JPS5947180A - 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 an industrial robot, and more particularly to an industrial robot that is attached to a target machine such as a machine tool and that attaches to, detaches from, and transfers workpiece materials to the machine.

Conventionally, a machine attachment device is attached to an appropriate root surface of a machine tool to transport and mount a workpiece material from a workpiece stand to the chuck device of the machine tool, and to remove the processed workpiece material from the chuck device after the machining is completed. type of industrial robot is already available. This conventional machine-mounted industrial robot has a relatively long robot arm with a hand at the tip for grasping the workpiece. Does it have the ability to rotate in a vertical plane relative to the robot body? Because the configuration is such that a workpiece-specific transfer action is performed by performing this operation, when the hand grips all the workpiece material, the output torque is large, especially when the robot arm starts turning. Therefore, the swing drive source is required to have a large output torque, and the load applied to the swing axis tends to reduce the robot's durability.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to eliminate the above-mentioned conventional drawbacks by eliminating the rotational movement of a robot arm in a lead plane.
1 Transport of workpiece materials to the machine.

Putting on and taking off? It is an object of the present invention to provide an industrial robot with a new structure that can be achieved by movement of a robot arm in a horizontal plane.

According to the present invention, the rear end of the horizontal robot arm provided at the entire tip of the robot hand for grasping a workpiece is pivotally connected to the front end of a metal horizontal swing link, and the rear end of the horizontal swing link is provided on the upper surface of the robot body. Connected to the swing motion source on the table, and also the robot body? The horizontal robot arm is movable along the robot mounting base in a lateral direction intersecting the axis of the horizontal robot arm, so that the horizontal robot arm can be moved horizontally backward along the axis and horizontally rotated around the center of the rotary table. Workpiece conveyance in a horizontal plane by An industrial robot is provided that is configured to perform the following steps:

The invention below? This will be explained in detail based on the embodiment shown in the first page of the attached drawing.

FIG. 1 is a schematic perspective view showing the overall configuration of an industrial robot according to the present invention. In the figure, an industrial robot 1 has a robot main body 2, and this robot main body 2 has a lateral feed movement mechanism (described later) along a mounting base 3 attached to the machine side of one industrial robot, for example, an automatic lathe MT. By arrow °
“It is possible to move in the horizontal direction indicated by ZII.
The drive source for the traversal movement mechanism is a motor M1. Further, a vertical movement mechanism (described later) provided inside the robot main body 2 is operated by a motor M2 provided on the side surface of the main body, so that an upward movement table disposed on the upper surface of the robot main body 2 is operated. 4 is able to move downward as indicated by the arrow "Y". A rotary table 5 that rotates in the direction of the arrow ゛°θ'' is provided on the upper part of the upper movable table 4, and a rotary operating machine 111 of this rotary table 5 is placed on the upper plate 13, as will be described later. A motor M3 is provided between the earthen plate 13 and the rotary table 5 as a driving source.

The rear end of the robot arm 6 is connected to the rear end of the robot arm 6 by a pair of links 9 and 10 and another pair of links 11 and 12, which are pivotally held on the upper plate 13 and the lower plate 14 fixed to the upper surface of the rotary table 5. is held at the tip of the robot arm 6, and a robot hand 8 is provided at the tip of the robot arm 6 via a wrist mechanism 7 so as to be rotatable substantially within a vertical plane by a rotational movement #lI'WI, which will be described later.

