JPH0742623Y2 - robot - Google Patents

Description

[Detailed Description of the Invention] A. Industrial Application Field The present invention relates to a robot in which an operation range is changed by reassembling an upper arm to a link mechanism.

B. Outline of the Invention The present invention is capable of responding to changes in the usage state by changing the operating range of the robot with multiple degrees of freedom.In the robot in which the upper arm is connected to the lower arm and the upper part of the link, The robot can be assembled by changing the direction of the upper arm, so that the movement range of the robot can be changed.

C. Conventional Technology An example of the structure of a conventional industrial robot is shown in Figs. 5 and 6, and its joint structure is shown in Fig. 7.

Reference numeral 1 is a base that forms the base of the robot and is installed on the floor or ceiling. A swivel base (1 axis) 2 rotatable around a vertical axis is provided on the base 1, and a lower arm 4 is connected to the swivel base 2 via a rotatable joint (2 axis) 3. . An upper arm 6 is connected to the upper end of the lower arm 4 by a rotatable joint (three axes) 5. A wrist portion (5 axes) 8 is coupled to a tip end portion of the upper arm 6 via a rotatable joint (4 axes) 7, and a wrist flange 10 is connected to the wrist portion 8 via a rotatable joint (6 axes) 9. Are combined. On the other hand, lower arm 4 and upper arm 6
An upper end of a link 11 parallel to the lower arm 4 is connected to the upper arm 6 via a joint 12 on the rear side of the joint 5 and the lower end of the link 11 and the lower end of the lower arm 4 ( The lower arm 4 and the joint 3) of the swivel base 2 are connected by a link 13,
6, the lower arm 4, and the links 11 and 13 form a parallel link mechanism. In FIG. 7, 18 is a joint between the links 11 and 13. As shown in FIG. 6, drive mechanisms for driving the lower arm 4 and the link 11 are arranged on both sides of the link 11, respectively. A lever 14 is integrally connected to the lower end portion of the lower arm 4, and a ball nut portion 16 combined with a motor driven ball screw (stored in a ball screw support 17) is attached to the lever 14. Are combined. Therefore, when the ball screw is rotated by driving the motor to move the ball nut portion 16, the lower arm 4 is rotated together with the lever 145 accordingly. In addition, a similar mechanism has a link 11 and a second link 13
It is also equipped with the joint 18 of and, and the link 11 is also designed to be rotated independently. In the figure, 15 is a ball screw support in which the ball screw is housed.

D. Problems to be solved by the invention The above robots are used on the floor or suspended from the ceiling depending on the use, work content, situation of the work place, etc. Therefore, the operating range is suitable for downward work as shown in FIG. 5 (in the figure, the range indicated by A is P of the wrist portion 8).
Is the operating range of points). Therefore, as shown in FIGS. 8 and 9, when used in a state of being hung on the ceiling 20, the operation range becomes large toward the upper side, and it becomes impossible to construct a layout that effectively uses the operation range. In particular, since the wrist part 8 of the robot has a gate-shaped structure as shown in FIG. 10, its rotation angle is ± 90 ° and ± 110 ° at the most, so that a narrow motion range is possible. , Wrist 8
It was not possible to make up for the shortage of the robot's movement range only by the movement of the robot.

Therefore, in the past, it was unavoidable to deal with this by constructing a system that moves the work so that it can be moved within a reasonably narrow operating range.

E. Means for Solving the Problems In order to solve the above problems, in the present invention, a lower arm whose one end is pivotally attached to the base and a lower arm whose one end is pivotally attached to the base are parallel to each other. A first link, a second link rotatably connected to one end of the lower arm and one end of the first link, and another end of the lower arm and the other end of the first link, respectively. In a robot in which each connecting point is rotatably connected to an upper arm to form a parallel link, each connecting point is configured to be detachable from each upper arm, and each connecting point is a tip of the upper arm. From the side, the other end of the lower arm, the other end of the first link, or the other end of the first link, and the other end of the lower arm are connected to the upper arm in this order.

F. Action In the robot having the above configuration, the movement range of the robot is changed by changing the connection points for the lower arm and the upper arm of the first link.

G. Embodiment FIG. 1 shows a side surface of a robot according to an embodiment of the present invention, and FIG. 2 shows its joint structure (driving source is omitted).

The robot has a replaceable upper arm.
FIGS. 1 and 2 show a state in which the state shown in FIGS. 5 to 8 is replaced.

