JPS59169785A - Actuator for moving body - Google Patents

Abstract

The robot arm, for transferring workpieces or tools to or from pallets, has a base (10) with a first arm part (12) which rotates about a vertical axis (11). This first part carries second and third arm parts (22,41) which rotate about parallel horizontal axes. The third arm part (41) carries a hand or gripping device (60,62). The second and third arm parts are driven through transmission systems (30,36; 46-54) from motors (38,56) mounted in the stationary base. ADVANTAGE - Mounting the driving motors in the base reduces the inertia of the moving parts, resulting in more rapid operation of the arm.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a basic frame and a shaft bearing t for moving an object such as a workpiece or a machine tool.
A first arm part rotatable about a first basic axis by a first drive motor mounted on the base frame, a second arm part rotatable about a first basic axis by a first drive motor mounted on the base frame; a second arm part rotatable about a second basic axis disposed at right angles to the basic axis; a third arm portion rotatable around a third basic axis parallel to the
The present invention relates to an actuating device consisting of a holding member for the object to be moved, which is mounted on a shaft.

In known such actuating devices, the motor and drive for the movement of the second arm part and the third arm part are
It is attached to the movable arm part. This has double negative consequences.

Firstly, the inertial mass to be accelerated is increased by the mass of these motors and drives, and secondly, in addition to the net load, the weight of the drive motors and drives must be taken into account. Therefore, the arm part must be made correspondingly strong and heavy (1I), but this also means that
Therefore, the present invention is designed to improve the ability of the moving part to bear its own weight as well as the nature of the drive output for the acceleration of the arm part. It is based on the problem of obtaining an actuating device of the type mentioned at the outset, in which a favorable ratio is achieved.

According to the invention, this task is achieved by providing that the second and third drive motors are mounted on the base frame, each of which engages the second or third arm part via a transmission device. This is solved by

With the invention it is achieved that during movements of the arm, the motors and drives of the second and third basic axes do not move around. By this, the weight of the arm, which only has to bear the net load, is minimized and
between the weight of the moving parts of the actuating device and its carrying capacity;
Not infrequently, the ratio previously achieved with a magnitude of 10 can be reduced to less than .

It also follows from this that higher acceleration values and speeds can be achieved even in the case of using a drive with a smaller power. Alternatively, there is the possibility of installing a heavier motor with better low-speed characteristics.

The transmission device for the drive of the second and third arm portions is preferably a chain drive or a gear drive; 1. each act on a wheel which is non-rotatably connected to the arm part to be driven and which is connected to the rack via a loaf pivot arranged coaxially with respect to the first basic axis. 1. The rack is movable in a straight line by a drive motor. Normally, the rotation angle of the arm part is
It is only necessary that the outer end of the chain or toothed belt be smaller than 3600, so that the outer end of the chain or toothed belt is connected to the arm part to be driven and fixed to the wheel. 1- I can do something. Instead of this recommended chain drive or toothed belt drive, if necessary, other transmission devices may be used, e.g.
The transmission shaft connected to the rod or gear drive is also a problem.

A particularly advantageous relationship may be found in certain applications where a certain alignment of objects should be maintained, for example during loading or unloading of objects stacked in a row on a pallet. Occurs at certain times. At that time, rotational movement about the axis of the hand is required, however, a drive motor, which was not previously required for movement about the axis of the hand, is also required.
Similarly, it is possible to replace the following transmission device, i.e. the part of the holding member rotatable about the axis of the hand, with a transmission device connected to the arm part or the frame part. can. In this way, eventually there is no longer any movement drive in the moving part of the arm.

Hereinafter, the present invention will be described with reference to No. 1 and No. 2 of the attached drawings showing embodiments thereof.
This will be explained in detail based on the figures.

(7) Although the illustrated actuating device has a basic frame 10, this frame 10 can also be firmly fixed to the floor. Above the base frame/θ is the first arm portion 7.
2 is rotatably supported around the vertical axis of the base frame 10. For this rotary movement, a first drive motor is attached to the base frame 10, which is rotated to the arm part 7.2 via a so-called cyclotronic drive and a pinion. Drives gears that are inextricably linked.

