JPH09295289A - Driving mechanism for industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the parallel arrangement of a driving unit for the fore and aft directional operation and a driving unit for vertical operation without arranging them on the same shaft by providing a second driving means for rotating a driving hinge provided in a fixed link so as to operate the vertical operation of an upper arm. SOLUTION: An upper hinge 7 for supporting a front arm 3 freely to be turned and for fixing an arm 9 so that it can not be turned is provided. Furthermore, a driving hinge 6, which is supported on a fixed link 2 through a horizontal shaft 12 freely to be rotated in relation to the front arm 3, and a rear link 8 for connecting the other end of the driving hinge 6 and the other end of the upper hinge 7 are provided. A second four-joint link mechanism, which does not interfere with a first four-joint link mechanism, and a second driving means provided in the fixed link 2 in parallel with a first driving means and for rotating the driving hinge 6 so as to perform the vertical operation of the upper arm 9 are provided. The second driving means is formed of a motor 12 fixed to the fixed link and a reduction gears 12, and an output shaft of the speed reduction gears is fixed to a front end of the driving hinge 6 so that it can not be rotated.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a drive mechanism for an industrial robot.

[0002]

2. Description of the Related Art Generally, as a structure of an industrial robot having a four-bar linkage, for example, as shown in FIGS. 3A and 3B, an arm 23 rotatably supported by a bracket 25 on a turning base and an arm 23. An arm 24 rotatably supported on the upper end of the arm 23, a hinge 26 rotatably supported on the arm 23 and the bracket 25, and an arm 24.
Link 27 that connects the end of the hinge and the end of the hinge 26 to each other
And a structure in which a forward-backward driving unit 21 and a vertical-moving driving unit 22 are provided on a bracket on a swivel base on the same axis center, and Japanese Patent Publication No. 7-90474. As shown in FIG. 1 of the gazette, in a four-bar linkage having a fixed link, a forward / backward drive unit is provided on the fixed link, and a vertically movable drive unit is provided on the upper end of the forward / backward movement arm. There was one.

[0003]

In an industrial robot having a conventional four-bar linkage mechanism as shown in FIGS. 3 (a) and 3 (b), the drive unit for forward / backward movement and the drive unit for vertical movement are the same. Since the robot is arranged on the axis, the entire width of the robot becomes large, the interference area during turning becomes large, and a wide installation space is required. Further, in the industrial robot having the four-bar linkage mechanism having the fixed link disclosed in Japanese Patent Publication No. 90474/1995, since the drive unit for vertical movement is arranged on the upper end of the arm that moves back and forth, the interference area at the time of turning is Although it is advantageous in that it becomes smaller and the operating range is expanded, since the up-and-down motion drive unit arranged on the upper end of the arm becomes the load of the forward-and-backward motion drive unit, high-speed operation of the industrial robot and It becomes a major obstacle to the portability.
Japanese Examined Patent Publication No. 7-90474 proposes a mechanism in which a drive motor for vertical movement is arranged on the fixed link side and power is transmitted via a belt in order to reduce the load on the drive unit for forward and backward movement, but it is a long belt. Is not practical in terms of adjustment, reduction in rigidity, and reduction in durability.

An object of the present invention is to reduce the overall width of the robot in an industrial robot having a four-bar linkage,
The radius of interference during turning of the robot is reduced to save the installation space, and the drive motor for vertical movement is placed on the fixed link side to reduce the load on the drive unit for forward and backward movement, and the high speed of the four-bar linkage mechanism is achieved. It is to provide a drive mechanism for an industrial robot that has improved flexibility and portability.

[0005]

According to the present invention, a fixed link provided on a swivel base and an upper arm rotatably supported at one end of the fixed link and having a wrist portion at the other end thereof are made rotatable. A front arm for supporting, an upper link having one end rotatably supported on the front arm, and a drive arm for connecting the other end of the fixed link and the other end of the upper link to each other. A first four-bar linkage mechanism,
First drive means provided on the fixed link to rotate the drive arm to perform a back-and-forth movement of the drive arm, the rotatably supported front arm, and one end at the upper end of the front arm rotates with respect to the front arm. An upper hinge rotatably supported and non-rotatably fixed to the upper arm, a drive hinge rotatably supported on the fixed link with respect to the front arm, and the other end of the drive hinge and the upper part. A second four-bar linkage which is composed of a rear link connecting the other ends of the hinges to each other and which does not interfere with the first four-bar linkage; and the fixed link alongside the first drive means. And a second drive means for rotating the drive hinge to move the upper arm up and down, thereby providing a drive mechanism for an industrial robot. It was persists.

[0006]

According to the present invention, the front-rear driving unit and the vertical-moving driving unit can be arranged side by side without having to be arranged on the same axis, so that the entire width of the robot is reduced, and interference during turning of the robot is reduced. Since the area is small and the installation space is reduced, both the front and rear drive parts and the vertical drive parts can be placed on the fixed link.
The load on the drive unit in the forward and backward movements has been reduced, and the speed and portability have been improved.

