JPS58137581A - Prefabricated robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to an industrial assembled logget.

In recent years, automation of assembly work has been rapidly progressing through the introduction of assembly robots in production processes. Conventional assembly ef used for these purposes? An example of this is shown in Figure 1.

This loget consists of two joints, a first arm 1 and a second arm 2. A DC serge motor 3 is provided at the base of the first arm 1 to directly drive the first arm 1, and a shaft is attached to the tip of the first arm. A DC motor I motor 4 is provided at the base of the supported second arm 2 to directly drive the @2 arm 2.

An air cylinder 5 is provided at the tip of the second arm 2, and a hand 6 is attached to the tip of the piston rod.
It is made to move up and down as it expands and contracts. Furthermore, ・Fix the mother motor 7 to the base 8, and set the timing pel) 9.9
The rotational force is transmitted to the hand 6 through ', 9' to perform a twisting action.

The above-mentioned logget (Figure 1) has a total of 4 degrees of freedom: 2 degrees of freedom in the horizontal plane due to the first arm 1 and the second arm 2, a degree of freedom in the vertical direction, and a degree of freedom in twisting the hand. have.

The nine conventional assembled loggets described above have the following two drawbacks.

The first drawback is that the vertical movement of the hand is driven by an air cylinder and cannot be positioned at an arbitrary position in the vertical direction. If the stop point 4 is provided, it is possible to accurately set the stop position at the end of the stroke of vertical movement, but if the stop position is changed to 10, the stone and home positions must be corrected, so it is not possible to immediately respond to rearrangements of operation and turns. .

The second drawback is that the rotational inertia of the rotary moving part is large. It is difficult to increase the speed of this rounding and turning operation, and it is also difficult to improve stopping accuracy. Therefore, it is necessary to install a large capacity drive motor.

One reason why the rotational inertia is so large is that the DC serge motor 4 is provided at the tip of the 1111th arm, and this serge motor 4 must be swung around when the first arm 1 turns.

As an attempt to eliminate these drawbacks, there are examples in which the swing drive motor of the second arm 2 is relocated to a fixed part, and the second arm 2 and the swing drive motor are linked with a connecting rod. In this structure where power is transmitted between the crank and the connecting rod, there is a restriction that the rotation angle of the second arm must be made considerably smaller than 1806. This changes the rotation angle to 1
This is because if the angle approaches 80°, there will be a point at the end of the stroke of rotation, making transmission impossible.

The present invention has been made in order to eliminate the drawbacks of the conventional devices described above, and its purpose is to be able to stop the vertical movement of the hand at an arbitrary position at a high degree of In1 degree, and to
To provide an assembled loget which has a small rotational inertia in a rotating part, can be operated at high speed with a small-capacity drive motor, and can rotate a second arm by 180 degrees or more with respect to the first arm.

To achieve the above object, the present invention transmits the rotational output of a motor installed on a fixed part to the tip of the second arm by means of a winding transmission means, and converts the rotational motion into linear motion at the tip of the second shaft. means is provided and configured to cause the tool holding shaft to reciprocate in the vertical direction by the rotational output, and
By installing the swing drive motor of the second arm on a fixed ill, the rotational inertia of the swing member is reduced, and the direction of rotation of the drive motor is transmitted to the second arm via a double crank mechanism. It is characterized by enabling smooth rotation.

Next, one embodiment of the present invention will be described with reference to FIGS. 2 to 5.

FIG. 2 is a side view of an embodiment of the assembled logget according to the present invention. FIG. 3 is a side view of an embodiment of the assembled logget according to the present invention.

(See Figures 2 and 3) The single-mouth get has a two-joint structure consisting of a first arm 11 and a second arm 12, and has four drive motors 21, 22. Z3.24 is all installed on the 4-stroke 20, which is a fixed member.

The first arm 11 is configured to be directly driven by a DC surf motor 21 installed concentrically with the pivot shaft of the first arm 11 via a speed reducer 31.

The second arm 12 is installed concentrically with the pivot shaft of the first arm 11, and is configured to transmit the output of the motor n to the double crank 42 via the deceleration gear 1132. As shown in FIG. 4, the double crank 42 has two crank pins 42b having a phase difference of 0 with respect to the central axis 42m,
42e is provided. Correspondingly, the root part of the second @ 12 also has a diameter of 9 with respect to the second shaft 12m that pivotally supports the arm.
Two crank pins 12b, 12 with a phase difference of 0'
Provide c. And the same 12 as the above-mentioned crank pin 42b.
b with a connecting rod 52b, and the crank pin 4.
2e and 12e are connected by a connecting rod 52e.

(See Figure 2) The outline of the hand am is a pair of upper and lower paces 6.
4m and 64b are connected via a rack clearer, and two sliding shaft mallets are rotatably supported by the pair of paces 64m and 64b as described below, and the hand 6 is attached to the lower end to hold the tool. Configure the axis.

