist and a wrist mechanism having 0 or more posture-determining degrees of freedom at its tip, mechanical specifications, motor characteristic functions, and motion conditions (motion start point, motion end point, motion Duty, hand load mass),
And an additional mass parameter assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term with respect to the acceleration for the acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameter. -The relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor In consideration of the above, the addition is characterized in that a fixed type or a detachable additional mass is provided on the side of the forearm arm opposite to the forearm output shaft from the wrist mechanism so as to maximize the margins. Mass loading robot. 25. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly on the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm and the forearm arm connected to the upper arm motor output shaft, which is installed at the tip of the upper arm arm, are connected directly or via a reducer by a forearm shaft motor having an output rotation axis parallel to the upper arm arm. -In a vertical articulated robot having a wrist and a wrist mechanism having 0 or more posture-determining degrees of freedom at its tip, mechanical specifications, motor characteristic functions, and motion conditions (motion start point, motion end point, motion (Duty, hand load mass) Additional mass parameters assuming capable of reducing additional mass attached to the absolute value of the coefficient for the acceleration of Wataruko -
Acceleration / deceleration pattern of the drive motor (mass and installation position) and drive motor
The acceleration / deceleration characteristic parameter of the motor is used to determine the relationship between the maximum torque-speed characteristic of the motor and the allowable temperature rise value of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque / average speed of the motor. In consideration of them, the margins are minimized and the operating time is minimized. A fixed type or removable additional mass is provided on the side of the forearm arm opposite to the forearm output shaft from the wrist mechanism. A robot equipped with an additional mass, which is characterized by that. 26. Rotation around a vertical axis directly or via a speed reducer connected directly to or via a speed reducer installed on a base. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. A forearm subarm driven by a forearm shaft motor provided coaxially with the upper arm arm and the output shaft of the upper arm motor at the base of the forearm arm or through a speed reducer.
Arm, an upper arm subarm rotatably provided at the tip of the forearm subarm, a forearm arm rotatably provided at the tip of the upper arm arm and the tip of the upper arm subarm, and the forearm arm. -In a vertical articulated robot having a wrist mechanism with 0 or more posture-determining degrees of freedom at the tip of the mechanism,
Characteristics function and operating conditions (operation start point, operation end point,
Motion duty, hand load mass), and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters, the absolute value of the coefficient of the dynamic interference term for acceleration can be reduced. The additional mass parameters (mass and installation position), which are assumed to be used for various additional masses, are set to the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the motor. Considering the relationship between the required average torque and the required average speed, in order to maximize their margin, a fixed type or removable additional mass to the forearm arm and / or upper arm subarm and / or forearm subarm An additional mass mounting robot characterized by being configured with. 27. Rotation around a vertical axis connected directly or via a speed reducer to a swivel motor installed directly to the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. A forearm subarm driven by a forearm shaft motor provided coaxially with the upper arm arm and the output shaft of the upper arm motor at the base of the forearm arm or through a speed reducer.
Arm, an upper arm subarm rotatably provided at the tip of the forearm subarm, a forearm arm rotatably provided at the tip of the upper arm arm and the tip of the upper arm subarm, and the forearm arm. -In a vertical articulated robot having a wrist mechanism with 0 or more posture-determining degrees of freedom at the tip of the mechanism,
Characteristics function and operating conditions (operation start point, operation end point,
Additional mass parameters (mass and installation position) and drive mode assuming additional mass mounting that can reduce the absolute value of the coefficient of the dynamic interference term with respect to acceleration (motion duty, hand load mass) Acceleration / deceleration pattern of the motor The parameter parameters are the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the average torque required for the motor. Considering the relationship between the required average speeds, these margins are minimized so that the operating time can be minimized.
An additional mass mounting robot characterized in that the forearm arm and / or the upper arm subarm and / or the forearm subarm is provided with a fixed or detachable additional mass. 28. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly on the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm and the upper arm shaft mode on the turning base.
The output shaft is a forearm subarm driven directly by a forearm shaft motor provided coaxially or through a reduction gear, and an upper arm subarm rotatably provided at the tip of the forearm subarm. A forearm arm rotatably provided with respect to the tip of the upper arm arm and the tip of the upper arm subarm, and the forearm arm
In a vertical articulated robot having a wrist mechanism with 0 or more posture determining freedom at the tip of the robot, the mechanical specifications, the motor characteristic function, and the operating conditions (starting point, ending point, operating duty, Load mass) and acceleration / deceleration pattern of the drive motor to which the acceleration / deceleration characteristic parameters are given, with additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration. Assuming the additional mass parameters (mass and installation position), the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque of the motor The forearm arm and / or the upper arm subarm and / or the forearm subarm is provided with a fixed or removable additional mass so that the margins are maximized in consideration of the relationship of the average speed. Characterized by Additional mass attached robot. 29. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly on the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm and the upper arm shaft mode on the turning base.
The output shaft is a forearm subarm driven directly by a forearm shaft motor provided coaxially or through a reduction gear, and an upper arm subarm rotatably provided at the tip of the forearm subarm. A forearm arm rotatably provided with respect to the tip of the upper arm arm and the tip of the upper arm subarm, and the forearm arm
In a vertical articulated robot having a wrist mechanism with 0 or more posture determining freedom at the tip of the robot, the mechanical specifications, the motor characteristic function, and the operating conditions (starting point, ending point, operating duty, Load mass parameter (mass and installation position) and the acceleration / deceleration pattern of the drive motor, assuming an additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term for acceleration -The acceleration / deceleration characteristic parameter of the motor is defined as the relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor. In consideration of the above, their margins are minimized so that the operation time can be minimized.
