JPH074138Y2 - Articulated robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to an improved structure of an articulated robot.

[Prior Art] An articulated robot that has been used as a robot for handling processed materials, products, and other conveyed objects and has been developed for floor installation has a base 1A as shown in Fig. 6 shown in a side view.
And a swivel member 2A held so as to swivel around an axis S1 of the base 1A, and a parallel link L having four sides slidably held by the swivel member 2A.

Further, the distal wrist portion of the second arm L4 forming the fourth side of the parallel link L operates within the range indicated by the alternate long and short dash line a (a wide range in the substantially vertical direction with the axis S1 of the turning member 2A as a boundary). Is set.

In addition, in the articulated robot shown in FIG.
A turning motor M for turning a turning member that turns above
However, in order not to interfere in the range indicated by the alternate long and short dash line a, and to further lower the height of the turning member to secure an operating range near the floor, the tip wrist part is in the opposite direction with the axial center line S1 interposed therebetween. It is configured to be provided on the swivel base.

[Problems to be Solved by the Invention] When the articulated robot is installed on the ceiling as shown in FIG. 7, the tip wrist portion of the second arm L4 can operate in a range indicated by a chain line b different from the one-dot chain line a. Required. When the conventional articulated robot for floor installation is installed on the ceiling as it is without changing the structure and operated in the range shown by the chain line b,
When the drive rod L2 and the connecting rod L3 forming the second side and the third side of the parallel link L are moved closer to and swung to the turning motor M side, the locus required by the tip wrist portion of the second arm L4. The interference with the turning motor M before the operation corresponding to.

Therefore, the floor-mounted articulated robot cannot be used as it is as a ceiling-mounted articulated robot. In addition, manufacturing a new articulated robot for ceiling installation increases the types of dedicated parts and raises the manufacturing cost.

An object of the present invention is to provide an articulated robot that solves the above conventional problems.

[Means for Solving the Problems] The articulated robot of the present invention includes a base, a turning member rotatably held by the base, and the turning member which is driven to turn with respect to the base. A turning motor provided by being offset from the turning axis by a predetermined amount, and a first mounting portion formed so as to face the turning motor in a bifurcated shape at an opposite position with the turning axis interposed therebetween,
And a second mounting portion, and a first driving portion and a second driving portion mounted on both sides of the first mounting portion and the second mounting portion, respectively.
A first arm which is swingably held by the first drive unit and constitutes a first side of the parallel link, and a parallel link which has the same axis as the first arm and is swingably held by the second drive unit. A drive rod forming the second side, a connecting rod swingably supported by the drive rod and forming the third side of the parallel link, and the connecting rod swingably supported at one end. A wrist portion is formed at an end of the wrist, and the second arm is swingably supported by the first arm between the wrist portion and the connecting rod and constitutes a fourth side of the parallel link. The first driving part and the second driving part are fitted to the first mounting part and the second mounting part so that the second driving part can be mounted on either the first mounting part or the second mounting part. Diameter mounting hole is formed, and in the case of floor installation, the first driving part is mounted on the first mounting part and the second driving part is mounted on the second mounting part.
A drive unit is attached and a connecting rod is arranged between the first arm and the turning motor. In the case of ceiling installation or wall installation, the second drive unit is attached to the first attachment unit and the first drive unit is attached to the second attachment unit. And a connecting rod is arranged at a position opposite to the turning motor with the turning axis interposed therebetween.

[Operation and Effect] According to the articulated robot of the present invention, the turning member rotatably held by the base has a first mounting portion and a second mounting portion arranged in a bifurcated shape. 1 mounting part and 2nd
By forming mounting holes of the same diameter in the mounting portion,
The drive unit and the second drive unit can be attached to any of the first attachment unit and the second attachment unit, and the first arm, the drive rod, the connecting rod, and the second arm that form a parallel link with respect to the turning member. The structure is such that it can be mounted in either of two directions rotated by 180 °.

Therefore, when the articulated robot is used for floor installation, the first drive section is attached to the first attachment section, the second drive section is attached to the second attachment section, and the drive rod and the connecting rod are attached to the rotation motor. Place on the side. As a result, the wrist portion at the tip of the second arm that constitutes the fourth side of the parallel link can obtain the operation range shown by the alternate long and short dash line a in FIG. When the articulated robot is used for ceiling installation and wall installation, the first drive unit is attached to the second attachment unit, the second drive unit is attached to the first attachment unit, and the drive rod and the connecting rod are rotated. It is placed on the opposite side of the turning motor across the axis. As a result, the operation of the second arm, which is necessary for ceiling installation and wall installation, is on the side opposite to the swivel base with the second arm interposed, that is, the operation indicated by the alternate long and short dash line b from the lower side of the second arm in FIG. You can get a range.

