JPS60135188A - 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 Application of the Invention] The present invention relates to an industrial robot, and more particularly to an industrial robot capable of moving through a range of motion provided by an arm structure.

[Background of the invention]

In recent years, due to the development of industrial robots, they have become popular in welding work sites and painting work sites.Furthermore, based on flexible automation in the industrial world, they have been introduced into the field of assembly work on production lines. It's coming. When introducing industrial robots into the field of assembly work, the content of the assembly work varies from simple to complex, and even requires high-precision positioning. , this point needs to be taken into consideration. One solution is to configure the arm joints of articulated industrial robots independently and select the number of axes or degree of freedom of the arm according to the work content, for example, as proposed in Japanese Patent Application Laid-Open No.
It is disclosed in Japanese Patent No. 8-120490.

However, in actual assembly work, work that is outside the range of motion provided by the robot's arm configuration may be required. In this case, since it is not possible to perform work outside the set operating range, there is a problem in that a new robot must be introduced for this purpose.

[Purpose of the invention]

The present invention is based on the above-mentioned matters, and an object of the present invention is to provide an industrial robot that can shift a set range of motion according to the content of the work.

[Summary of the invention]

In order to achieve the above object, the present invention provides an industrial robot equipped with an arm structure having a joint part and an arm connecting each joint part on a rotating part constituting a joint part.
The arm between the joints is provided with arm axis changing means for shifting the range of motion obtained by the arm structure.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show an embodiment of the industrial robot of the present invention. In these figures, 1 is a rotating part,
It constitutes the first joint B1. A swing motor (not shown) is built into the swing section 1. As shown in FIG. 2 is the rotating part 1
A support arm with a different number on the top, 3 is a first arm rotatably provided at the tip of the support arm 2 by a second joint B2, 4 is a third joint at the tip of the first arm 3 The second arm 83 is rotatably provided, and 5 is a wrist portion provided at the tip of the second arm 4.

This wrist portion 5 includes a first wrist portion 5A that rotates in the direction of arrow P, a second wrist portion 5B that rotates in the direction of arrow Y, and a third wrist portion 5C that rotates in the direction of arrow R. There is. Joint part B2. B3 and wrist portions 5A to 5C are each equipped with a motor M, a reduction gear, a detector, and the like. The first arm 3 described above includes an arm portion 3A on the first joint Bl side, an arm portion 3B on the second joint B2 side, and a joint 6 provided between these arm portions 3A and 3B. There is.

A detailed configuration example of this combined body 6 portion will be explained using FIG. 3. In this figure, parts with the same reference numerals as in FIGS. 1 and 2 are the same parts. One end and the other end of the coupling body 6 are rotatably connected to the arm portions 3A, 3B by bearings 7, respectively. A flange 6A at one end and a flange 6B at the other end of the joint 6 are connected to a flange 8 of the arm portion 3A and a flange 9 of the arm portion 3B by bolts 10, respectively. The flange 6A at one end of the combined body 6 and the flange 8 of the arm portion 3A have an inclination angle with respect to the axis of the combined body 6. This flange 6
The inclination angle setting between A and the flange 8 has the function of changing the axis of the arm 3 between the joints B2 and B2, as will be described later.

Next, the operation of one embodiment of the industrial robot of the present invention described above will be explained.

The operating range obtained by the arm configuration shown in FIG. 2 is indicated by the symbol A. In order to shift this operating range A as indicated by the symbol AI as shown in FIG. 4, the bolt IO shown in FIG.
B, cut out from 9, these flanges 6A, 8.6B
, 9 are unbound. In this state, after rotating the joint 6 180 degrees with respect to the arm parts 3A, 3B, the flanges 6A, 8 and the flanges 6B, 9 are tightened and fixed again with the bolts 10, as shown in FIG. The position of the second joint B3 can be moved upward. As a result, the operating range A1 shown in FIG. 4 can be obtained. As a result, the movement range of the robot shifts to the upper front side, so that a range of movement suitable for work in the upper front side can be secured.

In the above embodiment, the first arm 3 is provided with a connecting body 6, but as shown in FIG. It is also possible to provide a combination 11 of configurations. In this case, the arm configuration can be changed to the fifth
As shown in the figure, it can be turned backwards in contrast to FIG. This makes it possible to cope with the case where the production line is moved backwards.

In this state, if the combined body 6 is rotated 180 degrees and fixed as in the embodiment shown in FIGS. 1 and 2,
As shown in FIG. 6, the operating range A can be shifted to the upper rear side. This makes it possible to secure a range of motion suitable for work on the upper rear side.