An additional mass mounting robot characterized in that the forearm arm and / or the upper arm subarm and / or the forearm subarm is provided with a fixed or detachable additional mass. 30. Rotation about a vertical axis directly or through a speed reducer connected directly from the orbiting shaft motor installed on the base or through a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. An upper arm arm, a forearm arm rotatably provided at the tip of the upper arm arm, and a forearm directly from a forearm shaft motor installed on the turning base or via a speed reducer and a belt. In a vertical articulated robot having a wrist mechanism that drives the arm rotation axis and has a posture freedom degree of 0 or more at the tip of the forearm arm, the mechanical specifications, the motor characteristic function, and the operating condition ( Action start point, action end point, action duty, hand load quality ), And the acceleration / deceleration pattern of the drive motor to which the acceleration / deceleration characteristic parameters are given, with the assumption that additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration is assumed. Set the mass parameters (mass and installation position) to the maximum torque-speed characteristics of the motor and the motor.
In consideration of the relationship between the allowable temperature rise of the part where the temperature rise of the motor is a bottleneck and the required average torque and required average speed of the motor, the forearm output shaft of the forearm arm is set so that these margins are maximized. On the other hand, an additional mass mounting robot characterized in that a fixed type or a removable additional mass is provided on the side opposite to the wrist mechanism. 31. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly on the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. An upper arm arm, a forearm arm rotatably provided at the tip of the upper arm arm, and a forearm directly from a forearm shaft motor installed on the turning base or via a speed reducer and a belt. In a vertical articulated robot having a wrist mechanism that drives the arm rotation axis and has a posture freedom degree of 0 or more at the tip of the forearm arm, the mechanical specifications, the motor characteristic function, and the operating condition ( Action start point, action end point, action duty, hand load quality ), The additional mass parameters (mass and installation position) and the acceleration / deceleration pattern of the drive motor that assume the mounting of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term with respect to acceleration Acceleration / deceleration characteristic parameters are considered in consideration of the relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise value of the part where the temperature rise of the motor becomes a bottleneck and the required average torque / average speed of the motor. In order to minimize these margins and minimize the operating time, a fixed type or removable additional mass is provided on the side of the forearm arm opposite to the forearm output shaft from the wrist mechanism. A featured robot with added mass. 32. Rotation around a vertical axis directly or via a speed reducer connected directly to or through a speed reducer installed on a base. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm, the forearm arm rotatably provided at the tip of the upper arm arm, and the upper arm arm were installed so that the output shaft and the output shaft of the upper arm motor coincided with each other. A vertical articulated robot having a wrist mechanism that drives the forearm arm rotation shaft directly from the forearm shaft motor or via a speed reducer and a belt, and has a wrist mechanism at the tip of the forearm arm having a degree of freedom of posture determination of 0 or more. , Mechanical specifications, motor characteristic function, and operating conditions (operation Start point, end point, operation duty, hand load mass), and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters, the coefficient for the acceleration of the dynamic interference term The additional mass parameters (mass and installation position) that can be used to reduce the absolute value of the motor are used to measure the maximum torque-speed characteristics of the motor and the temperature rise of the part where the temperature rise of the motor becomes a bottleneck. Considering the relationship between the allowable value and the required average torque and required average speed of the motor, a fixed type or a fixed type on the side opposite to the wrist mechanism with respect to the forearm output shaft of the forearm arm is used to maximize the margin. An additional mass mounting robot characterized by being configured with a removable additional mass. 33. Rotation around a vertical axis directly or via a speed reducer connected to a swivel motor installed on a base or directly via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm, the forearm arm rotatably provided at the tip of the upper arm arm, and the upper arm arm were installed so that the output shaft and the output shaft of the upper arm motor coincided with each other. A vertical articulated robot having a wrist mechanism that drives the forearm arm rotation shaft directly from the forearm shaft motor or via a speed reducer and a belt, and has a wrist mechanism at the tip of the forearm arm having a degree of freedom of posture determination of 0 or more. , Mechanical specifications, motor characteristic function, and operating conditions (operation Additional mass parameters (mass and installation) assuming additional mass installation that can reduce the absolute value of the coefficient of the dynamic interference term for acceleration with respect to the start point, operation end point, operation duty, and hand load mass) Position) and the acceleration / deceleration pattern of the drive motor.The parameters are set to the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck. -Fixed on the side opposite to the wrist mechanism with respect to the forearm output shaft of the forearm arm so that the margins are minimized considering the relationship between the required average torque and the required average speed, and the operating time can be minimized. An additional mass mounting robot characterized by being configured by providing a mold or a removable additional mass. 34. A first arm connected directly from a single-axis motor installed on a base or via a speed reducer is rotationally driven about a vertical axis, and is attached to the tip of the first arm. The second arm connected directly from the installed two-axis motor or via a speed reducer is driven to rotate about the vertical axis, and the second arm is rotated.
In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movement or vertical / twist movement of the wrist axis provided at the tip of the robot, the mechanical specifications, motor characteristic function, and operating conditions (starting point, operation End point, operation duty, hand load mass), and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters, the absolute value of the coefficient for the acceleration of the dynamic interference term Additional mass parameters (mass and installation position) assuming additional mass installation
Considering the relationship between the maximum torque-speed characteristics of the motor and the temperature rise allowable value of the part where the temperature rise of the motor is a bottleneck, and the required average torque / required average speed of the motor, these margins are the maximum. As described above, a robot with specific mass distribution characterized in that a wrist drive device is provided on the side opposite to the wrist shaft with respect to the two-axis output shaft of the second arm. 35. A first arm connected directly from a single-axis motor installed on a base or via a speed reducer is rotationally driven about a vertical axis, and is attached to the tip of the first arm. The second arm connected directly from the installed two-axis motor or via a speed reducer is driven to rotate about the vertical axis, and the second arm is rotated.
