JPH10315178A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of accurately conveying an article with the shortest distance without changing the direction by performing ideal smooth start and smooth stop. SOLUTION: A truck 11 to travel on rails 13 by a servo motor 19 for traveling and a connecting plate 27 provided with a suction cup for sucking the article are connected to each other by a link mechanism 28 composed of a pair of links 29a, 29b connected by hinges 36 so as to be bent and stretched, the link 29b is turned by a link rotating servo motor 33, and an article is moved by the synergistic action to the movement of the truck 11 while bending and stretching the link mechanism 28.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot capable of transporting articles at high speed without changing its direction.

[0002]

2. Description of the Related Art Robots include an orthogonal coordinate system robot having a linear motion mechanism, an articulated robot having a rotary motion mechanism, and a cylindrical coordinate system having both linear and rotary motion mechanisms. There are robots.

[0003]

When transporting an article, it is desirable to slowly start the movement, gradually accelerate, gradually accelerate to the maximum speed, gradually decelerate, and stop when the movement is completed. In a robot with a linear motion mechanism, the article moves at a constant speed, so rapid acceleration and deceleration take place at the start and completion of the movement, and the article is damaged by the impact of inertia due to the effect of inertia. It may not be possible to carry it accurately to a predetermined position.

[0004] Even in a robot having a rotary motion mechanism, since the peripheral speed when turning an article is constant,
The acceleration at the start and end of the movement is large, causing the same problem as above, and the moving path is longer and the moving time is longer than that of moving linearly. It requires space for the turning radius,
Large space is required. Moreover, the direction of the article is reversed when the article is rotated by 180 ° and moved.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and can reduce the speed at the start and end of the movement so that the article can be transported linearly at a high speed without changing the direction of the article. It is intended to provide a robot.

[0006]

According to a first aspect of the present invention, there is provided a connecting member having an attaching means for detachably attaching an article, and symmetrically disposed on both sides of a path for conveying the article. A link mechanism consisting of a pair of links that can be bent and extended,
It consists of bending means for bending and stretching the link of the link mechanism,
The link member is moved linearly along the path by bending and extending the link mechanism.

FIG. 1 is a diagram showing the correlation between the rotation angle of a link and the movement of a connecting member during article transport by the mechanism of the present invention. The link 2a of the link mechanism connecting the connecting member 1 and a support member (not shown) is provided. The linear movement of the connecting member 1 when it is rotated clockwise by 15 ° from the solid line position and the amount of movement are shown. As shown in FIG. 1, although the movement amount d ₁ of the connecting member 1 at the start of the movement in which the link 2 a has rotated 15 ° from the solid line position is small, as the rotation amount of the link 2 a increases,
The moving amount also increases from d _{2 to} d ₆ and is accelerated. The maximum speed is reached when the link 2a rotates by 90 °, and thereafter, the moving amount gradually decreases from d _{6 to} d ₁ and decelerates. When the link 2a turns by 180 °, the movement is completed and stops.

As described above, according to the present invention, the article attached to the attaching means of the connecting member is gently moved at the beginning of movement.
Then, it is conveyed with an ideal movement of gradually accelerating and reaching the highest speed, and then gradually decelerating, and stopping at a gentle speed. Even if the peripheral speed of the link 2a is constant, linear motion is ideal for gentle start and stop. I do. And the transport distance is link 2
This is twice as long as a and 2b are linearly extended.

The above-mentioned attaching means used in the present invention includes:
For example, a vacuum suction device formed of a suction disk, a magnetic suction device formed of an electromagnet, a hook, a hand for grasping an article, and the like can be exemplified. The bending and stretching means includes a device for rotating the link 2a and a device for rotating the link 2b. Either one or the other is used, and as a device for rotating the link 2a, for example, a device including a motor with a reduction gear, a cylinder and a pinion rack mechanism can be exemplified, and as a device for rotating the link 2b, For example, a motor with a reduction gear attached to the link 2a, a belt or a chain transmission mechanism stretched between two axes of the link 2a, and the like can be exemplified.

According to a second aspect of the present invention, the supporting member according to the first aspect of the present invention is a trolley movable on a path, the trolley is moved on the path by driving means, and the movement by the bending and extension of the link and the movement of the trolley are performed. The article is conveyed at high speed. Examples of the driving means used in the present invention include a transmission mechanism including a belt or a chain, a ball screw that is rotationally driven by a motor, and a mechanism including a nut that is screwed to the ball screw in a stopped state.

A third invention is characterized in that, in the first or second invention, a connecting member and a link mechanism are supported so as to be able to move up and down, and an elevating means for raising and lowering both is provided. As a result, the article can be lifted and transported to a location having a different level. Examples of the lifting / lowering means used in the present invention include a mechanism including a cylinder, a pinion rack mechanism, a ball screw that is rotationally driven by a motor, and a nut that is screwed to the ball screw in a stopped state.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIGS.
Are movably supported by rails 13 of a fixed frame 12 having an appropriate length. The driving means for driving the cart 11 includes:
Pulleys 15 and 16 supported on both sides of the fixed frame 12, and a timing belt 1 stretched between the pulleys 15 and 16
7 and a traveling servomotor 19 for driving the pulley 15 to rotate.
The cart 11 moves along the rail 13 in the direction of the arrow in FIG.