The first arm part/2 has a second arm part on top of the shaft O,
22 is mounted on the shaft. In this second arm part, 22,
Coaxially arranged wheels 24' are non-rotatably connected. Additionally, on the axle, 20 - other wheels, 2
6 and :1g are freely rotatably supported. Around most of the periphery of the wheel, 24', lies a chain 30 which, at its outer end, is fastened to the periphery of the wheel. The other end of the chain, 2 das,
pivot,? Connected to the rack 3'l through the
), but this rank 3g is engaged by a drive pinion 36 of a second drive motor 3g, which has an integrated cycloid drive. Motor drive unit 3tK
Therefore, the rack 3'l can be moved up and down.

Rack 34! moves the chain 30 all together via three pivots, and its outer end is partially attached to the wheel, 24'
The linear movement of the rack 3 is due to the rotational movement of the wheels: All and the second arm parts connected to it, since the wheels lie on the wheel and are fixed there. Converted to n.

The outer end of the second arm part 12 has an axis lIO, on which is mounted a third arm part lI/, which is rigidly connected to the wheel. ing. chain 4
'A and at, so-called aviator chains, such as those used for example in the case of 7-oak stackers, are firmly installed around the wheels 11.2 or 1Itl at their outer ends. The first arm portion rests on the wheel 26 or Fig. which rests on the shaft, 20, which is guided over a portion of the periphery of these wheels and is freely rotatable.
directly beside the vertical axis of rotation of j into the foundation frame IO, where the chain of
Seven or - racks s, 2 are rigidly connected in the longitudinal direction via θ, and the rack S2 is similarly
A third drive motor j6 connected to the cycloid drive is engaged. This motor S6 and rack j
The conduction device formed by t2 and chains 4Ih, IIg allows the third arm part to be pivoted about the axis O.

3 arm parts/2. All the drive motors /lI, 3g and j6 for the movement of coco and 4(/) are mounted stationary and therefore without any load on the arm, the acceleration of the movement of the arm There is no negative impact on the value.

The free end of the third arm portion 4'/ has a first hand axis sr.
However, this axis 5 is arranged parallel to both axes -0 and lIO, thus, for example, horizontally.

A first hand portion 60 is rotatably supported on the shaft 5g relative to the arm portion 4I/. A second hand portion 62 is rotatably mounted on the first hand portion 60 relative to the first hand portion 60 about a vertical axis 630 as shown. For example, a gripping member for a workpiece (not shown) may be connected to the second hand portion 6.

By means of the illustrated actuating device, the first and second hand portions 40 are activated when the objects are to be arranged in a row and transferred to another location, or when the objects thus arranged are to be received.
．． The drive device for AJ is the hand axis sr of the hand part and 6
In order to avoid rotational movements relative to the first arm part 7.2 or the basic frame io about the first arm part 7.1, the movement of the arm part must be compensated. Instead of a correspondingly controlled drive which would normally have been mounted at the outer end of the link arm, the actuator shown has a light transmission which achieves the same purpose by simpler means. have.

(//) The guidance of the first hand part 60 is as can be seen from FIG. As shown in the figure, a wheel 611 is placed on the second basic axis marked with the symbol -0, and this wheel 611 is attached to the first arm portion/co. It is held so that it cannot rotate relatively. A number of wheels 66 are supported on the third basic shaft qo, and these wheels 66 are firmly connected to each other. Wheel 61I and both wheels 66
For example, an endless chain 6g extends between one of the two. The other wheel 70 lies on the first hand axis Sg and is non-rotatably connected to the first hand portion 60, with the other of the two wheels 66 The conduction ratio of the 0-chain drive device 64' to 7.2, on which another endless chain 7.2 is stretched, is /:/ in total;
Accordingly, the first hand portion 60 is independent of the pivoting movement of the second arm portion: 1.2 about the second basic axis −〇 and the third ゛basic axis θ of the third arm portion lI/. is maintained at a non-rotatable pressure with respect to the shaft 5K. In the illustrated embodiment (/, 2), the first hand portion 60 is in the following position at all positions of the pivoting arm l, i.e., the second hand axis 63 is parallel to the first fundamental axis.

