JPH1110576A - Industrial robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an industrial robot device capable of normally providing required motion even when loading a load of a high inertial moment on a head end working part. SOLUTION: A head end working part 7 moves in a straight line by selection of a speed reduction ratio by driving three revolving systems consisting of a first speed reduction mechanism 20, a second speed reduction mechanism 21 and a third speed reduction mechanism 22 by one driving source by a driving part 8. In such an extensive arm mechanism, it is possible to improve rigidity in the rotational direction by forming the revolving systems respectively of the speed reduction mechanisms such as the first speed reduction mechanism 20, etc. Consequently, even when a load of a high inertial moment is loaded on the head end working part 7, vibration is not generated, and motion in an industrial robot is normalized by preventing nonconformity of positional precision failure, etc., by backlash in a transmission mechanism of a first transmission mechanism 24, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot apparatus in which both a first arm and a second arm are pivotally connected to each other, and a tip operating portion moves linearly by a turning operation of the two arms.

[0002]

2. Description of the Related Art FIG. 2 is a view conceptually showing a conventional industrial robot apparatus, and is a sectional view of an operating arm. In the figure,
1 is a base, 2 is a first shaft erected on the base 1, 3 is a first arm whose pivotal end is pivotally supported on the first shaft 2, 4 is a pivotal end of the first arm 3. The second arm 5 attached is a second arm whose pivot end is fixed to the second shaft 4, 6 is a third axis pivotally attached to a pivot end of the second arm 5,
Reference numeral 7 denotes a front end flange fixed to the third shaft 6.

[0003] Reference numeral 8 denotes a drive unit comprising an electric motor provided on the base 1. Reference numeral 9 denotes a first pulley fixed to the pivotal end of the first arm 3 and whose center of rotation is disposed at the pivotal center of the pivotal end. Reference numeral 10 denotes a first belt wound around the pulley of the drive unit 8 and the first pulley 9, and 11 denotes a first shaft fixed to the first shaft 2 and the center of rotation of which is the first shaft 2.
Is a second pulley, which is fixed to the second shaft 4 and whose center of rotation is disposed at the center of the second shaft 4.

Reference numeral 13 denotes a second pulley 11 and a third pulley 12
The second belt 14 is fixed to the rotating end of the first arm 3 and the fourth pulley whose rotation center is located at the rotation center of this rotating end, and 15 is fixed to the third shaft 6. A fifth pulley 16 whose rotation center is arranged at the center of the third shaft 6 is a third belt 16 wound around the fourth pulley 14 and the fifth pulley 15.

[0005] The conventional industrial robot apparatus is configured as described above, and the operation of the driving unit 8 is transmitted to the first pulley 9 by the first belt 10 so that the first arm 3 rotates. However, since the second pulley 11 is fixed to the base 1 via the first shaft 2, the transmission mechanism including the second pulley 11, the third pulley 12, and the second belt 13 by the rotation of the first arm 3. This causes the second arm 5 to rotate.

Further, since the fourth pulley 14 is fixed to the rotating end of the first arm 3, the rotation of the second arm 5 causes the transmission composed of the fourth pulley 14, the fifth pulley 15, and the third belt 16 to be transmitted. The tip flange 7 rotates through the third shaft 6 by a mechanism. Then, the respective rotational speed ratios of the second pulley 11 and the third pulley 12 and the fourth pulley 14 and the fifth pulley 15 are appropriately selected according to the ratio of the lengths of the first arm 3 and the second arm 5.

As a result, the distal end flange 7 moves linearly without rotating with respect to the base 1 through the rotating operation of the first arm 3 and the second arm 5 by the operation of the drive unit 8. For example, if the first arm 3 and the second arm 5 have the same length, the diameter of the second pulley 11 / the diameter of the third pulley 12 = the fourth pulley 1
By selecting the ratio of (diameter of 4) / (diameter of fifth pulley 15) = 2, a linear moving mechanism by one drive unit 8, that is, a telescopic structure can be configured.