Therefore, according to the present invention, the first mounting portion and the second mounting portion of the turning member are provided.
By arbitrarily selecting the mounting positions of the first drive section and the second drive section with respect to the mounting section, without increasing the number of parts,
One articulated robot can be used for floor installation, ceiling installation and wall installation.

[Embodiment] An embodiment of the articulated robot of the present invention is shown in FIGS.
A description will be given based on FIGS. 3 and 4.

The articulated robot of this embodiment includes a base 1, a turning member 2, a first drive unit 3 and a second drive unit 4, a first arm 5 forming one side of a parallel link L, and a drive rod 6.
, The connecting rod 7, and the second arm 8 are components.

One end 10 of the base 1 is fixed to the fixed portion R1 by a fixing member (not shown), and one end 2a of the turning member 2 is held on the other end 11 via a bearing B1 so as to be turnable about an axis S1. To do.

The swiveling member 2 is the other end portion of the eccentric position from the axis S1.
A first mounting part 21 and a second mounting part for mounting the first driving part 3 and the second driving part 4 on 2b at symmetrical positions 180 ° apart on the circumference (circumference centering on the axis S2) With 22. This first
The mounting portion 21 and the second mounting portion 22 are arranged so as to form a bifurcated shape, and the first mounting hole 210 and the second mounting portion 220 which have the same inner diameter and are formed on the axis S3 orthogonal to the axis S2. , And a first holding peripheral wall 211 and a second holding peripheral wall 221 having the same shape. or,
The swivel member 2 has a first mounting portion 21 and a second mounting portion 22 which are located in the middle of the first mounting portion 21 and the second mounting portion 22.
The storage unit 20 stores the one end 51 of the arm 5.
Further, the turning member 2 is provided with a turning motor M1 at a position opposite to the first and second mounting portions 21 and 22 with the axis S1 as a boundary, as shown in FIG. The turning member 2 is turned by the turning motor M1 via the interlocking device (not shown) on the base 1 about the axis S1.

The first drive unit 3 and the second drive unit 4 are detachable from and interchangeable with either one or the other of the first mounting portion 21 and the second mounting portion 22 of the turning member 2.

The first drive unit 3 includes a first arm drive motor 31 and a two-axis speed reducer unit 32. First arm driving motors 31 and 2
The shaft reducer unit 32 is attached to the first tubular guide member 33, and the first tubular guide member 33 is housed in the first attachment hole 210 of the first attachment portion 21. The 2-axis speed reducer unit 32
An input shaft (not shown) is rotatably connected to the output shaft 310 of the first arm driving motor 31, and an output shaft (not shown) rotatably supported by the case 320 is connected by a mounting bolt P2. It is connected to the 511 freely. Also, this connecting member 511
Is connected to one end portion 51 of the first arm 5 by a mounting bolt P1 so as to be interlocked. As a result, the rotation of the first arm driving motor 31 is decelerated by the biaxial speed reducer unit 32, and the driving force causes the first arm 5 to swing.

The second drive unit 4 includes a second arm drive motor 41 and a triaxial speed reducer unit 42. Second arm drive motors 41 and 3
The shaft reducer unit 42 is attached to the second tubular guide member 43, and the second tubular guide member 43 is housed in the second attachment hole 20 of the second attachment portion 22. The three-axis speed reducer unit 42 has an input shaft (not shown) connected to the output shaft 41 of the second arm drive motor 41.
An output shaft (not shown), which is rotatably supported by the case 420, is rotatably supported by the case 420, and is movably connected to the shaft center 60 of the drive rod 6 by a mounting bolt P3. The shaft center 60 is movably connected to one end 61 of the drive rod 6 by a mounting bolt P4. As a result, the rotation of the second arm driving motor 41 is decelerated by the three-axis reduction gear unit 42, and the driving rod 6 is swung by its driving force.