That is, it continues to have a position that is perpendicular to the axis of rotation of the first arm part.

In the first arm part 7.2, in the second hand part 6, /
In order to compensate for the rotational movement about the first cardinal axis indicated by fL, the second hand portion 6, as shown in FIG.
Further transmission devices are arranged between the base frame 10 and the base frame 10.

This transmission device has gears 11 and 11, which are non-rotatably fixed to the basic frame io, and which are rotatable around an axis parallel to the basic axis /l in the first arm part. A toothed belt connected to a gear 7g with a bearing tN, or
It consists of a chain 6 and a worm go which is non-rotatably connected to a gear 7t and which is engaged with a corresponding worm gear ff and 2, and the worm gear r is connected to a second basic shaft, It is rotatably supported on a shaft 20 and is non-rotatably connected to a gear tq, and the gear glI itself is
Connected via a belt or chain g6 to one of the gears ggD, which are non-rotatably connected to each other and are journalled one after the other on a third basic shaft 11O. There is. The other of both gears gtD is connected via a belt or chain to a gear q which is supported on the first hand shaft jg, and its rotational movement is caused by the pair of bevel gears. 94' to the second hand portion 6. gear 7
When the above-mentioned conduction ratio between the second hand part 6 and the second hand part 6 is l:l, static+J=L, the fixed gear 7 is connected to the second hand part 6. is also non-rotatably restrained relative to the second hand shaft 63, thereby locking a glove or other holding member connected to the second hand portion 62 into the link arm/column. , a, l/ maintain alignment with respect to its base frame lθ' and only perform a translation with respect to base frame IO.

The above-mentioned transmission device for the drive of the second and third arm parts as well as the hand part can be a toothed belt or a chain drive, in which case an endless toothed drive, which is itself closed. A belt or chain is led over a toothed pulley or gear wheel and is positively engaged by the teeth n1. Alternatively, a toothless belt or chain drive can be used, in which the belt or chain has screws or rivets at their ends, for example. It is firmly installed over the periphery of the driving and driven wheels. This possibility is true in most cases; C
1 Only used with rotation angles smaller than 3600 n
This occurs because there is only one thing. Under the assumptions given in the illustrated embodiment, one simply uses a wheel or an ordinary toothed pulley or gear! Furthermore, there is no need for a toothed belt or chain to be firmly attached to this gear. This is because only this gear is jAσ. More rotations than (
tS) Because it has to be done.

In a transmission device of the above-mentioned kind, which has a section of a belt or chain firmly placed over the periphery of the wheel at the end, for transmitting rotational moments in both directions,
Seven parts of the belt or chain are placed side by side and their ends are doubled in opposite directions.
, wrapped around an i-wide wheel, or two non-rotatably connected wheels. Depending on the angle of release and winding, a rotation angle of up to 3600 degrees can be achieved in both rotation directions.1. Ru. However, most of the time, Habo, 2700
is sufficient. For rotation angles up to approximately /gO',
Alternatively, an endless belt or chain may be used, each of which connects the drive wheel at one point, on the one hand, and the driven wheel on the other hand. They are each fixed around the wheel.

