JPS5851088A - Industrial 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 a μbot for industrial use, and particularly to a pot for industrial use that enables complex movements of a mechanical hand.

For example, when operating a machine tool, automated operation using a so-called "Gunbot" is performed, in which an industrial robot is used to perform tool exchange operations and workpiece exchange operations. FIGS. 1(a) and 1(b) are a plan view and a side view showing an example of an industrial robot used for automatic operation of such a machine tool. In the figure, MH is a mechanical hand that grips these when exchanging workpieces, etc., and HLij rotation (α axis)
And wrist that can swing up and down (β axis), AMFi, extension 1f
CR axis) freely movable arm, C3Fi axis moves up and down with respect to PLK (
2-axis) and rotatable (#-axis) casing, FRMFi
frame, TB is a teaching operation panel that teaches robot movements;
The OP sequentially memorizes teaching contents such as operation position (point), operation speed, service type, etc. based on instructions from the cNTFi teaching operation panel TB, which is an operation panel for operator operation, and also # operates the master mechanical hand MH, wrist according to the teaching contents. HL, arm AM.

This is a control unit that controls the operation of the casing C8.

For example, this industrial helmet pot moves the casing C3 vertically (Z-axis direction) along the axis PL to the mechanical hand MHt - the height of the feet, and extends the arm AMI. Butterfly retraction (R axis direction), case C
Rotate 8 around axis PLt- and mechanical hand MH
' is carried by the housing to a predetermined position, the wrist HL is rotated by a predetermined angle to release the gripped item or to grip an item at a predetermined position. After that, arm AM, case C81
Operate the mechanical hand MU and wrist HL tube to perform the next operation.

The conventional industrial robot as described above has an outer diameter with a radius of the mechanical hand MHf extending to the maximum distance and an inner diameter having a radius of 9 distance with which the mechanical hand MHf can be retracted to the shortest distance. The mechanical hand MW can be moved anywhere inside the cylindrical part, but if there is an obstacle in this cylindrical part, the mechanical hand ML is moved to the back side of the obstacle when viewed from the axis PL. I can't.

Therefore, the objective of the present invention is to create an industrial robot that enables the mechanical hand Ml of the robot to reach behind an obstacle and grasp an object there. It is about providing.

Next, embodiments of the first invention will be described in detail with reference to the drawings.

FIG. 2 schematically shows a robot according to the present invention.

In the figure, 1 is the 01 axis rotation mechanism, one end is fixed to the base 2, and the other end is the axis 5 which is the center of the robot.
is connected. There is a Z-axis direction movement mechanism 4 at the tip of the shaft ink.
is provided. Reference numeral 1 denotes an R-axis direction moving mechanism, and a shaft 4'KJI connected to the Z-axis direction moving mechanism 4 is attached.

R-axis direction movement mechanism 5KFiR-axis movable R arm 6
is attached, and its tip K"11β axial rotation -
Bridge 7 is installed. 8. The r and l axis moving mechanisms attached to the β-axis rotation mechanism 7 move the rl arm 9 in its longitudinal direction. 10 is a 90-axis rotating mechanism installed at the tip of the R1 arm 9, and attached to this via the RG-axis moving mechanism 11 and the RL arm 11' tube is a large mechanical hand 12 trt arm? rotate around the axis of

Next, the operation of the nitrogen bot according to the present invention will be explained.
゛No. 111 (a) is a diagram showing the mechanical hand 12 approaching the object 14 on the back side of the obstacle 15 when viewed in the radial direction from the shaft ink, and showing a round state. It(b)
The fingers 12' of the mechanical hand 12 grasp the object 14 from below. To shift the robot from the state shown in Fig. 2 to the state 111 shown in Fig. 5 (1), rotate the β-axis direction rotation mechanism 7 by 90 degrees clockwise.
After the I-wheel axis movement mechanism 8' is positioned directly below the t-axis rotation mechanism 7, the wheel-axis rotation mechanism 10 is rotated 180', and the z-axis movement mechanism 4 and the R-axis movement mechanism 5 are operated. Mechanical hand 121-Just move it closer to 14,
FIG. 4 (1K) is a diagram showing the mechanical hand 12 approaching the object 14 on the back side of the obstacle 15 from the supernatant when viewed from the axis 5 in the radial direction; The finger 12' is shown gripping the object 14t from above. KFi to shift the position a from the state shown in Fig. 2 to the state 11 shown in Fig. 4
, the Z-axis direction movement mechanism 4, the R-axis direction movement mechanisms s and r, and the axis movement mechanism 8 may be moved in the same manner as described above. In this embodiment, if a wrist mechanism is provided at the base of the mechanical hand 12, as shown in FIG. ′ can be grasped.

