JPS60131181A - 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 device used for various industrial applications.

Structure of the conventional example and its problems In the conventional industrial robot device of this type, as shown in FIG. However, it is rotatable. A first arm 5 has a rotation axis perpendicular to the rotation axis of the support column 20, and is rotatable about the b-axis by a motor 6 and a speed reducer 7. 8 is the second arm and the first arm 5
It has a rotational axis parallel to the rotational axis (A) of the 17th arm 5 at the tip thereof, and is rotatable about the a-axis by the motor 9 and the speed reducer 1o. 11 is the wrist axis and the 27th - 8th
It has a rotation axis parallel to the rotation axis C of the 27th arm 8 at the tip thereof, and is rotatable about the d-axis by the motor 12 and the speed reduction device 13. 14 is a motor with a built-in speed reducer installed perpendicularly to the rotation axis d of the wrist shaft 11, and can move the tool mounting shaft 16 rotatably relative to the e-axis.016 is a gripping device that rotates the tool mounting shaft 15. It is attached to the tip and is used to grip objects, etc.

The above is a general vertically articulated industrial robot having five degrees of freedom, and is capable of carrying out work such as transferring and loading articles.

However, with the above configuration, for example, assuming a work in which an article is transferred while maintaining its vertical orientation, the d-axis is controlled in real time according to the rotation amount of the b-axis and a-axis, and the vertical direction of the gripping device is This poses a disadvantage in that it is technically difficult and requires an expensive control device.

OBJECTS OF THE INVENTION In view of the above drawbacks, the present invention aims to eliminate the need for controlling the d-axis attitude FI 71J and perform automatic attitude control mechanically.

Composition of the Invention The industrial robot device of the present invention provides a multi-joint robot having an arm joint portion that is provided on a post that is vertically disposed on a fixed base. The toothed belt wheel of the first toothed belt and the second arm are rotatably attached to the rotation axis of the second arm. The third toothed part is 2
A toothed belt wheel that is integrated in a row and a fourth toothed belt wheel that is the same size and fixed to the wrist shaft are arranged around the rotation axis of the rotatable wrist shaft. and a fourth toothed belt wheel are connected by a toothed belt, and the ratio of the number of teeth of each toothed belt wheel is set to the number of teeth of the first toothed belt wheel and the number of teeth of the fourth toothed belt wheel. As a result, the rotational posture of the wrist axis is always constant without being affected by the amount of rotational movement of the first arm and the second arm with respect to the support column.

Therefore, the driving device for the wrist axis and its control are also unnecessary, and the number of degrees of freedom can be omitted by one, and the cost can be reduced to 11]. In addition, the weight of the drive motor of the second arm can be balanced by mounting it on the opposite side of the rotation axis of the first arm from the speed reduction device of the second arm, thereby reducing the driving force of the first arm. can do.

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

In FIG. 2, reference numeral 22 denotes a column vertically installed on the fixed base 21, and is rotatable about the A-axis by a motor 23 and a reduction gear 24.

A first arm 25 has a rotation axis perpendicular to the rotation axis of the support column 22, and is rotatable about the B axis by a motor 26 and a reduction gear 2γ.

28 is a second arm, which has a rotation axis parallel to the rotation axis B of the first arm 26 at the tip of the first arm 25, and is rotatable about the a-axis by a motor 29 and a reduction gear device 30. It has become. Further, the speed reducer 30 is mounted on the C-axis, that is, at the tip of the first arm 26, but the motor 29 is mounted on the other end on the opposite side of the a-axis with respect to the rotation axis B of the first arm 250. The weight is balanced because the Reference numeral 41 is a wrist shaft, which has a rotation axis parallel to the rotation axis C of the second arm 28 at the tip of the second arm 28, and is rotatable.

Reference numeral 42 denotes a motor with a built-in speed reducer mounted perpendicularly to the rotation axis of the wrist shaft 410, and is capable of rotatably moving the tool mounting shaft 43 with respect to the E axis. A gripping device 44 is attached to the tip of the tool attachment shaft 43, and is used to grip objects.

45 is a first toothed belt wheel that is aligned with the B axis, is fixed to the support column 22, and has a pitch diameter φD1;
46 is rotatably attached to the C axis, and has a second toothed portion with a pitch circle diameter φD2 and a pitch circle diameter φD.
3 is a toothed angle belt wheel in which two rows of third toothed portions are integrated, and 47 is a toothed angle belt wheel that is aligned on the D axis and has a pinch circle diameter φD4 and is integrated with the wrist shaft 41. 4 toothed belt wheel.