The first arm 5 constituting the first side of the parallel link L is housed in the housing portion 20 of the other end 2b of the turning member 2. Further, the one end portion 51 of the first arm 5 is placed at the symmetrical position with the axis S2 as a boundary.
It has a mounting recess 510 and a second mounting recess 520. First mounting recess
The bearing B2 is interposed between the 510 and the first cylindrical guide portion 33. The second mounting recess 520 comprises a large-diameter recess 520a and a small-diameter recess 520b, and a bearing B3 is interposed between the large-diameter recess 520a and the second tubular guide portion 43. The second mounting recess
A bearing B4 is interposed between the small-diameter recess 520b of 520 and the large-diameter end 600 of the shaft core 60 of the drive rod 6. Also, the first arm 5
First small mounting hole 510a at one end 51 of the shaft and small diameter end 601 of the shaft core 60
A bearing B5 is placed between and. The other end 52 of the first arm 5 is pivotally attached to one end 81 of the second arm 8 by a support shaft 821.

The drive rod 6, which constitutes the second side of the parallel link L, has one end portion 61.
Has a common axis 60 with the one end 51 of the first arm 5.
Moreover, the shaft core 60 pivotally attaches one end 61 of the drive rod 6 to the central portion 602. The other end 62 of the drive rod 6 is pivotally supported by the support shaft 621 on one end 71 of the connecting rod 7. Drive rod 6 by this
Is driven by the output side of the speed reducer 42 to swing the other end 62 around the one end 61 and the connecting rod 7.

The connecting rod 7 forming the third side of the parallel link L has the other end 72.
Is pivotally supported on one end 81 of the second arm 8 by a support shaft 721. As a result, when the connecting rod 7 swings by the driving force from the driving rod 6, this connecting force is transmitted to the second arm 8 to the friend.

The second arm 8 constituting the fourth side of the parallel link L has one end 81 pivotally supported by the connecting rod 7, and the central part 82 pivotally supported by the support shaft 821 at the other end 52 of the first arm 5. ing. The other end 83 of the second arm 8 rotatably connects a twist body 8a, a bend body 8b, and a swivel body 8c, which form a wrist portion 84 of the robot, in order. The one end 81 is provided with motors 8A, 8B and 8C for rotating the twist body 8a, the bend body 3b and the swivel body 8c, respectively.

In addition, in order to reduce the influence of gravity acting on the second arm 8 between the first arm 5 and the turning member 2, the piston
A balancing device 9 including 90 and an air cylinder 91 is installed. The piston 90 has a tip 901 swingably connected to the other end 52 of the first arm 5 by a support shaft 902. In addition, the other end 910 of the air cylinder 91 is swingably connected by a support shaft 911 to a connecting member 912 mounted on the other end 2b of the turning member 2. First mounting portion 21 and second mounting portion 22
A mounting surface for mounting the connecting member 912 is formed in the other end portion 2b of the same shape, and the connecting member 912 is either the first mounting portion 21 or the second mounting portion 20 depending on the mounting direction of the first arm 5. Can also be attached to.

In the articulated robot configured as described above, the first driving section 3 and the second driving section 4 are connected to the first mounting section 21 and the second mounting section 22.
By changing the attachment, the first arm 5, the drive rod 6, the connecting rod 7, and the second arm 8 forming the parallel link can be attached at a position rotated by 180 ° with respect to the turning member 2.

Therefore, when the articulated robot is used for floor installation, the first drive section 3 is attached to the first attachment section 21 of the turning member 2 and the second drive section 4 is attached to the second attachment section 22. As a result, the parallel links L are arranged as shown in FIG. In this case, the first drive unit 3 causes the first arm 5 to move.
By swinging the
Can be swung in the direction. Further, the connecting rod 7 is swung by swinging the driving rod 6 by the second driving unit 4, and the swinging of the connecting rod 7 causes the second arm 8 to move in the directions of the arrows Y1 and Y2 with the spindle 821 as the fulcrum. Can be rocked to. Therefore, the second arm 8 can obtain the operation range indicated by the alternate long and short dash line a (see FIG. 2) necessary for the floor-mounted articulated robot. Further, the revolving member 2 can be moved by an arbitrary rotation angle about the axis S1.

Further, when the articulated robot is used for ceiling installation, as shown in FIG.
And attach the second drive unit 4 to the first attachment unit 21. As a result, the first arm 5, the driving rod 6, the connecting rod 7, and the second arm 8 which form the parallel link L are attached to the revolving member 2 at a position rotated by 180 ° from the case of the floor installation. Along with this, a connecting member 912 that connects the air cylinder 91 of the gravity balance device 9 to the turning member 2 is also attached to the second attaching portion 22.