Figures 6) to 6(d) are explanatory diagrams for explaining a series of operations that allow a mechanical hand to approach, for example, a spherical object 14' in the air from any direction. 1) The mechanical hand 12 is the object 1
The round shape 11 is shown when approached from the diagonal left direction of 4'. By adjusting the two-axis direction movement mechanism 4, the R-axis direction movement mechanism 5, the β-axis direction rotation mechanism 7, and the il-axis movement mechanism 8, the object 14' can be moved from point A to B on the meridian t shown in FIG. The mechanical hand 12 can always approach the object 14' in the direction of the center at any position, and if the #1 axis rotation mechanism and the 0 axis rotation mechanism 10 are added, the area I in FIG. The mechanical hand 12 can always be approached toward the center of the object 14' at any position on the 1/4 surface shown by diagonal lines. 6E), in the same manner as described above, the mechanical hand 12 is always moved to any position on the surface 174 shown at the area entrance in FIG.
FIG. 2 is a configuration explanatory diagram illustrating an operation of moving the hand 12 toward the center of the object 14'. Thereafter, in the same manner, as shown in FIGS. 6(C) and (d), the mechanical hand 12 is always moved to any position on each 1/4 surface indicated by areas C and = in FIG. 1! the object 14
can be brought closer toward the center of '.

FIG. 8 is a perspective view showing the external appearance of the four bots according to the present invention, and in the figure, reference numeral 21 denotes a base, which is installed on the factory floor.

22 stands on the base 21 and has nine columns, through which the shaft 23 passes. The shaft 2SFie can rotate in the axial direction and can move up and down in the 12-axis direction, and a mechanism for driving the shaft 25 is provided in the column 22. The shaft 23 corresponds to the shaft 4/ in FIG. 2, and the column 23 includes the first 01-axis rotation mechanism 1 and the biaxial movement mechanism 4 shown in FIG. Reference numeral 24 denotes an axial movement mechanism attached to the tip of the shaft 23, which is the same as the R-axis movement mechanism 5 shown in FIG.

An R arm 26 passes through the R-axis direction moving mechanism 24, and this R arm 26'' is movable in the axial direction. A drive mechanism 25 is provided with a bellows, which passes through the inside and surrounds the arm to protect it.The bellows 2S
The arm 26 passing through Pi is the same as the arm 6 in FIG.

27 is a β-axis rotation mechanism provided at the tip of the arm 26, and a t1-axis movement mechanism 28 is attached to this. Note that the β-axis direction rotation mechanism 27 and the 11-axis movement mechanism 28 are the same as the β-axis direction rotation mechanism 7 and the r1-axis movement mechanism 8 shown in FIG. 27a is a servo motor that serves as a drive source for the β-axis rotation mechanism 27, and 281 is a servo motor that serves as a drive source for the rl-axis moving mechanism 28. Inside the bellows 29, rl
The r1 arm 50, which is driven to extend and contract by the shaft moving mechanism 28, passes through it. 31 is a #3 axis rotation mechanism, which is attached to the tip of the SRL arm 50 and drives a servo motor 311), an RL axis moving mechanism 32, and a #1 axis rotation mechanism 31.
Rotate in one axis direction relative to the The inside of the bellows 5s is penetrated by a T-arm 54 which is driven to extend and retract slightly by the r3-axis moving mechanism 32, and a mechanical hand Ka 35 is attached to the tip of the rl arm s4. In addition, rl arm 5O
1-1 axis rotation mechanism 51, r33 axis moving mechanism 32, r1 arm 3
4. Mechanical hand 55fi, r1 arm 9 shown in Figure 2
．． 08 axis rotation mechanism 10, rl axis movement mechanism 11, r arm 1
1' is the same as the mechanical hand 12. FIG. 9 is a perspective view showing the internal structure of the main parts of the robot shown in FIG. 8. As is clear from Fig. 9, the U-shaped frame 2
A rotary arm 27C is rotatably supported on 7b, and is rotated by a servo motor 27m. arm 2
The distal end of 7c is fixed to the case 28b of the rl axis movable section 28. A moving screw 28c is rotatably supported inside the ri-axis moving mechanism 2B, and this moving screw 28c is connected to a servo motor 28a via a timing belt 28'd.
It is rotated by K. A moving screw 28 e Ka nut 28 @ is screwed together, and an actuating plate 28 is attached to this nut 28 e.
f is installed. Also, the operation board 28ftcFirl
The end of the arm 5a is fixed.

r11Ii! ! 10 is formed to have a rectangular cross section, and this r1 arm! io is attached to the bottom of the case 28b and has a mourning bearing 28g.
T - Penetrating. And this r1 arm 30 has a bearing of 28g
The r1 arm is movable in the longitudinal direction, but the bearing 28g1 (on the other hand, it is held so that it cannot rotate).