[0008]

In the conventional industrial robot apparatus as described above, when a load having a large moment of inertia is placed on the distal end flange 7 and driven, the first arm 3, the second arm 5, and the distal end flange 7 are driven. The rigidity in the rotation direction is governed by the rigidity of the transmission member such as the second belt 13. For this reason, the rigidity of the first arm 3 and the like becomes low, and vibration occurs at the time of high-speed operation, the linearity of the moving operation of the front flange 7 is impaired due to the delay caused by the transmission rigidity of the belt, and the pulley and the belt There is a problem that poor positioning accuracy may occur due to backlash between them.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and an object of the present invention is to provide an industrial robot apparatus which can obtain a normal required operation even when a load having a high moment of inertia is loaded on a distal end working portion. Aim.

[0010]

In an industrial robot apparatus according to the present invention, a first arm whose pivot end is pivotally supported on a base via a first joint, and a pivot of which the pivot end is the first arm. A second arm pivotally supported at a moving end via a second joint, and a second arm provided at a rotating end of the second arm via a third joint to linearly move by a rotating operation of the first arm and the second arm. A first actuating mechanism that forms a first joint, is fixed to a base, and rotates a first arm by an output side, and a first deceleration mechanism that forms a second joint and is fixed to a rotating end of the first arm. A second reduction mechanism that rotates the second arm by the output side, a third reduction mechanism that forms a third joint, is fixed to the rotation end of the second arm, and rotates the distal end operating unit by the output side, A drive unit that drives the input shaft of the first reduction mechanism, and a first transmission mechanism that transmits the operation of the output shaft of the first reduction mechanism to the input shaft of the second reduction mechanism,
And a second transmission mechanism for transmitting the operation of the output shaft of the second reduction mechanism to the input shaft of the third reduction mechanism.

Further, in the industrial robot apparatus according to the present invention, the first transmission mechanism and the second transmission mechanism are constituted by a transmission mechanism including a timing belt pulley and a timing belt.

Further, in the industrial robot apparatus according to the present invention, the first transmission mechanism and the second transmission mechanism are constituted by a transmission mechanism including a gear mechanism.

Further, in the industrial robot apparatus according to the present invention, the first transmission mechanism and the second transmission mechanism are constituted by a transmission mechanism using a timing belt pulley and a timing belt in combination with a gear mechanism.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a view showing an example of an embodiment of the present invention, and is a cross-sectional view of an operating arm. In the figure, 1 is a base, 17 is a first joint formed on the base 1, 3 is a first arm whose pivot end is pivotally supported on the first joint 17, 18 is a rotating end of the first arm 3. The second joint 5 formed on the second arm 5 has a second arm pivotally supported by the second joint 18, and the third joint 19 has a third joint formed on the rotating end of the second arm 5.

Reference numeral 8 denotes a drive unit comprising an electric motor provided on the base 1. Reference numeral 20 denotes a first speed reduction mechanism constituting the first joint 17.
The first arm 3 is rotated by the output side while being fixed to the base 1.
Reference numeral 21 denotes a second speed reduction mechanism constituting the second joint 18, which is fixed to a rotation end of the first arm 3 and rotates the second arm 5 on the output side. Reference numeral 22 denotes a third reduction mechanism that constitutes the third joint 19, and is fixed to the rotation end of the second arm 5, and rotates the distal end working unit 7 composed of the distal end flange by the output side.

Reference numeral 23 denotes a drive unit transmission mechanism, and the first reduction mechanism 2
First timing belt pulley 9 fixed to input shaft 0
And a first timing belt 10 wound around a timing belt pulley of the drive unit 8 and a first timing belt pulley 9.

Reference numeral 24 denotes a first transmission mechanism, which includes a second timing belt pulley 11 fixed to the output shaft of the first reduction mechanism 20, a third timing belt pulley 12 fixed to the input shaft of the second reduction mechanism 21, and It is constituted by a second timing belt 13 wound around a second timing belt pulley 11 and a third timing belt pulley 12.

Reference numeral 25 denotes a second transmission mechanism, which is a fourth timing belt pulley 14 fixed to the output shaft of the second reduction mechanism 21, a fifth timing belt pulley 15 fixed to the input shaft of the third reduction mechanism 22, and It is constituted by a third timing belt 16 wound around a fourth timing belt pulley 14 and a fifth timing belt pulley 15.

In the industrial robot apparatus configured as described above, the operation of the drive unit 8 is transmitted to the first reduction mechanism 20 via the drive unit transmission mechanism 23, and the first arm 3 rotates.
Further, the operation of the output shaft of the first reduction mechanism 20 is transmitted to the second reduction mechanism 21 via the first transmission mechanism 24, and the second arm 5 rotates. Further, the operation of the output shaft of the second reduction mechanism 21 is transmitted to the third reduction mechanism 22 via the second transmission mechanism 25, and the distal end working unit 7 rotates.