In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movement or vertical / twist movement of the wrist shaft provided at the tip of the robot, the mechanical specifications, motor characteristic function, and operating conditions (starting point, Additional mass parameters (mass and installation position) assuming additional mass mounting that can reduce the absolute value of the coefficient of the dynamic interference term for acceleration with respect to the operation end point, operation duty, and hand load mass) And the acceleration / deceleration characteristic parameters of the drive motor, the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the motor. Considering the relationship between the required average torque and the required average speed, those margins are minimized so that the operating time can be minimized, so that the wrist is on the opposite side of the wrist axis with respect to the 2-axis output axis of the second arm. Having a drive device Specific mass distribution comprising a robot characterized. 36. A non-rotating base connected directly or through a speed reducer to a vertical shaft driving motor installed on the base.
A single-axis motor installed on the space directly drives the first arm connected directly or via a speed reducer to rotate about a vertical axis, and a two-axis motor installed at the tip of the first arm. Has a wrist drive mechanism for rotating the second arm, which is connected to the arm directly or via a speed reducer, about the vertical axis to realize a fixed structure provided at the tip of the second arm or a twisting motion. In a horizontal articulated robot consisting of wrists, mechanical specifications, motor characteristic functions, operation conditions (operation start point, operation end point, operation duty, hand load mass), and acceleration / deceleration characteristic parameters are given. Acceleration / deceleration pattern of the driven motor
In addition, the additional mass parameters (mass and installation position) assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term with respect to the acceleration are set to the maximum torque-speed characteristics of the motor and the motor. -In consideration of the relationship between the temperature rise allowable value at the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor, the two axes of the second arm are set so that their margins are maximized. A robot with specific mass distribution, characterized in that a wrist drive device is provided on the side opposite to the wrist with respect to the output shaft. 37. A non-rotating base connected directly or via a speed reducer by a vertical shaft driving motor installed on the base.
A single-axis motor installed on the space directly drives the first arm connected directly or via a speed reducer to rotate about a vertical axis, and a two-axis motor installed at the tip of the first arm. Has a wrist drive mechanism for rotating the second arm, which is connected to the arm directly or via a speed reducer, about the vertical axis to realize a fixed structure provided at the tip of the second arm or a twisting motion. In a horizontal articulated robot consisting of wrists, mechanical specifications, motor characteristic functions, and operating conditions (starting point,
Additional mass parameters (mass and installation position) assuming additional mass mounting that can reduce the absolute value of the coefficient of the dynamic interference term for acceleration with respect to the operation end point, operation duty, and hand load mass) And the acceleration / deceleration characteristic parameters of the drive motor, the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the motor. In consideration of the relationship between the required average torque and the required average speed, those margins are minimized and the wrist drive is performed on the side opposite to the wrist with respect to the biaxial output shaft of the second arm so that the operating time can be minimized. A robot equipped with a specific mass distribution, characterized by comprising a device. 38. A first arm connected directly from a single-axis motor installed on a base or via a speed reducer to the first arm connected to the single-axis motor directly or via a speed reducer. It is driven to rotate about the vertical axis, and the second arm connected directly from the two-axis motor installed coaxially with the one-axis output shaft of the first arm or through a speed reducer is connected in the vertical direction. A third arm, which is rotatably driven around an axis, is rotatably provided at its tip, and is rotatably provided at a third arm tip and a second arm tip, which operate in parallel with the first arm. In addition, in a horizontal articulated robot consisting of a fourth arm having a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical / twist movement,
Mechanism specifications, motor characteristic function, operating conditions (start point, end point, duty, hand load mass), and acceleration / deceleration pattern of the drive motor given acceleration / deceleration characteristic parameters. -Additional mass parameters (mass and installation position) assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the kinetic interference term with respect to acceleration are set to the maximum torque of the motor-
Considering the relationship between the speed characteristic and the temperature rise allowable value at the part where the temperature rise of the motor becomes a bottleneck, and the relationship between the required average torque of the motor and the required average speed, the margins are maximized.