Therefore, when the servo motor 28m is rotated, the moving screw 2Jlc is rotated, and the rotation is accompanied by a
28@ moves up and down, and along with this, r1 arm 3G
also moves in the vertical direction to move the -1 axis rotation mechanism 51 attached to its tip. It has a θ-axis rotation mechanism 31ij, a substrate 31b, the end of the substrate 51bKrs arm 50 is fixed, and a servo motor 31a is further attached. The rotational force of the servo motor 3110 is transmitted to the gear 451d via the reduction mechanism 31c.

A bearing member 51e is attached to the lower surface of the substrate 51b, and a nine rotating body 31g having a gear 31f is attached to this bearing member s1@.
This gear s1f meshes with the gear 514. The rotating body 31g is % rl axis moving mechanism 32
Case 52aK is attached. Therefore, when the servo motor 51at is rotated, the rl axis moving mechanism 52 rotates in the zero axis direction. Inside the rs-axis moving mechanism 52, an r1-axis moving mechanism, a moving screw 1:1 screw 52b, similar to 2B, is supported, and a servo motor! 12c is connected by a timing belt (not shown in Figure Ka). And a moving screw! +2b is screwed with a nut (not shown), and this nut has an actuating plate S.
2d is fixed. The tip of the r1 arm is fixed to this actuating plate 4S2d. Therefore, the servo motor 5
When 2c is rotated, the rl arm 34 moves in the r3 axis direction.

FIG. 10 is a configuration diagram showing another embodiment of the present invention. In this embodiment, there is a structure between the R arm 6 and the r55 axis moving mechanism 8 with respect to the a-axis in the longitudinal direction of the R arm 6. Can it rotate? An axial rotation mechanism 7' is provided, and if necessary, an axial rotation mechanism 12' for rotating the mechanical hand 12e (It) in the axial direction is provided. Reference numerals are given and explanations thereof are omitted.

FIG. 11 is an actual external perspective view of the robot according to this embodiment.
A shaft moving mechanism 8 is housed therein. Moreover, the θ3-axis rotation mechanism 10 and the rl-axis movement mechanism 11 are housed in the drive body 43. And inside the mechanical hand 12 is a
It has a built-in l-axis rotation mechanism 12'.

As explained in detail above, according to the present invention, two rotating mechanisms are provided between the mechanical hand of a conventional industrial robot and the arm that holds it, and two drives that extend and retract the arm. By simply installing a mechanism, the mechanical hand can reach the back side of an obstacle, which was previously impossible, and can also reach round objects placed in the air from all directions. It is possible,
You can get a robot that behaves like the arms of four people.

[Brief explanation of drawings]

Figures 1 (a) and (b) are a plan view and a side view of a conventional industrial robot, Figure 2 is a configuration diagram showing a first embodiment of the present invention, and Figures 5 (a) and (b). ), Figure 4(a), (b
), Figures 5 and 6 (- to (d) are action explanatory diagrams, Figure 7 is an explanatory diagram showing the area where the mechanical hand acts on an object, and Figure 8 is the first embodiment of the present invention. FIG. 9 is a perspective view of the main part thereof, FIG. 10 is a configuration diagram showing a second embodiment of the present invention, and FIG. 11 is a perspective view of the outside mold. 1:01 Axis rotation mechanism 5: Axis 4: Z-axis movement mechanism 5: R-axis movement mechanism 6: R arm 7: β-axis rotation mechanism 8: r1-axis movement mechanism 9: r1 arm 10: em-axis rotation mechanism 1
1: r, axis movement mechanism 12: Mechanical hand 15: Obstacle 14: Object Applicant Person: Fujitsu Fanuc Corporation Agent Patent attorney: Tsuji Sanegai 2 people

Claims (1)

[Claims] (1) A second rotation mechanism at the tip of the first arm that is telescopically driven (by an R-axis direction movement mechanism fixed on the base and rotated by the rotation mechanism of Odate 1). is provided at the tip of the second arm extending from the first scissors and the second rotating mechanism. A third arm that moves in a direction perpendicular to the axial direction of the arm, and a fifth rotation mechanism that rotates around the axis of the third arm are attached to the tip of this third arm. An industrial robot with a t-l1 image in which a rotating mechanism is coupled with a moving mechanism that drives an arm holding a mechanical hand to extend and contract in its axial direction. (2) The industrial robot according to claim (1), characterized in that a wrist mechanism is provided between the mechanical arm and the arm that holds it. (5) The industrial robot according to claim (1), wherein the second arm extending from the second rotation mechanism is rotatably driven in the axial direction. (4) The industrial p-pot as set forth in claim (3), characterized in that a wrist mechanism is provided between the mechanical I-end and the arm that holds it. (5) The second arm extending from the second rotation mechanism is driven to rotate in the a-axis direction.
The industrial robot described in section 1). (6) The industrial robot according to claim (5), characterized in that a wrist mechanism is provided between the mechanical hand and the arm that holds the arm.