[Brief explanation of the drawing]

FIG. 7 is a schematic perspective view of the frame section of the actuating device according to the present invention M
FIG. 1 is also a schematic perspective view of the device (16) of FIG. 1, viewed from the other side. lO battle fist basic frame; //, ko, ttto, st
r. A3--Basic axis; /II, 3t, Art, -Frame drive motor: 2 pieces λ-tei 4I/ lI2 lI3...
Arm part; 30~36゜q6~5lI-transmission device;
? ,2,! 0... Pivot; 6θ, 6 pieces 1111 arm part; I6. ff1I,, [-- intermediate wheel; AII
, 7θ...Wheel near'l-91I...Transmission equipment Mr.:t
6. ．． trt,,qoφ・driver; to, gco. ? l... Drive device. Procedural Amendment April 6, 1980 Dear Commissioner of the Patent Office 1, Indication of the case Showa! 9th year patent application No. qDit, ll No. 2, Title of the invention Actuating device for moving an object 3, Relationship to the case of the person making the amendment Name of patent applicant Norbert Schlimm 4, Agent 5, Amendment Subject + 1 + Document certifying power of attorney (2) Drawings (engraving of 21 drawings (no change in content)

Claims (1)

[Claims] / For example, in order to move an object such as a workpiece or a machine tool, a base frame and a shaft supported thereon,
The first arm part is rotatable about the first base shaft by a first drive motor mounted on the base frame, and the second drive motor is rotatable about the first base shaft. parallel to the second basic axis by means of a second arm part rotatable around a second basic axis arranged at right angles to the axis and a third drive motor mounted on the second arm part; In the actuating device, the actuating device comprises a third arm portion rotatable around a third basic axis, and a holding member for an object to be moved. Drive motor (
3g) and a third drive motor (sb) are attached to the foundation frame Q, and the transmission device (30
~3/s:l14~3;II')'e through the second arm part C21, J4I) or the third arm part (1/, l
An actuating device characterized in that it engages with I and R. The transmission device is a chain drive device or a belt drive device (
, 70, lI6, 41ff), and these are the arm parts (2 pieces;
) Wheels connected to (KOI;41.2,4ZDA)
, and a pivot located coaxially with respect to the first basic axis (//)) C3t:! TO> is connected to the rack (31I;s, 2) via the
-E knee 1'C3g:sb) The actuating device according to claim 1, wherein the actuating device is linearly movable via the knee 1'C3g:sb). 3. The actuating device according to claim 1, wherein the drive motor <3r:sb> is a disk rotor motor. A holding member for the object to be moved is connected to the first hand part, and this hand part is connected to the third arm part with a first part parallel to the second and third cardinal axes. The first hand part (6θ
) is connected to the first arm portion (/, 2) by a conductor (41I-72) and is connected to the first hand shaft (5g
11. Actuating device according to claim 11.2 or 3, wherein the actuating device is held non-rotatably with respect to ). The left conduction device (6ri~72) is the first arm part (12)
The second basic shaft (:10) is non-rotatably connected to the
Placed in ten places 1. a first wheel (AII) and a second wheel located on the first hand shaft (5g), which is non-rotatably connected to the first hand part (60); (ri θ), guided onto the third basic shaft (110> via the intermediate wheel (66), the first wheel (6g), the second wheel (
70) Chain drive or belt drive CAt, with a conduction ratio of /:l between ? 2) An actuating device according to claim 9 consisting of: A holding member for the object to be moved is connected to the second hand part, and this hand part is attached to the first hand part with a second hand axis parallel to the first basic axis. The second hand portion C4,2)' is rotatably supported around the
The second hand shaft (A, ?) is connected to the fixed base frame 0C via the conductor (7g~l)
An actuating device according to claim 1, wherein the actuating device is held non-rotatably with respect to the actuating device. 7. The transmission device ('l-?4') is located on the first basic shaft (//), which is non-rotatably connected to the foundation frame, with the third wheel (puffer), Second hand part (
The second hand shaft (6) is non-rotatably connected to the second hand shaft (6).
3) a fourth wheel f placed on top (9g), a tilting drive (go, g, 2; q+) and an intermediate wheel Cg'
l, gt) through the second and third cardinal axes <20.
A chain or belt drive (74) with a double conduction ratio between the third wheel (7g) and the fourth wheel (? ,ff&,?
7. The actuating device according to claim 6, comprising: .theta.).