A robot with specific mass distribution, characterized in that a wrist drive device is provided on the arm and / or the third arm and / or the fourth arm. 39. A first arm connected directly from a single-axis motor installed via a base or via a speed reducer to the first arm connected directly or via a speed reducer. It is driven to rotate about the vertical axis, and the second arm connected directly from the two-axis motor installed coaxially with the one-axis output shaft of the first arm or through a speed reducer is connected in the vertical direction. A third arm, which is rotatably driven around an axis, is rotatably provided at its tip, and is rotatably provided at a third arm tip and a second arm tip, which operate in parallel with the first arm. In addition, in a horizontal articulated robot consisting of a fourth arm having a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical / twist movement,
It is possible to reduce the absolute value of the coefficient of the dynamic interference term for the acceleration with respect to the mechanical specifications, the motor characteristic function, and the operating conditions (start point, end point, duty, hand load mass). The additional mass parameters (mass and installation position) and the acceleration / deceleration characteristic parameters of the drive motor, which are assumed to be installed with various additional masses, are used to determine the maximum torque-speed characteristics of the motor and the motor. Considering the relationship between the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor, these margins are minimized and the second operation time is set to be the shortest. A robot with specific mass distribution, characterized in that a wrist drive device is provided on the arm and / or the third arm and / or the fourth arm. 40. A non-rotating base connected directly or through a speed reducer by a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed in the space or via a reducer is driven to rotate around the vertical axis, and is coaxial with the single-axis output shaft of the first arm. Installed 2
A third arm, which is rotatably driven around a vertical axis about a second arm connected directly from the shaft motor or through a speed reducer, and is rotatably provided at the tip of the second arm and operates in parallel with the first arm. A horizontal arm consisting of a fourth arm which is rotatably provided at the tip of the arm, the third arm and the tip of the second arm, and has a wrist having a fixed structure or a wrist drive mechanism for realizing a twisting motion at the tip. In an articulated robot, mechanical specifications, motor characteristic functions, operating conditions (starting point, end point, operating duty
(Tee, hand load mass) and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters. The additional mass parameters (mass and installation position) that are assumed to be mounted are set to the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the average torque required for the motor. Considering the relationship between the required average speeds, the second arm and / or the third arm and / or the fourth arm is provided with a wrist drive device so that the margins thereof are maximized. A robot equipped with a characteristic specific mass distribution. 41. A non-rotating base directly or via a speed reducer connected to a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed in the space or via a reducer is driven to rotate around the vertical axis, and is coaxial with the single-axis output shaft of the first arm. Installed 2
A third arm, which is rotatably driven around a vertical axis about a second arm connected directly from the shaft motor or through a speed reducer, and is rotatably provided at the tip of the second arm and operates in parallel with the first arm. A horizontal arm consisting of a fourth arm which is rotatably provided at the tip of the arm, the third arm and the tip of the second arm, and has a wrist having a fixed structure or a wrist drive mechanism for realizing a twisting motion at the tip. In an articulated robot, the coefficient to the acceleration of the dynamical interference term for the mechanical specifications, the motor characteristic function, and the operating conditions (start point, end point, duty, hand load mass) The additional mass parameters (mass and installation position) and the acceleration / deceleration pattern parameters of the drive motor, which are assumed to be mounted with additional mass that can reduce the absolute value of the -Velocity characteristics and motor temperature rise are bottlenecks The second arm and / or the third arm are designed so that their margins are minimized and the operating time can be minimized in consideration of the relationship between the allowable temperature rise value of each unit and the required average torque and required average speed of the motor. A robot with specific mass distribution, characterized in that a wrist drive device is provided on the arm and / or the fourth arm. 42. A first arm connected directly from a single-axis motor installed via a base or via a speed reducer to the first arm connected to the single-axis motor via a speed reducer. A second arm that is driven to rotate about a vertical axis and is directly connected to the base from a two-axis motor installed coaxially with the one-axis output shaft of the first arm or via a speed reducer. The arm is rotatably driven around a vertical axis, and is rotatably provided at the tip of the arm and rotates to a third arm, a third arm tip and a second arm tip. In a horizontal articulated robot consisting of a fourth arm, which has a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical and twisting movements, the mechanical specifications, motor characteristic functions, and movements Conditions (operation start point, operation end point, operation duty, hand load mass),
And an additional mass parameter assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term with respect to the acceleration for the acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameter. -Consider the relationship between the maximum torque and speed characteristics of the motor (mass and installation position), the allowable temperature rise value of the part where the temperature rise of the motor is a bottleneck, and the required average torque and required average speed of the motor. And a robot having a specific mass distribution, characterized in that the second arm and / or the third arm and / or the fourth arm is provided with a wrist drive device so that the margins thereof are maximized. . 43. A first arm connected directly from a single-axis motor installed via a base or via a speed reducer to the first arm connected directly or via a speed reducer. A second arm that is driven to rotate about a vertical axis and is directly connected to the base from a two-axis motor installed coaxially with the one-axis output shaft of the first arm or via a speed reducer. The arm is rotatably driven around a vertical axis, and is rotatably provided at the tip of the arm and rotates to a third arm, a third arm tip and a second arm tip. In a horizontal articulated robot consisting of a fourth arm, which has a wrist drive mechanism that realizes only vertical movement or vertical / twist movement of the wrist axis, the mechanical specifications, motor characteristic function, and Power for operating conditions (starting point, ending point, duty, hand load mass) The additional mass parameters (mass and installation position) and the acceleration / deceleration characteristic parameters of the acceleration / deceleration pattern of the drive motor, which are assumed to be mounted with an additional mass that can reduce the absolute value of the coefficient of the interference term to the acceleration, Considering the relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor, their margins are minimized. , The second arm and / or the third arm so that the operating time can be minimized.
A robot with specific mass distribution, characterized in that a wrist drive device is provided on the arm and / or the fourth arm. 44. A non-rotating base connected directly or through a speed reducer by a vertical shaft drive motor installed on the base.
A first arm connected directly from a single-axis motor installed on the base or via a speed reducer is driven to rotate about a vertical axis, and the first arm of the first arm is attached to the non-rotating base. A second arm connected directly or via a reducer from a two-axis motor installed coaxially with the shaft output shaft is driven to rotate about a vertical axis, and is rotatably provided at the tip of the second arm. A third arm that operates in parallel with one arm, and a wrist drive mechanism that is rotatably provided at the tip of the third arm and the tip of the second arm and that achieves a fixed structure or a twisting motion at the tip. In a horizontal articulated robot comprising a fourth arm having a wrist,
Mechanism specifications, motor characteristic function, operating conditions (start point, end point, duty, hand load mass), and acceleration / deceleration pattern of the drive motor given acceleration / deceleration characteristic parameters. -Additional mass parameters (mass and installation position) assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the kinetic interference term with respect to acceleration are set to the maximum torque of the motor-
Considering the relationship between the speed characteristic and the temperature rise allowable value at the part where the temperature rise of the motor becomes a bottleneck, and the relationship between the required average torque of the motor and the required average speed, the margins are maximized.
