JPS5997861A - Link 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] The present invention relates to a robot with a link configuration.

Conventionally, a five-bar link robot as shown in FIG. 1 has been used as a robot that has high rigidity and can perform high-precision positioning at high speed with a low-output rotation mechanism. In this five-section link robot, the first arm 31 and the second arm 3
The two centers of rotation are placed on the same plane with a constant interval between them. Therefore, the first arm 31 and the second arm 3
When the two arms rotate, there is a point where they interfere with each other, and the rotation angles of the first arm 31 and the second arm 32 are limited. Therefore, the scope of work was small. Furthermore, since the link configuration is pentagonal, positioning calculations for the working tip are complicated. Furthermore, since SCARA type robots basically have an open-loop structure, they have an unavoidable drawback in that the rigidity of the arm portion is low.

An object of the present invention is to eliminate the above-mentioned drawbacks, provide a link-type robot that has the high rigidity inherent to the five-bar link (2) Cropot, and can perform high-precision positioning at high speed with a low-output rotation mechanism. .

According to the present invention, the first link has one end that rotates around a point on one plane, and the first link that has one end that rotates around a point that is vertically below the center of rotation of the first link and a certain distance apart. a second link that rotates in a plane parallel to the rotation plane; and a third link that has one end rotatably connected to the other end of the first link and rotates on the same plane as the first link around the connection point. , one end is rotatably connected to the other end of the second link, the connection point is rotated about the center ζ on the same plane as the second link, and the other end is rotated with the other end of the third link. a freely connected fourth link; a first rotation mechanism installed above the center of rotation of the first link to rotate the first link to a predetermined position; and a first rotation mechanism installed below the center of rotation of the second link. and a second rotation mechanism for rotating the second link to a predetermined position.

(3) Next, an embodiment of the link type robot of the present invention will be described with reference to the drawings.

FIG. 2 is a perspective view schematically showing an embodiment of the present invention, and FIG. 3 is a schematic diagram showing the structure of the link in FIG. 2. FIG. 4 is a schematic diagram comparing the operating range of a conventional five-bar link robot with the operating range of the link type robot of the present invention.

1 is a first link whose one end rotates around a first joint 2 at a point on one plane. 3 is a point 2 whose one end is vertically below the first joint 2, which is the center of rotation of the first link 1, at a constant interval.
This is a second link that rotates around the joint 4 in a plane parallel to the rotation plane of the first link 1. A third link 5 has one end rotatably connected to the other end of the first link 1, and rotates on the same plane as the first link 1 with a third joint 6 as a fulcrum. 7 has one end rotatably connected to the other end of the second link 3, and rotates on the same plane as the second link 3 using the fourth joint 8 as a fulcrum, and also rotates with the other end of the third link 5. This is the fourth link that is freely connected. 9 is a connection point (4) between the third link 5 and the fourth link 7, which is the fifth joint. Reference numeral 10 indicates a hand attachment part installed at the center of the fifth joint. Reference numeral 11 is an embodiment of the first rotation mechanism, and is a first servo motor installed at the upper part of the first joint 2 to drive the first link 1 to rotate and set it at a predetermined position ξ. 12 is an embodiment of the second rotation mechanism;
A second servo motor is installed at the bottom of the joint 4 and rotates the second link 3 to set it at a predetermined position. Reference numeral 13 denotes a column supporting the first joint 2 and the second joint 4.

Next, the operation of the above embodiment will be specifically explained.

The first link 1 is rotated by the first servo motor 11, and the first link 1 is set at a predetermined position of θ from the reference position S. At the same time, the second link 3 is rotated by the second servo motor 12, and the second link The link 3 is set at a predetermined position θ from the reference position S. This determines the angle θ, (θ3-10.-〇, 1) between the first link 1 and the second link 3. Furthermore, due to the structure of this link, the connection angle of the pond link is 04. θ5. θ
・are respectively determined, and the hand attachment portion 10 is moved to a predetermined position. Note that the plane of rotation of the first (5) link 1 and the plane of rotation of the second link 3 are deviated in the vertical direction, and the third link 5 and the fourth link 7 are also deviated in the same way. 1 and 2nd link 3,
Since the third link 5 and the fourth link do not contact each other, there are no restrictions on the rotational positions of the first link 1 and the second link 3. This increases the range of motion of the robot as shown in FIG. Here, A in FIG. 4 shows the operating range of the robot of the present invention, and B shows the operating range of the conventional robot. Furthermore, if the lengths of the first link 1, second link 3, third link 5, and fourth link 7 are all the same, the link structure will form a straight line or a diamond shape, and the hand attachment will be positioning calculation becomes easy.

As explained above, according to the present invention, since a closed loop structure is adopted, the structure is simple but has high rigidity. Additionally, because of its wide range of motion, it is often used as a robot.

Furthermore, since positioning calculations are simple, the control system of the robot is inexpensive, which has a significant effect.

(6)

[Brief explanation of drawings]

Fig. 1 is a schematic diagram showing the basic configuration of a conventional five-bar link robot, Fig. 2 is a schematic diagram showing the configuration of an embodiment of the present invention, and Fig. 3 is a schematic diagram showing the configuration of the link in Fig. 2. FIG. FIG. 4 is a schematic diagram comparing the operating range of a conventional five-bar link robot with the operating range of the link type robot of the present invention. In the figure, 1 is the first link, 2 is the first joint, 3 is the second link, 4 is the second joint, 5 is the third link, 6
is the third joint, 7 is the fourth link, 8 is the fourth joint, 9 is the fifth joint
Joints, 10 is the hand attachment part, 11 is the fs1 servo motor, 12 is the second servo motor, 13 is the support (7) O / En 2

Claims (1)

[Claims] A first link whose one end rotates around a point on a plane;
a second link whose one end rotates in a plane parallel to the plane of rotation of the first link around a point vertically below the center of rotation of the first link; and one end of which rotates at the other end of the first link. and the first
a third link that rotates on the same plane as the link; one end is rotatably connected to the other end of the second link; the third link rotates on the same plane as the second link around the connection point; a fourth link rotatably connected to the other end of the third link; a first rotation mechanism installed above the center of rotation of the first link to rotate the first link to a predetermined position; (1) A link-type robot comprising: a second rotation mechanism installed below the center of rotation of the second link and rotating the second link to a predetermined position.