JPS60131180A - 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 Field of Industrial Application The present invention relates to an industrial robot used in the industrial field, particularly for assembly work.

Conventional configuration and its problems Conventional industrial robots have configurations as shown in FIGS. 1 and 2. In Figure 1, the body has the degrees of freedom of turning the torso 11 to 9, bending the shoulders 2 times, bending the elbows 3 times, turning the wrists 4, bending at 5, and turning at 6. , in FIG. 2, bending 2. at the first joint 7. Bending at 2nd Guan Ruto 8.

It has a degree of freedom of vertical movement at the upper and lower parts 9 and rotation at one wrist ft1s10. Although there is a difference in the degree of freedom configuration 1/C,
.

In both cases, the high-speed rotating DC servo motor is decelerated using a reducer or a ball screw (upper and lower parts of 9) to operate the valley joint, and the tip position data taught by the operator is used in each case. The rotational angular position of the joint motor is memorized and the angular position is reproduced to perform repeated operations.

However, in industrial robots with the above configuration, the opening is driven via a reducer, so although the position can be repeated, the force at the tip cannot be controlled by the driving force of the motor. , it was PG due to friction in the reducer. On the other hand, in assembly work, there are variations in the supply position of parts to be worked on and variations in the dimensions of the parts themselves, so it is insufficient to improve positional accuracy. It is still necessary to bring the part and the pusher into contact, make them follow each other, or press them with a constant force, and it is necessary to control the force at the tip.

In a robot with a conventional configuration, it is possible to directly drive the servo morph without using a reduction gear for each joint, but each joint would be stiffer.
What is the magnitude and direction of the force at the tip? li! In order to control the I, it is necessary to perform complex calculations that take into account the angles and speeds of each joint, the weight of each arm, etc., and this has the drawback of poor precision in force control.

OBJECTS OF THE INVENTION In view of the above drawbacks, the present invention provides an industrial robot in which the size and direction of the tip of the robot can be easily adjusted.

The structure of the invention is a pantograph mechanism consisting of a drive link, a free link pivoted to the drive link, and a parallel link that forms a parallelogram with an interior angle formed by these two links.
It is composed of a moving coil type motor that moves its two ends in perpendicular directions, and has the unique effect of being able to easily control position and force.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 3 shows an overall view of an embodiment of the present invention.

In FIG. 3, 11 is a drive link, 12 is a free link that is pivoted to the drive link 11, and 13.14 is a 11
and 12 are parallel links arranged parallel to each other. The 11th to 14th valley links are rotatably connected and constitute a pantograph mechanism. 15 is a moving coil type linear motor, and the free end 16 of the drive link 11
The figure is driven to slide in the vertical direction. 1 is also a moving coil type linear motor that slides and drives the free end 18 of the parallel link 13 in the horizontal direction in the figure. 19 is the tip of the free link,
20, which is the operating point of the robot, is the rotation part,
Reference numeral 21 denotes a moving coil type swing motor that rotates the upper part of 2O.

FIG. 4 is a perspective view of a 17.18 moving coil type motor. In Fig. 4, 22.23 is the thickness direction K,
It is a permanent magnet magnetized with facing poles, 24
, 25, 26, and 27 are yokes forming a magnetic circuit. 28 is a bobbin around which magnet wire is wound to form a coil. A nearly uniform magnetic field is formed between the magnet 22 and the yoke 24 and between the magnet 23 and the yoke 24, causing a current to flow through the coil of the bobbin 28.
This generates force in the left and right directions in the figure. At this time, since the magnetic field is uniform, a thrust proportional to the flowing current is generated.

The operation of the pillar industrial robot configured as described above will be explained below.

Due to the relationship between the link tip 19 and the links 11 to 14, when the linear motor 15, that is, the free end 16 of the drive link 11 slides downward, it moves only up and down, and the linear motors 17 are twisted in parallel. When the freedom @ 18 of the link 13 slides left and right, it moves only left and right. These are each independent, and the rate of movement thereof is also constant. for example,
The lengths of links 11 and 12 are el, and the length of link 14 is i
s, the tip moves up and down at a constant rate of the movement of the free end 16.

In addition, as is clear from the configuration, movement in each direction is performed by each moving coil type motor without being decelerated.
Since the transmission is via support in the rotational direction, friction, backlash, etc. between them can be extremely reduced. For this reason,
By controlling the current of each moving coil type motor, the forces in three directions at the arm tip 19 can be easily controlled. At this time, since the transmission in each direction is independent, no complicated calculation is required to determine the directional magnitude of the force at the arm tip 19. By changing the positioning control gain of each motor, the stiffness in each direction can be set.

Similarly, it is easy to make the arm tip 19 follow the object.

As described above, according to this embodiment, there is provided a punk graph mechanism consisting of a drive link, a free link pivoted to the drive link, a parallel link forming a parallelogram with an interior angle formed by these two links, and the punk graph mechanism. By installing a moving coil type motor that drives the end in a direction perpendicular to the end, the drive in the direction perpendicular to the end is independent, and there is no reduction gear, so there is very little friction and play, and it is possible to control the force at the end of the arm and perform copying work. It is possible to easily construct an industrial robot that can do the following.

Incidentally, it goes without saying that the same effect can be obtained even if the upper and lower, right and left sides of the single drive are replaced with respect to the embodiment. Furthermore, the same effect can be obtained even if the operating plane of the pantograph mechanism is set to be a plane (horizontal plane) K perpendicular to gravity.

As described above, the present invention provides a pantograph mechanism consisting of a drive link, a free link pivoted to the drive link, a parallel link forming a parallelogram at an internal angle formed by these two links, and the pantograph mechanism. By providing a moving coil type motor with two ends perpendicular to each other, an industrial robot can be constructed that can easily control the force at the tip of the arm and perform copying work, and its practical effects are significant.

[Brief explanation of the drawing]

1 and 2 are general views of a conventional industrial robot, FIG. 3 is a front view of an industrial robot according to an embodiment of the present invention, and FIG. 4 is a perspective view of a moving coil type motor of the same embodiment. It is a diagram. 11... Drive link, 12... Free link,
15.17 ・・Moving coil type linear motor. Name of agent Patent attorney Ichiman Nakao and 1 other person Figure 1 Figure 2 Figure 3 Figure 4 Figure 7

Claims (1)

[Claims] A noguntagraph mechanism consisting of a drive link, a free link that is pivoted to the drive link, and a parallel link that forms a parallelogram with the interior angle formed by these two links, and the free end of the drive link that slides. An industrial robot comprising a moving coil type motor that can be moved freely, and a moving coil type motor that can freely move one end of a parallel link in the sliding direction and the direct firing direction.