JPS59214590A - Branch plural arm type multipler freedom-degree manipulator 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 Application of the Invention] The present invention relates to improving the positioning accuracy of a robot having an operating arm, and particularly relates to a configuration of a motion machine suitable for a robot with multiple degrees of freedom and multiple joints. related.

[Background of the invention]

Conventionally, visual sensors have been used to improve positioning accuracy in articulated robots (Nikkei Mechanical 1982).
．． 10.11. P122), the aim was to improve accuracy not in the multi-joint mechanism itself, but in the measurement and servo systems. For this reason, there was a drawback that it was not possible to exceed the accuracy limit determined by the deflection and wobbling of the multi-joint mechanism.

[Purpose of the invention]

An object of the present invention is to provide a multi-joint operating arm that suppresses deflection and play during positioning in a multi-joint robot, and at the same time allows for highly accurate positioning using a support device that does not impede joint movement. be.

[Summary of the invention]

The present invention provides a fulcrum between the base and tip of the operating arm, and statically supports this fulcrum in order to prevent the deflection of the entire multi-joint system and the rattling of each joint from being transmitted to the entire system. In addition, the weight of the support device itself is supported by the surrounding floor, excluding the operating arm, to reduce the load as much as possible during positioning. This makes it possible to reduce positional displacement due to inertial force when stopped.

[Embodiments of the invention]

An embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows an example in which a supporting arm 5 which also serves as an operating arm is incorporated into the intermediate joint 1. In the state shown in FIG. 1, the support arm 5 attached to the intermediate joint 1 is placed on the floor with the support arm gripper 6 fully opened, and supports the weight using the intermediate joint 1 as a fulcrum. Operating arm 7
The gripper 8 performs a positioning operation using the intermediate joint 1 as its base.

FIG. 2 shows that the functions of the support arm 5 and the operating arm 7 in FIG. 1 are interchanged. The support arm 5 and the support arm gripper 6 attached to the intermediate joint 1 perform a positioning operation in FIG. At this time, the motion is a combination of rotation around the intermediate joint 1, rotation of the wrist 90, and opening and closing of the support arm gripper 6. During the positioning operation, the operating arm 7 and the gripper 8 that grips the fixed hook 10 form an arch together with the link 4 and the like to reduce overall deflection and joint play.

FIG. 3 shows the gripper 8 at the end of the operating arm 7 holding the fixing hook 10.
The fixing hook 10 is not limited to the floor, but may be attached to any surrounding structure such as the ceiling or wall.

FIG. 4 shows the positioning operation of an articulated robot incorporating a support-only device. The support arm 2 attached to the intermediate joint 1 is kept at a constant opening angle by a piston rod 3. The parts from the intermediate joint 1 to the gripper 4 move for positioning, and the parts other than these do not change their posture as they are supported by the support arm 2. When positioning in Figure 4,
The deflection from the intermediate joint 1 to the gripper 4 and the backlash of the joints should be taken into account. The support arm 2 is fixed to the link 4 by the piston rod 3 because high positioning accuracy is not required in the approach until the state shown in FIG. 4 is reached.

〔Effect of the invention〕

According to this embodiment described above, the following effects can be obtained.

(1) Among the multiple joints, only the minimum number of joints and links necessary for positioning operate, and the others are statically supported, so the amount of overall deflection and wobbling can be suppressed.

(2) Since there is a support point in the middle, the weight of the entire arm can be reduced compared to the conventional single-beam structure.

(3) The support arm can attach to surrounding structures, preventing the robot from running out of control and killing it.

According to the present invention, since support is provided at the intermediate point of the multi-joints and positioning is performed under conditions with little deflection and wobbling, there is an effect of improving the accuracy.

[Brief explanation of drawings]

Figure 1 is a structural diagram when the support arm is incorporated, Figure 2 is:
Figure 1 is a diagram of the operation when the functions of the support arm and the operating arm are replaced, Figure 3 is a detailed partial view of the operating arm and gripper in Figure 2, and Figure 4 is a diagram showing the operation arm with the support leg incorporated. This is a structural diagram for the case.

Claims (1)

[Claims] The root is in one place, and it branches out from the middle and has multiple arms.
One of the plurality of arms operates as a manipulator, and the other arms other than that arm support the arm so as to fix the position of the joint when the manipulator operates, and the entire body consisting of the arm and the joint A branched, multi-arm, multi-degree-of-freedom manipulator robot that suppresses structural deflection and joint play, and improves positioning accuracy.