The above-mentioned two pairs of links 9, 10 and 11.degree. 12 all protrude in the horizontal direction, and their protruding ends pivot and hold the six 10-bottom arms horizontally. 12 horizontally swings, the robot arm 6 moves in the rearward direction within the horizontal plane indicated by the arrow "X'°," and the links 9, 10 and il,
12 is horizontally oscillated by the transmission field of the oscillating force from the motor M4 provided on the upper plate 13 to the other pair of links 9 and 10 through the oscillating mechanism described below.
, 121't: also occurs. In this case, the back-and-forth movement of the robot arm 6 in the direction of arrow "X" due to the horizontal swing of the links 9, 10 and 11.12 becomes an arcuate trajectory, and is combined with the movement of the robot main body 2 in the direction of arrow "Z". By doing so, it is possible to move horizontally back and forth following a straight line trajectory in the direction of the arrow "X".In addition, link 1
A chain transmission mechanism for rotation transmission is provided inside the robot arm 6 as described later, and a chain transmission mechanism is also provided inside the robot arm 6. The rotational force is sequentially transmitted from the motor M5 fixed on the upper plate 13 to rotate the wrist 7, thereby moving the robot hand 8 in the direction of the arrow °゛α'' in the vertical plane.
In Fig. 1, CK is the chuck device of the automatic lathe MT, and this chuck device CK
On the other hand, the industrial robot 1 is held at the tip of the robot arm 6 fL, and the chuck device C grasps the workpiece Wk from the workpiece table WT when attaching and detaching the workpiece Wi with the hand 8.
K, and then installed in the chuck device CK,
After the machining is completed, the VC removes the processed workpiece w-2 from the chuck device CK and transports it back to the workpiece table WT, and places the processed workpiece W-2 on the workpiece table WT. I'll post it soon.

Next, the above-mentioned "Z" direction, "Y"'' direction θ''' direction,
Each operating mechanism in the "X11" direction and the "α" direction will be explained in order.

Figure 2 shows "2" of the robot main body 2" on which the mounting base is installed.
The configuration of the directional movement mechanism is shown in the schematic cross-sectional view.
The figure is a perspective view schematically showing a rotation transmission mechanism from a motor M1 as a drive source and a rotation/linear motion conversion mechanism. Figure 2 1. In FIG. 3, a pulley 15 is mounted on the output shaft end of a motor M1 fixed to the inner bottom of the mounting base 3, and a pair of left and right rotating bearings 19 and 19 are mounted on the inside of the mounting base 3. ′
Therefore, a belt 17 is stretched between one end of the ball screw shaft 18, which is rotatably held inside the mounting base 3, and a pulley 16, which is fixedly mounted. is designed to rotate. A ball nut 2 is attached to this ball screw shaft 18.
0 is threadedly engaged. Moreover, this ball nara) 20
One end 21 of the id is fixed to the surface of the robot main body 2 facing the mounting base 3. Therefore, due to the rotation of the ball screw shaft 18, the pole nut 20 moves in the axial direction of the ball screw shaft, so that the robot main body 2 also moves in the axial direction of the ball screw @18 together with the ball nut 2o. At this time, attach one guide rail 23.2 to the mounting base 3'17-). i is formed, and this guide rail 23.
A guide 24°24 is provided on the robot main body 2, so that the robot body 2 is fitted with a 23fC.

Along the guide rails 23, 23, the robot main body 2
Because it slides smoothly. By controlling the rotation of the ball screw shaft 18 in both forward and reverse directions, the robot main body 2 can be moved by a desired amount in both the left and right lateral directions. “Arrow in Figure 1”
This corresponds to the Z''' direction.A well-known servo motor may be used as the motor M1.

Figure 4 shows a soil/lower movement mechanism in which the upper movement table 4 provided on the upper part of the robot main body 2 is moved upward and downward in the direction of the arrow 'Y' in Fig. 1 by the motor M2 as the drive source. This is a schematic cross-sectional view showing the configuration.As shown in Figure A, the output shaft of the motor M2, which is placed on the soil of the robot main body 20 and the base 2a, protrudes downward into the inside of the base 2a, and its output A pulley 26 is attached to the shaft, and a Hall screw shaft 28 is provided inside the robot main body 2 and is supported rotatably around the vertical axis by lower bearings 27, 27. One end of the shaft 28 protrudes into the base 2a and is attached to the boot 1.
) 29 (i), and a belt 30 is stretched between the pulleys 26 and 29 within the base 2a.'A pole nut 31 is threadedly engaged with the ball screw shaft 28, and this pole nut 31 is fixedly attached to the arm 32 by a screw 7. At both ends of the arm 32, two ball spline shafts 33 and 33 are erected and fixed.