As shown in FIG. 4, this articulated robot is used by fixing the base 1 with a fixing member (not shown) using the ceiling as a fixed portion R2. In this case, the first drive unit 3 causes the first arm 5 to move.
By swinging, the entire parallel link L is moved to the arrow X3, X4
Can be swung in the direction. Further, the connecting rod 7 is swung by swinging the driving rod 6 by the second driving unit 4, and the swinging of the connecting rod 7 causes the second arm 8 to use the support shaft 821 as a fulcrum, and the arrows Y3, Y4 Can be swung in the direction. Therefore, the second arm 8 can obtain the movement range indicated by the chain line b, which is necessary for the articulated robot for ceiling installation. Further, the swivel member 2 can swivel around the axis S1 at any angle.

As described above, according to this embodiment, in one articulated robot, the first mounting portion 21 and the second mounting portion which are symmetrical to each other are provided.
The first driving unit 3 and the second driving unit 4 for the swiveling member 2 having 22 and the first arm 5, the driving rod 6, the connecting rod 7, the first arm 5, and the second arm 8 that form the parallel link L. It can be used for floor installation and ceiling installation without increasing the number of parts by simply converting the position by 180 °, which is extremely convenient because it can be used for a wider range of applications.

The turning member 2 rotatably held on the base 1 is equipped with a turning motor M1 and can be turned by an arbitrary angle by the turning motor M1.

Since the action of the wrist portion 84 is the same as that of the conventional articulated robot, its description is omitted.

[Brief description of drawings]

1 to 5 are explanatory views showing an embodiment of the articulated robot of the present invention, and FIG. 1 is a front vertical sectional view showing a case of being used for floor installation. FIG. 2 is a left side view of FIG.
FIG. 3 is a front vertical cross-sectional view showing a state in which the mounting of the parallel link is changed for ceiling installation. FIG. 4 is a left side view showing a case where it is used for ceiling installation. FIG. 5 is a bottom view of FIG. FIG. 6 is a left side view showing a conventional articulated robot for floor installation. FIG. 7 is a left side view showing an operation range of a conventional articulated robot for floor installation which is installed on a ceiling as a comparative example. 1 ... Base, 2 ... Revolving member 21 ... First mounting part, 22 ... Second mounting part 3 ... First driving part, 4 ... Second driving part 5 ... First arm, 6 ... Drive rod 7 ... Connecting rod, 8 ... Second arm L ... Parallel link

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Yutaka Tanabe Yutaka Tanabe 1-1, Asahi-cho, Kariya city, Aichi Toyota Koki Co., Ltd. (56) Reference JP-A-58-181586 (JP, A) -48987 (JP, U) Actually opened 63-154185 (JP, U)

Claims (1)

[Scope of utility model registration request] 1. A base, a swivel member rotatably held by the base, and a swivel member which is swivel-driven with respect to the base and is provided on the swivel member with a predetermined offset from the swivel axis thereof. The motor, the first mounting portion and the second mounting portion formed so as to face each other so as to form a bifurcated shape at opposite positions with the rotation motor interposed therebetween, the first mounting portion, and the second mounting portion. A first drive unit and a second drive unit attached to both sides of the second attachment unit; a first arm swingably held by the first drive unit and forming a first side of a parallel link; A drive rod having the same axis as the arm and swingably held by the second drive portion to form a second side of the parallel link; and a third side of the parallel link swingably supported by the drive rod. A connecting rod to be constructed, and a swing rod is pivotally supported at one end and a wrist portion is provided at the other end. A second arm forming a fourth side of a parallel link swingably supported by the first arm between the wrist part and the connecting rod, the first drive part and the second drive part. A mounting hole of the same diameter in which the first driving portion and the second driving portion are fitted to the first mounting portion and the second mounting portion so that the portion can be mounted to either the first mounting portion or the second mounting portion. The first drive unit is attached to the first attachment unit in the case of floor installation.
The second drive unit is attached to the attachment unit, the connecting rod is arranged between the first arm and the turning motor, and the second drive unit is attached to the first attachment unit in the case of ceiling installation or wall installation. A multi-joint type robot characterized in that a connecting rod is arranged at a position opposite to the turning motor with the first driving unit attached to the turning motor.