A robot with specific mass distribution, characterized in that a wrist drive device is provided on the arm and / or the third arm and / or the fourth arm. 45. A non-rotating base directly or via a speed reducer connected to a vertical shaft driving motor installed on the base.
A first arm connected directly from a single-axis motor installed on the base or via a speed reducer is driven to rotate about a vertical axis, and the first arm of the first arm is attached to the non-rotating base. A second arm connected directly or via a reducer from a two-axis motor installed coaxially with the shaft output shaft is driven to rotate about a vertical axis, and is rotatably provided at the tip of the second arm. A third arm that operates in parallel with one arm, and a wrist drive mechanism that is rotatably provided at the tip of the third arm and the tip of the second arm and that achieves a fixed structure or a twisting motion at the tip. In a horizontal articulated robot comprising a fourth arm having a wrist,
It is possible to reduce the absolute value of the coefficient of the dynamic interference term for the acceleration with respect to the mechanical specifications, the motor characteristic function, and the operating conditions (start point, end point, duty, hand load mass). The additional mass parameters (mass and installation position) and the acceleration / deceleration characteristic parameters of the drive motor, which are assumed to be installed with various additional masses, are used to determine the maximum torque-speed characteristics of the motor and the motor. Considering the relationship between the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor, these margins are minimized and the second operation time is set to be the shortest. A robot with specific mass distribution, characterized in that a wrist drive device is provided on the arm and / or the third arm and / or the fourth arm. 46. A first arm connected directly or via a speed reducer to a single axis motor installed directly on the base or via a speed reducer. A second arm rotatably driven around a vertical axis and rotatably provided at the tip of the first arm was installed on the base coaxially with the 1-axis output shaft of the first arm. The power generated by the two-axis motor directly or by the speed reducer is transmitted to the tip of the first arm via the belt so that it is driven to rotate about the vertical axis and is installed at the tip of the second arm. In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical / twist movement,
Motor characteristic function, operation condition (operation start point, operation end point,
Motion duty, hand load mass), and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters, the absolute value of the coefficient of the dynamic interference term for acceleration can be reduced. The additional mass parameters (mass and installation position) assuming various additional masses are required for the maximum temperature-speed characteristics of the motor and the temperature rise allowable value and the motor where the temperature rise of the motor becomes a bottleneck. In consideration of the relationship between the average torque and the required average speed, a wrist drive device was provided on the side opposite to the wrist shaft with respect to the two-axis output shaft of the second arm so as to maximize the margins. A robot equipped with a specific mass distribution characterized by the following. 47. A first arm connected directly or through a speed reducer to a single axis motor installed directly on the base or via a speed reducer. A second arm rotatably driven around a vertical axis and rotatably provided at the tip of the first arm was installed on the base coaxially with the 1-axis output shaft of the first arm. The power generated by the two-axis motor directly or by the speed reducer is transmitted to the tip of the first arm via the belt so that it is driven to rotate about the vertical axis and is installed at the tip of the second arm. In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movement of the wrist axis or vertical / twist movement,
Additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to acceleration for the motor characteristic function and operating conditions (starting point, ending point, duty, hand load mass) The additional mass parameters (mass and installation position) and the acceleration / deceleration characteristic parameters of the drive motor's acceleration / deceleration pattern are used for the maximum torque-speed characteristics of the motor and the motor.
Considering the relationship between the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor, these margins are minimized and the second operation time is set to be the shortest. A robot with specific mass distribution, characterized in that a wrist drive device is provided on the side opposite to the wrist shaft with respect to the biaxial output shaft of the frame. 48. A non-rotating base connected directly or via a speed reducer by a vertical shaft drive motor installed on the base.
The first arm connected directly from the single-axis motor installed on the space or through a speed reducer is driven to rotate around the vertical axis, and the first arm is rotatably provided at the tip of the first arm. 2 a
The non-rotating base uses a two-axis motor installed coaxially with the one-axis output shaft of the first arm on the non-rotating base to directly or motive power generated by the reducer to the tip of the first arm. By transmitting power via a belt, it is driven to rotate about the vertical axis,
In a horizontal articulated robot consisting of a wrist having a fixed structure provided at the tip of the second arm or a wrist driving mechanism for realizing a twisting motion, the mechanical specifications, the motor characteristic function,
Operating conditions (operation start point, operation end point, operation duty,
Load mass) and acceleration / deceleration pattern of the drive motor to which the acceleration / deceleration characteristic parameters are given, with additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration. Assuming the additional mass parameters (mass and installation position), the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average of the motor A specification characterized in that a wrist drive device is provided on the side opposite to the wrist with respect to the biaxial output shaft of the second arm so that the margins thereof are maximized in consideration of the speed relationship. Mass distribution equipped robot. 49. A non-rotating base connected directly or through a speed reducer by a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed on the space or through a speed reducer is driven to rotate around the vertical axis, and the first arm is rotatably provided at the tip of the first arm. 2 a
The non-rotating base uses a two-axis motor installed coaxially with the one-axis output shaft of the first arm on the non-rotating base to directly or motive power generated by the reducer to the tip of the first arm. By transmitting power via a belt, it is driven to rotate about the vertical axis,
