JPS58211873A - Multi-articulated 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 the configuration of an articulated robot.

Articulated robots are widely used in industry because their operating range is large and their operating speeds are high compared to the location where they are installed. In particular, the size of the motion range and the positional relationship between the motion range and the installation location in space are important points in the application of articulated robots. Conventionally, the range of motion of an articulated robot has been determined by the configuration and arrangement of degrees of freedom, and the operating angle of each degree of freedom, and it has not been easy to change the range of motion. In order to increase the range of motion or change its position with the same degree of freedom configuration, it is necessary to increase the distance between the joints or increase or change the motion angle of the joints, making the robot larger. However, there were drawbacks such as the complexity of the mechanism and the fact that it could not be easily accommodated.

The present invention makes it possible to increase the range of motion of an articulated robot without changing the distance between joints or the motion angle of the joints with the same degree of freedom, and to easily change the position of the range of motion relative to the installation location. This provides an articulated robot that makes it possible to

The configuration of a conventional articulated robot will be explained with reference to FIGS. 1 and 2. 1st joint2. Each of the second joints 3 is rotatable around a vertical axis, has a built-in bracket motor and an encoder (none of which are shown), and is independently driven. The first joint 2 has a fixed base 1. Pillar 8. The attachment is fixed by a bracket 7, and the second joint 3 is connected to the first joint 2 by a first arm 5, and a second arm 6 is connected to the first joint 2 by a first arm 5.
is installed. A vertical unit 4 is installed at the tip of the second arm 6. In this conventional example, if the first
If the operating angles of the second joints are respectively 190 degrees from the center position, then the operating range of the tip of the second arm will be the area surrounded by the curve shown in FIG. In this figure, the intersection point 9 of the crosses is
The rotation center position of the first joint is shown.

In the case of the above conventional configuration, the operating range cannot be changed as described above, and even if it were to be changed, it would require extensive replacement of each component.

The present invention solves the above-mentioned conventional drawbacks, and one embodiment thereof will be described below with reference to FIGS. 4 to 7.

) Ina 58-2! 1873 (g) In this example, the configuration other than the first arm 105 and the second arm 106 is the same as the conventional example described above, so the same figure number will be used and the explanation will be omitted. . The distance between the first joint 2 and the second joint 3, the distance between the second joint 3 and the tip of the second arm 106, and the operating angles of both joints are also the same. 1st arm 105. Second
The only difference is that the arm 106 is curved in the plane of rotation. The operating range of the tip of the second arm in this embodiment is an area surrounded by the curve shown in FIG. 6, which is significantly larger than in the conventional example. Furthermore, it is clear that by changing the bending position and the bending angle of both arms, it is possible to change the size and position of the operating range. The bending position and bending angle of each arm can be determined by drawing and other studies based on the movement angle of each joint and the required movement range.

Furthermore, in this embodiment, the first. The second joint 2.3 and the first arm 106. Second arms 106 are each removably attached to the first arm 105 . 2nd arm 10
At least one of the joints 6 is configured to be able to be attached by being inverted 180 degrees around an axis that is perpendicular to the joint rotation axis. The advantages of this configuration will be described below. First, as described above, the range of motion changes due to the curvature of the first and second arm sections 105 and 106; It is possible to change the range of motion by changing only the second arm portions 105 and 106, and secondly,
By inverting the arm portion by 180 degrees and attaching it, the position of the operating range can be easily changed.

FIG. 6 shows the first arm 106. This is a robot in which the second arm 106 is attached in a 180 degree inverted manner. The first arm 105° and the second arm 106 are connected to the first joint 2. Since it is fixed to the second joint 3, it can be easily reversed and attached. Its operating range is surrounded by the curve shown in Figure 7.
area. In short, a single robot can have multiple types of work areas, and the versatility of the articulated robot will be further improved.

Even if the articulated robot can be attached to the support body by 180 degrees, the same effect as above can be obtained.When the bracket 7 is fixed to the support 2, the bracket 7 is rotated 180 degrees to the support column 8. It may be configured so that it can also be attached. If the vertical unit 4 or the like is installed at the tip of the second arm 106, the tip of the second arm 106 may be allowed to be installed in reverse, or it may be made to be workable in both the up and down directions.

Although the explanation has been given above using an example in which the joint rotation axis is in the vertical direction, the same applies to cases in which the rotation axis is in the horizontal direction or other cases. The same applies to robots having degrees of freedom other than the joints used in the explanation.

As explained above, according to the present invention, in an articulated robot, with the same degree of freedom configuration, the range of motion can be increased without changing the distance between joints or the motion angle of the joints, and the motion can be easily performed. Since the position of the range can be changed, it is possible to provide an articulated robot that is originally versatile, but whose versatility in the work area is further improved.

FIG. 1 is a front view of the conventional example, FIG. 2 is a plan view thereof, FIG. 3 is a diagram showing the operating range of the conventional example, and FIG. 4 is a plan view of an articulated robot according to an embodiment of the present invention. Figure 6 is a diagram showing the operating range of the robot, and Figure 6 is a diagram showing the operating range of the robot.
FIG. 7 is a plan view showing a state in which the arm and the second arm are attached after being reversed 180 degrees, and FIG. 7 is a diagram showing the operating range thereof.

1...Fixed base, 2...First joint,
3...Second joint, 4...Vertical unit, 105...First arm, 106...Second
Arm, 7...Mounting with bracket, 8...
・Strut, 9... Center of rotation of the first joint.

Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure 4! @ 6 Figure 7

Claims (3)

[Claims] (1) A plurality of joints whose rotational axes are arranged in parallel, a plurality of arms that connect the plurality of joints so as to be approximately perpendicular to the same rotational axis, and one end of these arms are connected, and the 1. A multi-joint robot comprising a support body that supports arms having a plurality of joints connected to each other, and wherein all or part of the plurality of arms are each curved at a predetermined angle within a rotation plane. (2) The plurality of arms are removably connected to a plurality of joints that are each independently driven, and the joints are connected by rotating 180 degrees around an axis that is perpendicular to the axis of rotation. The articulated robot according to claim 1, in which attachment is possible. (3) The articulated robot according to claim 1, wherein one end of the arm and the support body can be connected by inverting them by 18Q degrees.