Then, the speed reduction ratio of the first speed reduction mechanism 20, the second speed reduction mechanism 21, and the third speed reduction mechanism 22 is appropriately selected according to the length ratio of the first arm 3 to the second arm 5. As a result, similarly to the configuration of the industrial robot apparatus shown in FIG. 2 described above, the tip operating section 7 is moved relative to the base 1 by the operation of the driving section 8 through the rotation of the first arm 3 and the second arm 5. Move linearly without rotating.

As described above, the three rotation systems including the first speed reduction mechanism 20, the second speed reduction mechanism 21, and the third speed reduction mechanism 22 are driven by one drive source by the drive unit 8, and the speed reduction ratio is reduced. In the telescopic arm mechanism in which the distal end operation unit 7 moves linearly by selection, the rotation system is formed by the speed reduction mechanism such as the first speed reduction mechanism 20, so that the rigidity in the rotation direction can be increased.

Therefore, even if a load with a high moment of inertia is loaded on the distal end working portion 7, vibration does not occur.
In addition, it is possible to prevent occurrence of problems such as poor positioning accuracy due to backlash in a transmission mechanism such as the first transmission mechanism 24. Therefore, a normal required operation by the industrial robot can be obtained.

Embodiment 2 FIG. Further, the first transmission mechanism 24 and the second transmission mechanism 2 are applied by applying the embodiment of FIG.
5 can easily be replaced by a transmission mechanism constituted by gears. Then, even if the first transmission mechanism 24 and the second transmission mechanism 25 are transmission mechanisms constituted by gears, the same operation as the embodiment of FIG. 1 can be obtained.

Embodiment 3 FIG. Further, the first transmission mechanism 24 and the second transmission mechanism 2 are applied by applying the embodiment of FIG.
5 can be easily replaced by a transmission mechanism configured by using a gear, a timing belt pulley, and a timing belt together. Also, even if the first transmission mechanism 24 and the second transmission mechanism 25 are transmission mechanisms configured by using both a gear, a timing belt pulley, and a timing belt, the same operation as the embodiment of FIG. 1 can be obtained. .

[0025]

As described above, according to the present invention, a first arm having a pivotal end pivotally supported on a base via a first joint, and a pivotal end having a second pivotal end connected to the pivot end of the first arm. A second arm pivotally supported via a joint, and a tip operating unit provided at a rotating end of the second arm via a third joint and linearly moved by a rotating operation of the first arm and the second arm; A first deceleration mechanism that forms the first joint and is fixed to the base and rotates the first arm by the output side, and a second joint that forms the second joint and is fixed to the rotating end of the first arm and the second by the output side. A second reduction mechanism that rotates the two arms, a third reduction mechanism that forms a third joint, is fixed to the rotation end of the second arm, and rotates the distal end operating unit by the output side, and a first reduction mechanism. A drive unit for driving the input shaft;
A first transmission mechanism for transmitting the operation of the output shaft of the first reduction mechanism to the input shaft of the second reduction mechanism; and a second transmission mechanism for transmitting the operation of the output shaft of the second reduction mechanism to the input shaft of the third reduction mechanism. Are provided.

As a result, the three rotation systems including the first reduction mechanism, the second reduction mechanism, and the third reduction mechanism are driven by one drive source by the drive section, and the tip operating section is activated by selecting the reduction ratio. Move linearly. In such a telescopic arm mechanism, since the rotation systems are formed by the speed reduction mechanisms such as the first speed reduction mechanism, the rigidity in the rotation direction can be increased. Therefore, even if a load with a high moment of inertia is loaded on the distal end working portion, vibration does not occur, and problems such as poor positioning accuracy due to backlash in the transmission mechanism such as the first transmission mechanism can be prevented. This has the effect of normalizing the operation of the industrial robot.

Further, as described above, in the present invention, the first transmission mechanism and the second transmission mechanism are constituted by a transmission mechanism including a timing belt pulley and a timing belt.