In a horizontal articulated robot consisting of a wrist having a fixed structure provided at the tip of the second arm or a wrist driving mechanism for realizing a twisting motion, the mechanical specifications, the motor characteristic function,
Also, for the operating conditions (starting point, ending point, operating duty, hand load mass), an additional mass parameter is assumed, which can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration. -The acceleration / deceleration characteristic parameters of the motor (mass and installation position) and the acceleration / deceleration pattern of the drive motor are used to determine the maximum torque-speed characteristics of the motor and the temperature rise of the motor. Considering the relationship between the allowable temperature rise and the required average torque and required average speed of the motor, their margins are minimized so that the operating time can be minimized. A robot with specific mass distribution, characterized in that a wrist drive device is provided on the side opposite to the wrist. 50. A first arm connected directly or through a speed reducer to a single axis motor installed directly on the base or through a speed reducer. A second arm rotatably driven around a vertical axis and rotatably provided at the tip of the first arm has a two-axis motor installed coaxially with the one-axis output shaft of the first arm. The power generated directly from the motor or by the speed reducer is transmitted to the tip of the first arm via the belt to drive the rotation about the vertical axis, and the wrist shaft provided at the tip of the second arm is driven. In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movements or vertical / twist movements, mechanical specifications, motor characteristic functions, and operating conditions (starting point, ending point, operating duty, Load mass) and acceleration / deceleration characteristic parameters For the acceleration / deceleration pattern of the motor, an additional mass parameter (mass and installation position) is assumed that can be used to reduce the absolute value of the coefficient of the dynamical interference term for acceleration. Considering the relationship between the maximum torque-speed characteristics of the motor and the temperature rise allowable value of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor, the margins are maximized. A robot with specific mass distribution, characterized in that a wrist drive device is provided on the side opposite to the wrist shaft with respect to the biaxial output shaft of the second arm. 51. A first arm connected directly or via a speed reducer to a single axis motor installed directly on the base or via a speed reducer. A second arm rotatably driven around a vertical axis and rotatably provided at the tip of the first arm has a two-axis motor installed coaxially with the one-axis output shaft of the first arm. The power generated directly from the motor or by the speed reducer is transmitted to the tip of the first arm via the belt to drive the rotation about the vertical axis, and the wrist shaft provided at the tip of the second arm is driven. In a horizontal articulated robot with a wrist drive mechanism that realizes only vertical movements or vertical / twist movements, mechanical specifications, motor characteristic functions, and operating conditions (starting point, ending point, operating duty, Load mass) to acceleration of dynamical interference term The additional mass parameters (mass and installation position) and the acceleration / deceleration pattern parameters of the drive motor acceleration / deceleration pattern are set to the maximum of the motor. Considering the relationship between the torque-speed characteristics and the temperature rise allowable value at the part where the temperature rise of the motor becomes a bottleneck, and the relationship between the required average torque and required average speed of the motor, their margins are minimized and the operating time is shortened. to be able to do,
A robot with specific mass distribution, characterized in that a wrist drive device is provided on the side opposite to the wrist shaft with respect to the biaxial output shaft of the second arm. 52. A non-rotating base directly or via a speed reducer connected to a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed on the space or through a speed reducer is driven to rotate around the vertical axis, and the first arm is rotatably provided at the tip of the first arm. 2 a
2 is installed coaxially with the 1-axis output shaft of the 1st arm.
The power generated directly from the shaft motor or by the speed reducer is transmitted to the tip of the first arm via the belt to drive the rotation about the vertical axis, and the tip of the second arm is provided. In a horizontal articulated robot consisting of a wrist with a fixed structure or a wrist drive mechanism that realizes a twisting motion, the mechanical specifications, the motor characteristic function, and the motion condition (motion start point, motion end point, motion duty, Load mass), and drive mode with acceleration / deceleration characteristic parameters
With respect to the acceleration / deceleration pattern of the motor, the additional mass parameters (mass and installation position) that can reduce the absolute value of the coefficient of the dynamical interference term with respect to the acceleration are assumed to be
Considering the relationship between the maximum torque-speed characteristics of the motor and the temperature rise allowable value of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque and required average speed of the motor, the margins are maximized. A robot with specific mass distribution, characterized in that a wrist drive device is provided on the side opposite to the wrist with respect to the biaxial output shaft of the second arm. 53. A non-rotating base directly or via a speed reducer connected to a vertical shaft driving motor installed on the base.
The first arm connected directly from the single-axis motor installed on the space or through a speed reducer is driven to rotate around the vertical axis, and the first arm is rotatably provided at the tip of the first arm. 2 a
2 is installed coaxially with the 1-axis output shaft of the 1st arm.
The power generated directly from the shaft motor or by the speed reducer is transmitted to the tip of the first arm via the belt to drive the rotation about the vertical axis, and the tip of the second arm is provided. In a horizontal articulated robot consisting of a wrist with a fixed structure or a wrist drive mechanism that realizes a twisting motion, the mechanical specifications, the motor characteristic function, and the motion condition (motion start point, motion end point, motion duty, Hand load mass)
On the other hand, the additional mass parameters (mass and installation position) and the acceleration / deceleration pattern of the drive motor, which are assumed to be equipped with an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term for acceleration, are added. The deceleration characteristic parameter is the maximum torque of the motor.