Further, the ratio of the pitch circle diameters of the respective tooth angle belt wheels is φD1 - φD2 and φD3 - φD4,
The first and second toothed belt wheels and the third and fourth toothed belt pulleys are connected by toothed belts 48 and 49, respectively. Because of this configuration, even if the first arm 25 and the second arm 28 are operated arbitrarily, the posture of the article held by the gripping device 44 remains unchanged regardless of the position.
It can be moved parallel to the support column 22. This type of structure has already been used in drafting machines, etc. for the sole purpose of maintaining posture, but it is also used in vertical multi-joint robots.
By applying this method, it is possible to easily maintain the posture of objects during movement.

As described above, according to this embodiment, a multi-joint robot device having a first arm and a second arm whose rotation axes are parallel to each other is attached to a support vertically installed on a fixed base. A toothed belt that corresponds to the rotation axis of the wrist shaft at the end of the arm and can rotate freely is arranged, and each is linked by a toothed angle belt, and the transmission ratio of the toothed belt wheel is kept constant. By doing this and fixing only the toothed belt wheel provided at the rotational axis of the first arm to the support column, the rotational posture of the wrist axis can be automatically kept constant.

Further, the drive morph of the second arm is attached in the opposite direction to the rotation axis of the first arm and the rotation axis of the second arm,
By connecting and driving with toothed belt transmission, weight balancing can be achieved and the driving force of the first arm can be reduced.

In the present embodiment, the first arm and the second arm are combined, but the same effect can be obtained even if a large number of arms are combined by keeping the transmission ratio of the toothed belt constant.

Furthermore, in this embodiment, the drive is transmitted by a toothed belt pulley and a toothed belt, but it is needless to say that drive transmission by a chain or the like may also be adopted.

Effects of the Invention As described in ``2'', the present invention provides toothed belt wheels that are rotatable in parallel to each other so as to correspond to the axis of rotation and maintain a constant transmission ratio, and to sequentially rotate the toothed belt wheels. By interlocking with a belt and fixing only the tooth angle belt wheel of the first joint, the posture of the wrist axis can be kept constant. In addition, by separating the drive morph of the arm joint from the deceleration part and balancing the amount of M left and right with respect to the arm rotation axis, the joint and driving force can be reduced, and the practical effect is amazing. There is something.

[Brief explanation of the drawing]

FIG. 1 is a front sectional view of a conventional vertically articulated industrial robot, and FIG. 2 is a front sectional view of an articulated industrial robot according to an embodiment of the present invention. 21... fixed base, 22... pillar,
25...First arm, 28...Second arm, 41...Wrist shaft, 43...Tool mounting shaft, 45... First toothed belt wheel, 46.
...Second. 3rd 2 rows of teeth (1 belt wheel, 47.
...Fourth toothed belt wheel, 48, 49...
・Toothed belt, 3o...second arm speed reducer,
29... Second arm drive motor, B...
- Rotating shaft of the first arm, 50... toothed belt for driving the second arm. Name of agent: Patent attorney Toshio Nakao and 1 other person @1
Figure 2

Claims (1)

[Scope of Claims] (A column that is rotatably vertically mounted on a fixed base by a drive device, and has an axis perpendicular to the axis of rotation of this column,
a first arm rotatable by a drive device rItFc; a second arm having an axis parallel to the rotation axis of the first arm at the tip of the first arm and rotatable by a drive device; a rotatable wrist shaft having an axis parallel to the rotation axis of the second arm at the distal end of the arm; a toothed belt wheel having a first toothed portion fixed to the support column in alignment with the axis of rotation of the first arm; A toothed belt wheel having two rows of teeth and several parts in which second and third toothed parts are integrally attached so as to be rotatable, and a fourth tooth fixed to the wrist shaft in agreement with the wrist shaft. A toothed belt pulley is arranged, and the first toothed belt pulley and the second toothed belt pulley are connected by the toothed belt, and the third toothed belt pulley and the fourth toothed belt pulley are connected by the toothed belt. , an industrial robot configured such that the ratio of the number of teeth of each toothed belt wheel with the same specifications is as follows. (2) The drive device for the second arm has a reduction gear unit on the rotation shaft of the second arm, and the drive motor has a rotation shaft of the second arm with respect to the rotation shaft of the first arm. The industrial robot according to claim 1, wherein the industrial robot is attached to the other end on the opposite side and is connected to the reduction gear unit by a toothed belt.