(See Figure 3) A pair of upper and lower paces 64m and 64b each have rotating brackets) 64a -t +t) 4b-t
Rotatably supports the foot, two slide shafts 6.65
The upper and lower ends of the above-mentioned rotating rollers) 64 m
-1°64b-1. As a result, the two slide axes ti and 6sFi are rotatably supported around the axis of symmetry AB of these two slide axes.

(See FIGS. 3 and 5) A sedge rocket 45 is rotatably supported at the tip of the second arm 12, and the two slide shaft mallets are inserted into the two holes 45m and 45b drilled in the sedge rocket 45. 65 is slidably inserted. In this case, a hand mechanism that supports the hand 6 is rotatably supported at the tip of the second arm 12. As will be described in detail below, this hand mechanism is configured to be actuated by a twist 9 via a sedge rocket 45 and moved up and down via a rack 62.

(See Figures 2 and 3) A DC motor is installed on the post to reduce its rotation 834, Sugerocket 4
The power is transmitted to the sprocket 45 at the tip of the second arm through the chain and the chain, which rotates the sprocket 45 to cause the hand mechanism to perform a twisting action (FIG. 3). Transmission by the above-mentioned chain Tatsumi is carried out by the idler gear rocket 44'l and the second
The power is transmitted to the tip of the second arm 12 through nine idler Zorrockets 44#, which are arranged concentrically with the second shaft supporting the arm 12. As a result, even if the first arm 11 rotates to rotation 9 of the first axis and the second arm 12 rotates to rotation 9 of the second axis, the chain M
'.

Transmission by 541 takes place without any problems. Such an effect can be achieved with a chain, a sugket, or a belt! -9 or a wire rope and a drum can be produced by using transmission means.

(Refer to Fig. 3) A DC sage motor is installed on the booster, and its rotational output is transmitted to the second-stage pulley 43' through the timing pulley 43 and the tie bar 53, and the second-stage pulley 43' decelerates the rotational output to the timing belt. 8', further decelerate at 2-step nori 43', and go to timing /lz)5
Rotate Nori 43'' by 3' and this de IJ
43/// is configured to drive a bevel gear 60m concentrically connected.

(See Figure 5) The rotation of the bevel gear 60m is the bevel gear 60b.

The signal is transmitted to the spur gear 61a, spur gear 61b, and pinion 61c in sequence, and the pinion 61e drives the rack 62 up and down. ω, 63 is a roller that guides the rack 62. As a result, the rack 62 is moved up and down WIb, and the upper and lower bases 64m fixed to the rack 62,
64b (see FIG. 2) is moved up and down to drive the hand 6 up and down. The hand 6 can be moved up and down by the DC motor driven by the motor B via the rack 62 and pinion 61e, so it can be moved up and down freely and stopped accurately at any position.

Since the motor, which is a heavy member, is installed on the post, which is a fixed member, it does not increase the rotational inertia of the rotating member. Moreover, the transmission means from the motor n to the pinion 61et does not hinder the rotation of the 18th jill and the second arm 12. Such an effect is achieved by transmitting the rotation of the motor installed on the fixed part to the hand mechanism through a winding transmission means, and driving the hand mechanism, which is a tool holding shaft, through a means for converting rotational motion into linear motion. caused by Any means such as a combination of a feed screw and a nut may be used as means for converting the above-mentioned rotational motion into linear motion.

(Refer to Figure 2) DC servo motor 4 is double crank 4
Rotate 2. (See Figure 4) Double crank 420
The rotations are made with a phase difference of 90 degrees fI:, two transmission paths, namely, the crank pin 42b, the connecting rod 52b, the crank pin 12b, and the crank pin 42e.

The second arm 12 via the connecting rod 52C and the crank pin 12e.
to drive. For this reason, the second arm 12 can be rotationally driven over a wide range without causing problems as in the case of a single crank means.

In this embodiment, rotational drive of approximately 300° is possible.

Moreover, the above double crank mechanism has crank pin 4.
2b, 42e, 12e, and 12b move so that they are always located at the vertices of the parallelogram. Therefore, when the first arm 11 is rotated with the double crank 42 stationary and in its 9th position, the second arm 12 moves in parallel while drawing a circular arc according to the second shaft 12m, which is the central support axis.

As described above, because the second arm 12 moves in parallel and the entire drive motor is installed in the post joint, the rotational inertia of the co-moving part of the main get is significantly smaller than that of conventional rockets. Next, the principle will be explained with reference to FIGS. 6 and 7.

FIG. 6 schematically represents the case where the first arm l of the conventional logget shown in FIG. 1 rotates by an angle 0, where 2 is the second arm, ml is the concentrated mass of the first arm 1, 1lls a second
The mass of the arm drive motor 11, ms is the concentrated mass of the second arm 2,
m4 is the concentrated mass of the hand mechanism. 1st! It is assumed that the lengths of lll and second arm 2 are both 2a.

