JPS59110580A - Multi-joint type 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 Field of Industrial Application The present invention relates to a more versatile articulated robot. Articulated robots are widely used in industry because they have a large operating range and high operating speed compared to the location where they are installed.

Conventional configuration and its problems Conventionally, the operating range of an articulated robot was determined by the configuration and arrangement of degrees of freedom, the operating angle of each degree of freedom, and the center of that operating angle, and it was not easy to change these. . 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.

A conventional configuration will be explained with reference to FIGS. 1 to 5.

First, in Figures 1 and 2, the first joint 1 and the second joint 2 are rotatable around vertical axes, and each has a built-in motor and encoder (both not shown), and can be operated independently. It is a driven joint.

The first joint 1 has a fixed base 3. Pillar 4. The attachment is fixed by brackets, etc., and the second joint 2 is connected to the first joint 1 by a first arm 6, and a second arm 7 is attached to the tip thereof. A vertical unit 8 is installed at the tip of the second arm 7. Next, in FIG. 3, the first arm 9 and the second arm 1o are arms that are curved to widen the range of motion. In this conventional example, if the first. If the operating angle of the second joint is ±90 degrees, the operating range of the tip of the second arm is shown in Figure 4 (robots in Figures 1 and 2) and Figure 5 (robot in Figure 3), respectively.
This is the area surrounded by the curve shown in the figure (robot). The intersection point 11 of the crosses in the figure indicates the rotation center position of the first joint. 1
2 and 13 are tentatively required work ranges. A robot that has 12 working ranges within its operating range cannot have 13 working ranges within its operating range, and vice versa.

In this way, conventional robots do not have flexibility in their operating range and can only work within a uniquely determined operating range, which requires more robots and poses a problem in terms of investment efficiency. there were.

OBJECTS OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks, and by making the bending angle of the arm changeable, it provides flexibility in the operating range and improves the investment efficiency of the robot.

Structure of the Invention The present invention provides 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 substantially perpendicular to the rotational axis, and one end of the arm. a support body that supports the plurality of joints and arms connected to each other, each of the plurality of arms can be bent at a predetermined angle within a plane of rotation, and a mechanism for adjusting the bending angle is provided on the arm. It is an articulated robot that has two parts, and its range of motion can be easily changed by adjusting the bending angle, which is extremely advantageous in terms of the flexibility of the articulated robot and the investment efficiency at the time of introduction.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to FIGS. 6 to 9. In FIGS. 6 and 7, 101 and 102 are the first and second joints that are rotatable around vertical axes, respectively, and have a built-in motor and a machine/coder (none of which are shown), and can be operated independently. It is a driven joint. 1st joint 1
01 is fixed by a support 103, and the second joint 102 is connected to the first joint 101 by first arms 104 and 106, and second arms 106 and 107 are attached to the ends thereof. The first arms 104 and 106 of the housing are connected to the connecting portion 108.
The second arms 106 and 107 are connecting parts 109, and each has a bolt and screw of about M5 and a nut (both not shown).
Fixed by

By loosening the bolt, the first joint 101
and the first joint around an axis parallel to the rotation axis of the second joint 102.
and two arms can be curved.

FIGS. 8 and 9 show first arms 104 and 106, respectively, which are shaped so that the angle formed by the first arms 104 and 105 can reach a fairly large value, and are designed to compensate for twisting of the arms when fixed. It has a structure with many bolt holes.

In Fig. 3, the angle θ is defined as the angle between the line segment connecting the first joint and the second joint and the line segment connecting the second joint and the center of the upper and lower units, and assuming that the lengths of the two line segments are equal. The relationship between the angle θ and the operating range is 10th (θ-30 degrees), 1
1 (0-45 degrees).

12 (θ=60 degrees) and 13 (θ−90 degrees).

In the figure, 110 is the center of rotation of the first joint.

In addition, the area of the movement range for these θ, the longest distance in the radial direction around the rotation center 110 of the first joint, and the longest straight line distance possible within the movement range are summarized in the following table. However, 2 is the length of the line segment.

As described above, the range of motion varies greatly depending on the degree of curvature of the arm. In this embodiment, the degree of arm flexion can be easily changed depending on the target work, and one robot can be used effectively for more various tasks.

In this embodiment, the arm connecting portion is provided approximately in the middle of the arm, but it does not have to be in the middle, and the connecting portion may have another structure such as a gear type. It goes without saying that the number of bolts needed for the connection can be as long as one, as long as the contact surface of the arm is accurately exposed. Furthermore, in the case of robots with three or more joints or robots whose joint rotation axes are not vertical, multi-joint type robots can easily change the bending angle of their arms, and are inherently versatile. It is possible to provide an articulated robot with improved versatility regarding the robot's operating range, which is extremely advantageous in terms of robot investment efficiency.

The figure shows the range of motion when the degree of curvature of the arm is changed in the example.0 101...first joint, 102...second joint, 103...support body, 104 and 105...first month clothes 106 and 107...second arm, 108...
... Connecting part of the first arm, 109 ... Connecting part of the second arm, 110 ... Center of rotation of the first joint 0, Name of agent: Patent attorney Toshio Nakao and one other person 1st
Figure 4 Figure 6 Figure 9 Figure 10

Claims (1)

[Claims] 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 rotational axis; and a plurality of joints that connect one end of the arms and are connected A multi-jointed robot having joints and a support for supporting the arms, each of the plurality of arms being able to bend at a predetermined angle within a rotation plane, and having a mechanism in the arm portion for adjusting the bending angle.