These ball spline shafts 33, 33irj (spline inner ring fitted to the top plate 2b of the robot main body 2) 34.
347 and extends upwardly, and the upper moving plate 4 is fixedly attached to the top ends of both ball spline shafts 33 and 33. Therefore, the rotation of the motor M2 is transmitted to the ball screw shaft 28 through the belt pulley mechanism, and when this is rotated, the ball nut 31 is threadedly engaged with the ball screw shaft 28 and moves up and down. 52. Top plate 21 of the robot main body 2 on which the ball spline shaft 33° 33, the upper moving table 41c, and the spherical nut 34° 34 are fitted.
), it moves to 1. In addition, by using the two ball spline shafts 33 and 34,
The upward movement table 4 moves upward smoothly (in the direction of the arrow n y u).
move in the direction. Incidentally, the motor M2 is also the same as the above-mentioned motor ~1.
By using a servo motor as in A7), the amount of vertical and downward movement of the upper moving table 4 can be controlled as desired. In addition, a rotary table 5 as shown in FIGS.・1 root 1
3, 14, etc. are held, the horizontal robot arm 6 and hand 8 are ultimately translated upward and downward by the same amount in accordance with the upward movement of the upward movement table 4.

In other words, the center of gravity of the work W held by the hand 8 is
The height can be adjusted to match the center of the chuck device CK shown in the figure. Furthermore, in figure yg1, the workpiece W is moved from the workpiece table WT by the hand 8.
i When gripping or gripped processed workpiece Wi
The upper moving table 4 can also be used when placing it quietly on the T.
This is achieved by controlling Fah.

Next, FIG. 5 is a schematic diagram showing the rotation mechanism of the rotary table 5. As shown in FIG. As shown in Figure 5.

The output shaft of the fixed motor M3 with Km on the upper plate 13 is the upper plate 13? The drive pinion 3 of the well-known harmonic drive reduction gear (registered trademark) 36 penetrates and protrudes downward.
It is connected to 7. This drive pinion 37i is in mesh with the flexible gear element 38 in revolution. A ring gear 39 is held on the outer periphery of the flexible gear element 38 by a gear box 40 . Therefore, when the drive pinion 57 is rotationally driven by the rotational output of the motor M3, the rotation is transmitted to the ring gear 39 via the flexible gear element 38 at a desired high reduction ratio. Here, the lower end of the flexible tooth JiL resistor 38 is fixedly attached to the upper end of a fixed shaft 41, and the lower end of this fixed shaft 41 is connected to the upper table 5a (H) of the rotary table 5 through the upper table 5a (H). The upper table 5av'i') is rotatably held on the table 5b via a bearing 42, and the rotational movement of the rotary table 5 is controlled by the upper table 5a. It is formed in such a way that it can be obtained. Now, this upper table 5a
The lower end of the hollow shaft 43 is connected to the gear box 40 of the harmonic drive unit 36 at the upper end.

Therefore, the ring gear 39 is decelerated and rotated by the motor M 30 rotations, and the gear box 40 and the hollow shaft 43 are also Ultimately, the upper table 5a of the rotating table 5 is rotationally driven.

Note that the lower table 5b may be attached to the upper surface of the above-mentioned upper movable table 4 using appropriate fixing means such as bolts and screws. In addition, as another modification, on the lower table 5b7, J:
It is formed integrally with the moving table 4, and a rotating bearing means 42 is attached thereto.
'(]l = It is also possible to form it so that the tape A, s a 2 can be attached through it, in which case the fixed shaft 4
1 is also fixedly attached to the integrally formed table. , furthermore, the motor M3 is the already mentioned motor M1. Like M2, it is formed by a Kv-motor, so the upper table 5a of the rotary table 5 can be controlled to rotate by a desired amount in both forward and reverse directions.

Next, link 9.10i is swung horizontally and robot arm 6 is
The horizontal swinging mechanism for moving back and forth in the direction of the arrow "X" will be explained based on Fig. fvJ6.