A rack 23 protruding upward from the mounting plate 22 for raising and lowering a mounting plate 22 supported on the carriage 11 by the lifting guide 21 so as to be able to move up and down;
An elevation servomotor 24 attached to the carriage 11, and a pinion 25 which is driven to rotate by the servomotor 24 and meshes with the rack 23, and the mounting plate 22 is moved up and down via the rack 23 by forward and reverse rotation of the motor 24. It is supposed to.

A connecting plate 27 and a mounting plate 22 as connecting members
The link mechanism 28 is connected in a symmetrical manner in the front-rear direction by a pair of links 29a and 29b having the same length and connected by a hinge. It has become. The bending mechanism for bending and extending the link mechanism 28 includes a gear 31 pivotally supported by the mounting plate 22 together with one end of the link 29a,
An intermediate gear 32 which is arranged in a line with the two gears 31 in the front-rear direction and rotates the two gears 31 in opposite directions;
And a link rotation servomotor 33 that rotationally drives the gear 31 and a belt transmission mechanism 34 that rotates the link 29b.
1, a pulley 35, a link 29a and a link 2
9b, a pulley 37 attached to a hinge 36 integral with the link 29b, and an endless belt 38 stretched between the pulleys 35 and 37.

In the drawing, reference numeral 41 denotes a suction plate which is attached to the connecting plate 27 and serves as attaching means for detachably attaching an article.
Reference numeral 42 denotes a balance cylinder attached to the carriage 11 and connected to the mounting plate 22, and supporting the mounting plate 22 so as not to be inclined. The present apparatus is configured as described above. To lift an article, first, the servomotor 24 is started at the position indicated by the solid line in FIG. As a result, the pinion 25 rotates, and the rack 23 descends together with the mounting plate 22 and the link mechanism 28 as shown by the dashed line in FIG. Then, the suction plate 41 attached to the connection plate 27 presses and suctions the article 43 (FIG. 4).
After the article is adsorbed, the servo motor 24 is rotated in the reverse
3 is lifted together with the mounting plate 22 and the link mechanism 28 to lift the article 43 sucked by the suction board 41.

Next, the servo motors 19 and 33 are started. The belt transmission mechanism 18 is activated by the activation of the servomotor 19.
The bogie 11 moves rightward in FIG. 3 via the gears. On the other hand, when the servo motor 33 is activated, the two links 29b rotate inward via the gears 31 and 32 and the belt transmission mechanism 34.
The article 43 is moved while bending the link mechanism 28 (FIG. 5). The movement speed of goods is slow at first,
The refraction of the link mechanism 28 increases at an accelerated rate as it advances, and reaches the highest speed at the stage in FIG. 6 where the two links 29a and 29b of the link mechanism 28 are folded. Then, as the link mechanism 28 is opened (FIG. 7), it decreases at an accelerated rate and stops at a stage where the speed has been reduced to a moderate speed (FIG. 8). After stopping,
The article is lowered by the activation of the servo motor 24 in the same manner as described above.

Although the article 43 is conveyed as described above, the direction of the article does not change during the conveyance as shown in FIGS.

[0018]

According to the first aspect of the present invention, an article can be transported in the shortest distance by performing ideal slow start and slow stop, and the article can be transported from a predetermined position to a predetermined position with high accuracy. In addition, a transport distance twice as long as the length of the extended link mechanism is obtained, and articles can be transported in the same direction.

According to the second aspect of the present invention, the article can be conveyed at high speed by the synergistic action of the movement of the link mechanism by bending and extension and the movement of the bogie. According to the third aspect of the present invention, it is possible to raise / lower the article by raising / lowering the attaching means, and to convey the article in a state of being lifted.

[Brief description of the drawings]

FIG. 1 is a correlation diagram of rotation of a link and movement of a connecting member.

FIG. 2 is a plan view of a robot according to the present invention.

FIG. 3 is a front view of the robot.

FIG. 4 is a diagram showing a link mechanism at the start of movement.

FIG. 5 is a diagram showing a link mechanism during acceleration.

FIG. 6 is a diagram showing a link mechanism when the maximum speed is reached.

FIG. 7 is a diagram showing a link mechanism during deceleration.

FIG. 8 is a diagram showing a link mechanism at the time of stop.

[Explanation of symbols]

 1. Connecting member 2a, 2b, 29a, 29b Link 11 Bogie 12 Fixed frame 13 Rail 15, 16, 35, 37 Pulley 17 Timing belt 18, 34 Belt transmission Mechanism 19 ··· Servo motor for traveling 21 ··· Guide for elevating 22 ··· Mounting plate 23 ··· Rack 24 ··· Servo motor for elevating 25 ··· Pinion 27 ··· Linking plate 28 ··· Link mechanism 31, 32 ··· Gear 33 Link servo motor 36 Hinge 38 Endless belt 41 Adsorber 43 Article

Claims (3)

[Claims] 1. A connecting member provided with an attaching means for detachably attaching an article, and a pair of bendable and extendable members arranged symmetrically on both sides of a path for conveying the article and connecting the supporting member and the connecting member. A robot, comprising: a link mechanism comprising a link; and a bending / extending means for bending / extending the link of the link mechanism, wherein the bending / extending of the link mechanism causes the connecting member to move linearly along the path. 2. The vehicle according to claim 2, wherein the supporting member is a carriage movable on a path,
The robot according to claim 1, wherein the carriage is moved on the path by a driving unit. 3. The robot according to claim 1, further comprising an elevating means for supporting the connecting member and the link mechanism so as to be able to move up and down, and elevating the two members.