When the first arm 1 is rotated by an angle of 0, the second arm 2 is also rotated by an angle of -. Therefore, the 10 rotation inertia J of the first arm is J=ml,,2+m1rs"+m5rs2+m4
It becomes r42. It's a friend, rl is the turning radius of m10, rl is the turning radius of ms, rl is the turning radius of ms, r4 is m40
It is the turning radius.

FIG. ts7 is a diagram schematically showing a case where the first arm 11 of the embodiment is rotated by an angle θ.

As explained with reference to FIG. 4, in the assembled logget according to the present invention, when the first arm rotates by an angle of 0, the second arm moves in parallel while drawing an arcuate trajectory.

It doesn't become something. In this rounding, the load inertia J' of the first arm 11 is J'==(ml + m@) rlz + ml r/
, 2 + m4 r'42. mB is the mass of the link 10.

Here, assuming that the lengths of the first arm 11 and the second arm 12 are both 2a, comparing the load inertia J in FIG. 6 with the load inertia J' in FIG. 7, J==m1a2+
ms (2m)2+ms(3m)2+m4(4a
)2” (m>+4 m snow +9 ml +16 m4)
a2J'=(town+1118) a2+m5a2+f
n4 (2m)2” (mt 10ms +4 m4+m
B) a2 And since it is considered to be 111 > mB based on common design knowledge, 2 is clearly J)) J'.

For example, m1=5-1m depth; 2-1m5=4h, m*=2
4. Assuming m5 = 111+, 2m = 0.4m, trial calculation is J = 3.24Kfm2, J' = 0.724m2
By applying the present invention, the load inertia of the first arm becomes approximately 1/1 of that of the conventional loget.

Therefore, when the present invention is applied, the drive motor of the first arm can be made of a significantly smaller capacity at the same working speed as the conventional one, and the drive motor of the first arm can be If the capacity is kept at the same level as before, the work speed will be significantly faster.

As explained above, the present invention includes a winding transmission means for rotationally driving a tool holding shaft in a rotary rod consisting of two joints, a nine drive motor installed on a fixed part, and a drive motor for rotating the tool holding shaft. comprising a rounded wrap transmission means for reciprocating in the axial direction, a drive motor installed at a fixed position +1Ilt, and means for converting two rotational motion into linear motion, and
By connecting the second arm and a drive shaft disposed concentrically with the pivot shaft of the first arm via a double crank mechanism.

It is attached to the holding shaft and can stop the vertical movement of nine fingers with high precision at any position.Moreover, the rotational inertia of the rotating part is small and it can be operated at high speed with a small capacity drive motor. Second arm t- for one arm
An excellent practical effect is produced in that it can be turned at a wide angle of 180° or more.

[Brief explanation of the drawing]

FIG. 1 is a front view of a two-blind joint type assembled logget that has been commonly used in the past, and FIGS. 2 to 5 show an assembled logget according to an embodiment of the present invention. Figure 3 is a front sectional view cut at the center, Figure 4 is a plan view of the double link section, and Figure 5 is a plan view cut away of the tool holding and rotating drive section. ◇Figure 6 is a conventional assembly. Mouth Itsu)? +7
FIG. 7 is a schematic diagram showing a link mechanism of a loget according to an embodiment of the present invention. 11...First arm, 12...Second arm, Addition...Fixed S
Post as material, 21.22.23.24... Drive motor, 42... Double crank-52b * 52
c... Connecting rod of double crank mechanism, 53... Belt, Nu... Chain, 60 a, 60 b... Bevel gear, 61 a, 61 b... Spur gear, 61 e... Rotating motion Pinion as a means of converting into linear motion, 6
2...Same rack, field...Slide shaft as a tool holding shaft. Agent Patent Attorney Tadashi Akimoto Figure 4 Figure 5 Figure 6 Figure 7

Claims (1)

[Claims] A first arm is rotatably supported on a fixed member by a first shaft, and a second arm is rotatably supported at the tip of the first arm by a second shaft parallel to the first shaft. an arm, and a tool holding shaft supported at the tip of the second arm so as to be able to slide in the axial direction parallel to the second axis and rotate freely around the axis, and each of the above rotations. An assembly loget including a motor for rotationally driving a member is provided with a winding transmission means for rotationally driving a tool holding shaft and a drive motor installed on a fixed member, and a drive motor installed on a fixed member, It comprises a round transmission means for reciprocating in the center direction, a nine drive motor installed on the fixed member, and means for converting rotational motion into linear motion, and is concentric with the second arm and the first shaft. An assembly loget characterized by connecting the drive shaft installed in the mount via a double crank mechanism.