Considering the relationship between the speed characteristic and the temperature rise allowable value at the part where the temperature rise of the motor is a bottleneck, and the relationship between the required average torque and the required average speed of the motor, their margins are minimized to minimize the operating time. A robot with specific mass distribution characterized in that a wrist drive device is provided on the side opposite to the wrist with respect to the biaxial output shaft of the second arm. 54. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly to the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm and the forearm arm connected to the upper arm motor output shaft, which is installed at the tip of the upper arm arm, are connected directly or via a reducer by a forearm shaft motor having an output rotation axis parallel to the upper arm arm. -In a vertical articulated robot having a wrist and a wrist mechanism having 0 or more posture-determining degrees of freedom at its tip, mechanical specifications, motor characteristic functions, and motion conditions (motion start point, motion end point, motion Duty, hand load mass),
And an additional mass parameter assuming the mounting of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term with respect to the acceleration for the acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameter. -The relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque and required average speed of the motor A robot with specific mass distribution characterized in that a wrist drive device is provided on the side of the forearm arm opposite to the forearm output shaft so as to maximize these margins in consideration. 55. Rotation around a vertical axis directly or via a speed reducer connected directly to or through a speed reducer installed on a base. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm and the forearm arm connected to the upper arm motor output shaft, which is installed at the tip of the upper arm arm, are connected directly or via a reducer by a forearm shaft motor having an output rotation axis parallel to the upper arm arm. -In a vertical articulated robot having a wrist and a wrist mechanism having 0 or more posture-determining degrees of freedom at its tip, mechanical specifications, motor characteristic functions, and motion conditions (motion start point, motion end point, motion (Duty, hand load mass) Additional mass parameters assuming capable of reducing additional mass attached to the absolute value of the coefficient for the acceleration of Wataruko -
Acceleration / deceleration pattern of the drive motor (mass and installation position) and drive motor
The acceleration / deceleration characteristic parameter of the motor is used to determine the relationship between the maximum torque-speed characteristic of the motor and the allowable temperature rise value of the part where the temperature rise of the motor becomes a bottleneck, and the required average torque / average speed of the motor. Considering them, the margins are minimized and the operating time is minimized. A wrist drive device is provided on the side of the forearm arm that is opposite to the wrist mechanism with respect to the forearm output shaft. Robot with specific mass distribution. 56. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly on the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. A forearm subarm driven by a forearm shaft motor provided coaxially with the upper arm arm and the output shaft of the upper arm motor at the base of the forearm arm or through a speed reducer.
Arm, an upper arm subarm rotatably provided at the tip of the forearm subarm, a forearm arm rotatably provided at the tip of the upper arm arm and the tip of the upper arm subarm, and the forearm arm. -In a vertical articulated robot having a wrist mechanism with 0 or more posture-determining degrees of freedom at the tip of the mechanism,
Characteristics function and operating conditions (operation start point, operation end point,
Motion duty, hand load mass), and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters, the absolute value of the coefficient of the dynamic interference term for acceleration can be reduced. The additional mass parameters (mass and installation position), which are assumed to be used for various additional masses, are set to the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the motor. In consideration of the relationship between the required average torque and the required average speed, a wrist drive device was provided in the forearm arm and / or the upper arm subarm and / or the forearm subarm to maximize the margins. A robot equipped with a specific mass distribution characterized by the above. 57. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed on a base, or directly connected via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. A forearm subarm driven by a forearm shaft motor provided coaxially with the upper arm arm and the output shaft of the upper arm motor at the base of the forearm arm or through a speed reducer.
Arm, an upper arm subarm rotatably provided at the tip of the forearm subarm, a forearm arm rotatably provided at the tip of the upper arm arm and the tip of the upper arm subarm, and the forearm arm. -In a vertical articulated robot having a wrist mechanism with 0 or more posture-determining degrees of freedom at the tip of the mechanism,
Characteristics function and operating conditions (operation start point, operation end point,
Additional mass parameters (mass and installation position) and drive mode assuming additional mass mounting that can reduce the absolute value of the coefficient of the dynamic interference term with respect to acceleration (motion duty, hand load mass) Acceleration / deceleration pattern of the motor The parameter parameters are the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the average torque required for the motor. Considering the relationship between the required average speeds, these margins are minimized so that the operating time can be minimized.
A robot with specific mass distribution characterized in that a wrist drive device is provided on the forearm arm and / or the upper arm subarm and / or the forearm subarm. 58. Rotation around a vertical axis connected directly or via a speed reducer to a swivel motor installed directly to the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm and the upper arm shaft mode on the turning base.
The output shaft is a forearm subarm driven directly by a forearm shaft motor provided coaxially or through a reduction gear, and an upper arm subarm rotatably provided at the tip of the forearm subarm. A forearm arm rotatably provided with respect to the tip of the upper arm arm and the tip of the upper arm subarm, and the forearm arm
In a vertical articulated robot having a wrist mechanism with 0 or more posture determining freedom at the tip of the robot, the mechanical specifications, the motor characteristic function, and the operating conditions (starting point, ending point, operating duty, Load mass) and acceleration / deceleration pattern of the drive motor to which the acceleration / deceleration characteristic parameters are given, with additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration. Assuming the additional mass parameters (mass and installation position), the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck and the required average torque of the motor The forearm arm and / or the upper arm subarm and / or the forearm subarm is equipped with a wrist drive device so that the margins thereof are maximized in consideration of the relationship of the average speed. Specific mass distribution Tsu door. 59. Rotation around a vertical axis connected directly or via a speed reducer to a swivel motor installed directly to the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm and the upper arm shaft mode on the turning base.