Now, in FIG. 16, the motor M4 placed and fixed on the upper plate 13 is formed by a servo motor like the motors M1 to M3 described above, and its output shaft is mounted on the upper plate 13.
The harmonic drive reduction device 36 of the operating mechanism shown in FIG.
ing. Therefore, this drive pinion 47 is connected to the flexible gear element 4.
8, and the decelerated rotation is transmitted to the ring gear element 49 via this flexible gear element 48, so that this link gear element 49 makes one decelerated rotation. This link gear element 4
9 is housed in a gear box portion 50 formed at the rear end of the link 9, so the rotation of the ring gear element 49 causes the ring gear element 490 to rotate around the center of rotation of the element 490 in the horizontal plane. Then, rotate the motor M4 in the forward and reverse rotation directions as appropriate, for example, 60 degrees each from left to right.
If the rotation is controlled individually, the horizontal turning motion of the link 9 can be realized as a horizontal swinging motion. A hollow shaft 51 fixedly attached to ]σf at the rear end of the link 9 is provided coaxially with the ring gear element 49, and its lower end is connected to the link 10. Therefore, one stroke of the horizontal swing of the link 9 is transmitted to the link 10 via the hollow shaft 51.
This is because the link 10 also performs a horizontal swinging motion in synchronization with the link 9. In addition, harmonic drive reduction device 4
One end of the flexible gear element 48 of No. 6 is inside the inner wall shaft 51? The mounting is fixed on the upper end of the fixed shaft 52, and υ, -10,000,
One end of the fixed shaft 52 is fixed to the upper surface of the T'&14, which is fixed to the upper table 5a of the rotary table 5, by suitable fixing means such as screws. Sa1, top
A link set up for an 11-pair election? , 1075E As mentioned above, if the horizontal swinging operation is not performed, the tips V of both links 9 and 10
Since the rear end of the robot arm 6 is pivotally attached, C is shown in Figure 51. Then the robot arm 6, [arrow ゛X゛].

It is a movement after moe in the direction. At this time, the tips of the other pair of links 11 and 11 shown in FIG. In accordance with the target movement of the robot arm 6, the links Ii and 1 are approximately synchronized with the links 9 and 10.
2 also performs horizontal swinging motion. For this reason, as will be described later, the rear end of the link 11.12 cannot be held so as to be able to rotate freely.

FIGS. 7 and 8 are a plan view and a cross-sectional view schematically showing the rotating mechanism of the wrist 7 provided at the tip VC of the robot arm 6. Now, the motor M5 mounted on the upper plate 13 is formed by a servo motor, its output shaft is connected to the upper plate 13
? The sprocket wheel 6' is connected to the sprocket wheel 60 inside the link 11, which extends through the upper plate 15 and whose rear end is pivotally connected to the upper plate 15 via a rotary bearing means.
zr rotation drive. On the other hand, the rear end of the link 12 is pivotally connected to the one plate 14 via a rotary bearing + stage, similar to the case of the link 11. Now, the inner body of the link 11 is formed as a hollow body, and the front end of the link 11 is pivotally connected to the robot arm 6 by one short shaft 62VC as shown in FIG. The reference numeral 62 is supported by four bearing means including a rotational bearing 64.65 fitted in the ring 11 and a 7h rotational shaft 66.67 which is appropriately fitted and held inside the robot arm 6. 1. Install the sprocket wheel 63 at the appropriate position in the link 11. )
Noshi, ma7. : The sprocket 4T68 is installed at the appropriate position inside the robot arm 6. A chain 61 is stretched between the sprocket wheels 60 and 66 in the link 11. Therefore, the rotational output of the motor M5 is transmitted to the short shaft 62 via these sprocket wheels 60 and 63 and the chain 61, and therefore the sprocket wheel 68
is driven to rotate. (This tin rocket J4L68
The six rotations are transmitted via a chain 70 to a sprocket wheel 69 held in a pivot groove inside the tip of the robot arm 6. A bevel gear 71 is provided on this sprocket wheel 69 coaxially with C, and from the wrist 7 to the inside V of the robot arm 6.
The bevel gear 73 is attached to the end of the shaft 73, and meshes with the other bevel gear 72. As a result, the rotation of the sprocket wheel 690 ha is transmitted to the wrist 7 through the engagement of the bevel gears 71 and 72, causing it to rotate completely. As mentioned above, the rotational output of the motor M5 is transmitted to the wrist 7? The rotation is driven by the rotation 811. of the servo motor M5. It is possible to perform 70 rotations of the wrist by control. In addition, links 9 and 10 are available on the 8th evening 1.
The pivot connection structure between the tip of the robot arm 7 and the link 12 is also shown, but these pivot connection structures are usually structures using well-known pivot shafts and rotation bearings. C will not be discussed in detail here.