[0007]

1 (a) is a right side view showing a drive mechanism of an industrial robot according to an embodiment of the present invention, (b) is a front view of (a), (c) is a left side view of (a). , And Fig. 2 is Fig. 1
It is sectional drawing which followed the line AA of (a). A driving mechanism of an industrial robot according to an embodiment of the present invention includes a fixed link 2 provided on a swivel base 1, an upper arm rotatably supported at one end of the fixed link 2 and a wrist 11 at the other end. 9, a front arm 3 that rotatably supports 9, an upper link 4 that has one end rotatably supported on the front arm 3, and the other end of the fixed link 2 and the other end of the upper link 4 are interconnected. And a drive arm 5 for driving the first four-bar linkage mechanism, and a first drive means provided on the fixed link 2 for rotating the drive arm 5 to perform a back-and-forth movement of the drive arm 5. A front arm 3 supported, an upper hinge 7, one end of which is supported on the upper end of the front arm 3 rotatably with respect to the front arm 3 via a horizontal shaft 10 and fixed non-rotatably to the upper arm 9, Forearm via horizontal axis 12 on link 2 A first four-bar linkage mechanism including a drive hinge 6 rotatably supported with respect to the rear hinge, and a rear link 8 connecting the other end of the drive hinge 6 and the other end of the upper hinge 7 to each other. A second four-bar linkage mechanism that does not interfere with the first drive means, and a second drive means that is provided on the fixed link 2 side by side with the first drive means and rotates the drive hinge 6 to move the upper arm 9 up and down. . The first drive means comprises a motor 14 fixed to the fixed link 2 and a speed reducer 16. The output shaft of the speed reducer 16 is non-rotatably fixed to the lower end of the drive arm 5. The second drive means is composed of a motor 15 fixed to the fixed link 2 and a speed reducer 12, and the output shaft of the speed reducer 17 is fixed to the front end of the drive hinge 6 so as not to rotate. In order to make the first four-bar linkage and the second four-bar linkage less interfere with each other, the both ends of the upper link 4 are rotated onto the front arm 3 and the drive arm 5 below the upper hinge 7. The second four-bar linkage is supported outside the first four-bar linkage.

[0008]

As described above, according to the present invention, in the industrial robot having the four-bar linkage, the front-rear drive unit and the up-and-down drive unit can be arranged side by side without having to be arranged on the same axis. The overall width of the robot is made smaller, the interference area at the time of turning of the robot is made smaller, and the installation space is saved.Furthermore, the drive unit for forward and backward movement and the drive unit for vertical movement are both lined up on a fixed link. Since it is arranged, the load on the drive unit of the front and rear operation is reduced, high speed,
It provides a drive mechanism for an industrial robot with improved portability. Preferably, the upper link is rotatably supported at both ends thereof on the forearm and the drive arm below the upper hinge, and the second four-bar link is provided outside the first four-bar link mechanism, The structure in which the first four-bar linkage mechanism and the second four-bar linkage mechanism do not interfere with each other further expands the range of vertical movement of the upper arm.

[Brief description of drawings]

1A is a right side view showing a drive mechanism of an industrial robot according to an embodiment of the present invention, FIG. 1B is a front view of FIG.
(C) is a left side view of (a).

2 is a cross-sectional view of the present invention taken along the line AA of FIG.

FIG. 3A is a left side view showing a drive mechanism of a conventional industrial robot, and FIG. 3B is a front view of FIG.

[Explanation of symbols]

 1 Swiveling Base 2 Fixed Link 3 Front Arm 4 Upper Link 5 Drive Arm 6 Drive Hinge 7 Top Hinge 8 Rear Link 9 Top Arm 14 Drive Motor (First Drive Means) 15 Drive Motor (Second Drive Means)

Claims (2)

[Claims] 1. A fixed link provided on a swivel base, a forearm for rotatably supporting an upper arm rotatably supported at one end of the fixed link and having a wrist at the other end, and the forearm. A first four-bar link mechanism including an upper link having one end rotatably supported on the upper side, and a drive arm connecting the other end of the fixed link and the other end of the upper link to each other. A first drive means provided on the fixed link for rotating the drive arm to perform a back-and-forth movement of the drive arm; the rotatably supported front arm; and one end at the upper end of the front arm with respect to the front arm. Upper hinge rotatably supported by the upper arm and non-rotatably fixed to the upper arm, a drive hinge rotatably supported on the fixed link with respect to the front arm, and the other end of the drive hinge. And top hin A second four-joint link mechanism that does not interfere with the first four-joint link mechanism, and the fixed link that is arranged side by side with the first drive means. Drive mechanism for rotating the drive hinge to move the upper arm up and down, the drive mechanism for the industrial robot. 2. Both ends of the upper link are rotatably supported on the front arm and the drive arm below the upper hinge, and the second four-bar link is the first link.
The drive mechanism for an industrial robot according to claim 1, wherein the drive mechanism is provided outside the four-bar linkage.