As a result, the three rotation systems including the first reduction mechanism, the second reduction mechanism, and the third reduction mechanism are driven by one drive source of the drive section, and the tip operating section is selected by selecting the reduction ratio. Move linearly. In such a telescopic arm mechanism, since the rotation systems are formed by the speed reduction mechanisms such as the first speed reduction mechanism, the rigidity in the rotation direction can be increased. Therefore, even if a load with a high moment of inertia is loaded on the distal end working portion, no vibration occurs, and poor positioning accuracy due to backlash in the transmission mechanism including the timing belt pulley and the timing belt such as the first transmission mechanism. It is possible to prevent the occurrence of a malfunction and to have an effect of normalizing the operation of the industrial robot.

Further, as described above, in the present invention, the first transmission mechanism and the second transmission mechanism are constituted by a transmission mechanism including a gear mechanism.

As a result, the three rotary systems including the first reduction mechanism, the second reduction mechanism, and the third reduction mechanism are driven by one drive source by the drive section, and the tip operating section is selected by selecting the reduction ratio. Move linearly. In such a telescopic arm mechanism, since the rotation systems are formed by the speed reduction mechanisms such as the first speed reduction mechanism, the rigidity in the rotation direction can be increased. Therefore, even if a load with a high moment of inertia is loaded on the distal end working portion, vibration does not occur, and problems such as poor positioning accuracy due to backlash in the transmission mechanism including the gear mechanism such as the first transmission mechanism can be prevented. This has the effect of normalizing the operation of the industrial robot.

Further, as described above, in the present invention, the first transmission mechanism and the second transmission mechanism are constituted by a transmission mechanism using a timing belt pulley and a timing belt in combination with a gear mechanism.

As a result, the three rotation systems including the first reduction mechanism, the second reduction mechanism, and the third reduction mechanism are driven by one drive source of the drive section, and the tip operating section is selected by selecting the reduction ratio. Move linearly. In such a telescopic arm mechanism, since the rotation systems are formed by the speed reduction mechanisms such as the first speed reduction mechanism, the rigidity in the rotation direction can be increased. Therefore, even if a load with a high moment of inertia is loaded on the distal end working portion, no vibration occurs, and a backlash in a transmission mechanism using a timing belt pulley and a timing belt together with a gear mechanism such as the first transmission mechanism. Therefore, it is possible to prevent the occurrence of inconveniences such as poor positioning accuracy due to the above, and there is an effect of normalizing the operation of the industrial robot.

[Brief description of the drawings]

FIG. 1 is a view showing Embodiment 1 of the present invention, and is a cross-sectional view of an operating arm.

FIG. 2 is a sectional view of an operating arm conceptually showing a conventional industrial robot device.

[Explanation of symbols]

1 base, 3 first arm, 5 second arm, 7 tip operating section,
8 drive part, 17 first joint, 18 second joint, 19
Third joint, 20 first reduction mechanism, 21 second reduction mechanism,
22 third reduction mechanism, 24 first transmission mechanism, 25 second transmission mechanism.

Claims (4)

[Claims] 1. A first arm having a pivotal end pivotally supported on a base via a first joint, and a pivotal end pivotally supported by a pivotal end of the first arm via a second joint. A second arm, a distal end operating portion provided at a rotating end of the second arm via a third joint, and linearly moved by a rotating operation of the first arm and the second arm; and forming the first joint. A first deceleration mechanism fixed to the base and rotating the first arm by the output side; and a second deceleration mechanism forming the second joint and fixed to a rotating end of the first arm and the second side by the output side. A second reduction mechanism for rotating the arm, a third reduction mechanism that forms the third joint, is fixed to a rotation end of the second arm, and rotates the distal end operating unit by an output side; A drive unit that drives the input shaft of the reduction mechanism, and a first transmission mechanism that transmits the operation of the output shaft of the first reduction mechanism to the input shaft of the second reduction mechanism,
An industrial robot apparatus comprising: a second transmission mechanism that transmits an operation of an output shaft of the second reduction mechanism to an input shaft of the third reduction mechanism. 2. The industrial robot apparatus according to claim 1, wherein the first transmission mechanism and the second transmission mechanism are transmission mechanisms including a timing belt pulley and a timing belt. 3. The industrial robot apparatus according to claim 1, wherein the first transmission mechanism and the second transmission mechanism are transmission mechanisms constituted by gear mechanisms. 4. The industrial robot apparatus according to claim 1, wherein the first transmission mechanism and the second transmission mechanism are transmission mechanisms configured by using a timing belt pulley and a timing belt in combination with a gear mechanism.