That is, a swivel base (1 axis) 2 is provided on the base 1 so as to be rotatable about a vertical axis, and a base is constituted by these, and a rotatable joint (2 axis)
The lower arm 4 is connected via 3. The base end of the upper arm 6 is connected to the upper end of the lower arm 4 via a rotatable joint (three axes) 5. That is, the joint 5 at the connecting point comes closer to the rear end side than in the state shown in FIG.
The configuration of the upper arm 6 itself is the same as that of the conventional one, and a wrist portion (5 axis) 8 is provided at a distal end portion through a pivotable joint (4 axis) 7.
, And a wrist flange 10 is joined to the wrist portion 8 via a joint (six axes) 9 which can rotate.

In this changed state, the drive link mechanism is the lower arm 4
Will be located on the front side of. On the front side of the joint 5 between the lower arm 4 and the upper arm 6, the upper end of a first link 11 parallel to the lower arm 4 is connected to the upper arm 6 through a joint (connection point) 12, and the lower end of the first link 11 is connected. A second link 13 is connected to the portion via a joint 18, and the second link 13 and the lower end portion of the lower arm 4 (the joint 3 between the lower arm 4 and the swivel base 2) are coupled by the second link 13. By doing so, upper arm 6, lower arm 4, first link 11, second
The link 13 constitutes a parallel link mechanism.

A drive mechanism using a ball screw is coupled to the lower ends of the lower arm 4 and the first link 11, so that the lower arm 4 and the first link 11 can be independently driven and rotated. In the figure,
Reference numeral 21 is a drive mechanism for the lower arm 4, and 14 is a lever for connecting a moving portion (here, a ball nut portion) of the drive mechanism and a lower end portion of the lower arm 4.

In the robot having the above structure, the joint 5, which is the center of rotation of the upper arm 6, moves to the base end side more than the connected state shown in FIG. 5, supports the upper arm 6, and regulates its movement. Since the link mechanism is on the front side of the lower arm 4, P of the wrist portion 8
As shown by B in FIG. 1, the operating range of the point is such that the upper operating range is widened with reference to the horizontal state of the upper arm 6. In the figure, a range A indicated by a chain double-dashed line is an operation range of a point P before replacement, that is, when the upper arm 6 is connected in the opposite direction.

Therefore, when the robot is used by suspending it from the ceiling 20 as shown in FIGS. 3 and 4, when the upper arm 6 is in a horizontal state as a reference, a large operation range can be set on the lower side. It is possible to obtain the same range of motion as when placed on the floor in the state before replacement as shown in, and it is suitable for downward work. Further, even if the operation angle of the wrist portion 8 is limited, it is not so much affected.

The robot according to the present invention uses components similar to those of the conventional robot, and by changing the front and rear directions of the upper arm 6 and assembling them, it is possible to easily obtain two types of motion ranges.

H. Effect of the Invention According to the robot of the present invention, since the upper arm can be changed and attached to the lower arm and the link, the operation range of the robot is changed and the robot is hung on the ceiling or the like and used. Even in this case, it is possible to secure an effective operating range on the lower side.

[Brief description of drawings]

FIG. 1 is a side view of a robot according to an embodiment of the present invention, FIG. 2 is a joint configuration diagram of the robot shown in FIG. 1, and FIG. 3 is a state in which the robot according to the embodiment is mounted on a ceiling. FIG. 4 is a side view, FIG. 4 is a joint configuration diagram thereof, FIG. 5 is a side view of a conventional robot, FIG. 6 is a rear view thereof, FIG. 7 is a joint configuration diagram of a conventional robot, and FIG. 8 is a conventional robot. FIG. 9 is a side view showing a state in which is attached to the ceiling, FIG. 9 is a joint configuration diagram thereof, and FIG. 10 is a perspective view of a wrist portion of the robot. In the drawings, 1 is a base, 2 is a swivel base, 4 is a lower arm, 6 is an upper arm, 8 is a wrist, 11 is a first link, and 13 is a second link.

Front page continuation (72) Inventor Toshiyuki Ueno 2-1-117 Osaki, Shinagawa-ku, Tokyo Inside the Meidensha Co., Ltd. (56) References JP 57-205085 (JP, A) JP 57-144684 ( JP, A)

Claims (1)

[Scope of utility model registration request] 1. A lower arm having one end pivotally attached to a base, a first link parallel to the lower arm, and one end rotatably connected to one end of the lower arm and one end of the first link. Second link with
In a robot in which the other end of the lower arm and the other end of the first link are respectively connected to each other so that each connection point is rotatably connected to an upper arm to form a parallel link, each connection point is an upper arm. The connection point is detachably attached to the other end of the upper arm from the other end of the lower arm, the other end of the first link, or the other end of the first link, the other end of the lower arm. A robot configured to be connected to the upper arm in this order.