As is clear from the above four sides, in the present invention, the rear end of a horizontal robot arm having a robot hand at the tip for gripping a workpiece is pivoted to the front end of a horizontal swing link.
The rear end of the horizontal swing link is connected to a swing motion source on a rotary table provided on the upper surface of the robot body, and the robot body is connected to the axis of the horizontal robot arm (the robot mounting base is connected in the negative direction). The robot arm is movable along the platform, and the workpiece is transferred in a horizontal plane by the horizontal back-and-forth movement along the axial direction of the horizontal robot arm and the horizontal rotation around the center of the rotary table. Compared to conventional machine-mounted industrial robots, which perform robot movements within vertical φ1, the coupling applied to the drive source is reduced.Furthermore, the movement in each direction driven by five motors M1 to M5 is combined for operation. By using this method, the hand 8 at the tip of the robot arm can be operated robotically in a wide three-dimensional space, so a large number of workpieces loaded on the workpiece table WT can be transported to the target machine, and the workpieces can be mounted or moved to the machine. It should be noted that the details of each operating mechanism described above may be modified or changed at any time during actual design.

[Brief explanation of the drawing]

Fig. 1 shows the overall configuration of the industrial robot according to the present invention? The schematic perspective view shown in Figure 2 is shown in Figure 1. Fig. 3 is a schematic cross-sectional view showing the structure of the rotation transmission mechanism and rotation/linear motion conversion mechanism in the lateral movement mechanism of the same robot, and Fig. 4 is a schematic cross-sectional view showing the structure of the rotation transmission mechanism and the rotation/linear motion conversion mechanism in the same lateral movement mechanism.
1III Operation mechanism Diagram 1.・n
Figure 5 is a schematic diagram explaining the rotation mechanism of the rotary table of the robot, Figure 6 is a schematic diagram explaining the horizontal swing mechanism of the horizontal link of the robot, and Figure 7 is a schematic diagram of the robot.
Figure 8 is a schematic plan view and cross-sectional view explaining the turning mechanism of the horizontal robot arm of the same robot.
Industrial robot 2...Robot main body 3...Mounting base 4...Upper moving table 5...Rotary table 6...Horizontal robot arm 7 ...Wrist 8 ...Robot hand 9.10. i'1.12...Link 13...
...Top plate 14...1 plate M1 to M5...Motor MT...Automatic lathe CK...Nayak device WT...Workpiece stand W... Work Patent Issuer: FANUC CO., LTD. Patent Attorney: Akira Aoki, Patent Attorney, Kazuyuki Nishidate, Patent Attorney, Kyo Nakayama, Patent Attorney: Akira Yamaguchi

Claims (1)

[Claims] 1. Workpiece gripping robot node? A rear end of a horizontal robot arm having a distal end is pivotally connected to a front end of a horizontal swing link, and the rear end of the horizontal swing link is coupled to a swing motion source on a rotary table provided on the upper surface of the robot body, and The entire robot body is provided so as to be movable along the robot mounting base in a lateral direction intersecting the axis of the horizontal robot arm, thereby allowing the horizontal robot arm to move horizontally back and forth along its axis and around the center of the rotary table. An industrial robot characterized by being configured to transport a workpiece in a horizontal plane by horizontal rotation of the robot. 2. The industrial robot according to claim 1, wherein the workpiece gripping robot node is rotatably attached to the tip of the horizontal robot arm.