The output shaft is a forearm subarm driven directly by a forearm shaft motor provided coaxially or through a reduction gear, and an upper arm subarm rotatably provided at the tip of the forearm subarm. A forearm arm rotatably provided with respect to the tip of the upper arm arm and the tip of the upper arm subarm, and the forearm arm
In a vertical articulated robot having a wrist mechanism with 0 or more posture determining freedom at the tip of the robot, the mechanical specifications, the motor characteristic function, and the operating conditions (starting point, ending point, operating duty, Load mass parameter (mass and installation position) and the acceleration / deceleration pattern of the drive motor, assuming an additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term for acceleration -The acceleration / deceleration characteristic parameter of the motor is defined as the relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor is a bottleneck, and the required average torque and required average speed of the motor. In consideration of the above, their margins are minimized so that the operation time can be minimized.
A robot with specific mass distribution characterized in that a wrist drive device is provided on the forearm arm and / or the upper arm subarm and / or the forearm subarm. 60. Rotation about a vertical axis directly or by a swivel motor connected by a swivel motor installed on a base or by a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. An upper arm arm, a forearm arm rotatably provided at the tip of the upper arm arm, and a forearm directly from a forearm shaft motor installed on the turning base or via a speed reducer and a belt. In a vertical articulated robot having a wrist mechanism that drives the arm rotation axis and has a posture freedom degree of 0 or more at the tip of the forearm arm, the mechanical specifications, the motor characteristic function, and the operating condition ( Action start point, action end point, action duty, hand load quality ), And the acceleration / deceleration pattern of the drive motor to which the acceleration / deceleration characteristic parameters are given, with the assumption that additional mass attachment that can reduce the absolute value of the coefficient of the dynamic interference term to the acceleration is assumed. Set the mass parameters (mass and installation position) to the maximum torque-speed characteristics of the motor and the motor.
In consideration of the relationship between the allowable temperature rise of the part where the temperature rise of the motor is a bottleneck and the required average torque and required average speed of the motor, the forearm output shaft of the forearm arm is set so that these margins become maximum. On the other hand, a robot with a specific mass distribution characterized in that a wrist drive device is provided on the side opposite to the wrist mechanism. 61. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly on the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. An upper arm arm, a forearm arm rotatably provided at the tip of the upper arm arm, and a forearm directly from a forearm shaft motor installed on the turning base or via a speed reducer and a belt. In a vertical articulated robot having a wrist mechanism that drives the arm rotation axis and has a posture freedom degree of 0 or more at the tip of the forearm arm, the mechanical specifications, the motor characteristic function, and the operating condition ( Action start point, action end point, action duty, hand load quality ), The additional mass parameters (mass and installation position) and the acceleration / deceleration pattern of the drive motor that assume the mounting of an additional mass that can reduce the absolute value of the coefficient of the dynamical interference term with respect to acceleration Acceleration / deceleration characteristic parameters are considered in consideration of the relationship between the maximum torque-speed characteristics of the motor and the allowable temperature rise value of the part where the temperature rise of the motor becomes a bottleneck and the required average torque / average speed of the motor. The specific mass is characterized by a wrist drive device provided on the side of the forearm arm opposite to the wrist mechanism with respect to the forearm output shaft so as to minimize the margin and minimize the operating time. Distribution-equipped robot. 62. Rotation about a vertical axis connected directly or through a speed reducer to a swivel motor installed directly to the base or through a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm, the forearm arm rotatably provided at the tip of the upper arm arm, and the upper arm arm were installed so that the output shaft and the output shaft of the upper arm motor coincided with each other. A vertical articulated robot having a wrist mechanism that drives the forearm arm rotation shaft directly from the forearm shaft motor or via a speed reducer and a belt, and has a wrist mechanism at the tip of the forearm arm having a degree of freedom of posture determination of 0 or more. , Mechanical specifications, motor characteristic function, and operating conditions (operation Start point, end point, operation duty, hand load mass), and acceleration / deceleration pattern of the drive motor given the acceleration / deceleration characteristic parameters, the coefficient for the acceleration of the dynamic interference term The additional mass parameters (mass and installation position) that can be used to reduce the absolute value of the motor are used to measure the maximum torque-speed characteristics of the motor and the temperature rise of the part where the temperature rise of the motor becomes a bottleneck. Considering the relationship between the allowable value and the required average torque / required average speed of the motor, the wrist drive device is placed on the side opposite to the wrist mechanism with respect to the forearm output shaft of the forearm arm in order to maximize the margins. A robot equipped with a specific mass distribution characterized by being configured by providing a. 63. Rotation about a vertical axis connected directly or via a speed reducer to a swivel motor installed directly on the base or via a speed reducer. The driven swivel base and the swivel motor output shaft installed on the swivel base were connected directly or via a speed reducer from an upper arm shaft motor having an output rotary shaft orthogonal to each other. The upper arm arm, the forearm arm rotatably provided at the tip of the upper arm arm, and the upper arm arm were installed so that the output shaft and the output shaft of the upper arm motor coincided with each other. A vertical articulated robot having a wrist mechanism that drives the forearm arm rotation shaft directly from the forearm shaft motor or via a speed reducer and a belt, and has a wrist mechanism having 0 or more posture determining freedom at the tip of the forearm arm. , Mechanical specifications, motor characteristic function, and operating conditions (operation Additional mass parameters (mass and installation) assuming additional mass installation that can reduce the absolute value of the coefficient of the dynamic interference term for acceleration with respect to the start point, operation end point, operation duty, and hand load mass) Position) and the acceleration / deceleration pattern of the drive motor.The parameters are set to the maximum torque-speed characteristics of the motor and the allowable temperature rise of the part where the temperature rise of the motor becomes a bottleneck. Considering the relationship between the required average torque and the required average speed, the margins are minimized and the operating time is minimized so that the wrist is on the side opposite to the wrist mechanism with respect to the forearm output shaft of the forearm arm. A robot equipped with a specific mass distribution characterized by being provided with a drive device.