7 to 9 show other embodiments of the industrial robot of the present invention, and in these figures, the same parts as in FIGS. 1 to 6 are denoted by the same symbols. In this embodiment, a separately prepared combined body 12 is separably connected between the arm portion 3A and the arm portion 3B of the first arm 3. The coupling body 12 and the arm portions 3A, 3B can be coupled by fastening with bolts and nuts or by a plant mechanism. In the arm configuration of the robot shown in FIG. 7, if the combined body 12 is replaced with another combined body 13 as shown in FIG. 8, the operating range A2 shown in FIG. It can be moved upward to the front as shown in . This makes it possible to secure a movement range suitable for work further above the movement range A2 shown in FIG. Furthermore, as shown in FIG. 9, if a separately prepared coupling body 14 is assembled between the arm part 3A and the arm part 3B of the first arm 3, the operating range A3 shown in FIG.
can be moved to the rear side of the robot as shown by reference numeral A4.

The combination bodies 12, 13, and 14 described above are just examples, and the structure is not limited to this. And the operating range A3
~In order to migrate these without changing the shape of A4,
2, 13.14 into the first arm 3, the second joint part B2 and the third joint part B3
The distance between the center of rotation and the center of rotation must not change and must be constant.

FIGS. 10 and 11 show still other embodiments of the industrial robot of the present invention, in which a support arm 2 that connects the rotating section 1 and the second joint section B is separately prepared. By replacing the support arm with a support arm, the range of motion can be shifted as desired.

The embodiment shown in FIG. 10 is obtained by converting the support arm 2 in the embodiment shown in FIG. 7 into a separately prepared support arm 2A. The support arms may be connected by fastening means using bolts and nuts, or by a plant mechanism.

With this configuration, the operating range A2 shown in FIG. 7 can be shifted as shown by the reference numeral A5.

The embodiment shown in FIG. 11 is obtained by converting the support arm 2 in the embodiment shown in FIG. 9 into a separately prepared support arm 2A. With this configuration, the operating range A4 shown in FIG. 8 can be shifted to the rear side as shown by the reference numeral 6.

In this way, by changing the support arm 2A, the range of motion can be shifted depending on the work content. Note that the structure of the two support arms is not limited to this, and it is of course possible to use support arms of a different structure.

Further, by the pivoting movement of the pivoting section 1, the entire arm can be positioned on the rear side of the robot to handle work on the rear side.

A summary of typical movement range transitions obtained in the embodiments described above is shown in FIG. 12.

As is clear from this figure, the range of motion can be shifted downward, forward, and upward on the front side of the robot, and downward, forward, and upward on the rear side, and the work area of one robot can be expanded. .

In addition, in the above-mentioned embodiment, a case was described in which the operating range set by the lengths of the first arm 3 and the second arm 4 is shifted;
Even if each of the arms 4 is made into a plurality of units and other units are incorporated to change the shape of the operating range, the operating range can be similarly shifted as desired.

According to the embodiment of the present invention described above, the operating range of the robot can be changed according to the content of the work, so that the functions of the robot 1- can be improved. Furthermore, since the user can change the configuration of the robot to suit various tasks, productivity can be improved. Furthermore, considering the production aspect of robots, standardization becomes possible.
Its productivity can be increased.

〔Effect of the invention〕

As described above, according to the present invention, the motion range set for one robot can be shifted according to the work content, so productivity on the production line can be improved. It is.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing an embodiment of the industrial robot of the present invention, FIG. 2 is a front view thereof, and FIG. 3 is a connection used in the embodiment of the industrial robot of the present invention shown in FIG. FIGS. 4 to 6 are longitudinal sectional front views showing the detailed structure of the body part, and FIGS. FIG. 9 is a diagram showing the transition state of the operating range in another embodiment of the industrial robot 1 of the present invention, and FIGS. 10 and 11 are diagrams showing the operating range of still another embodiment of the industrial robot of the present invention. FIG. 12 is a diagram showing an example of a transition state of the operating range obtained by the industrial robot of the present invention. 1... Swivel part, 2, 2A... Support arm, 3...
First arm, 4...Second arm, 5...Wrist portion, 6...Connection body, 10...Bolt, ], 1. ．． 1
2. ], 3.1.4...Bound body, B2...Second
joint part, B3... third joint part. Agent: Patent attorney Akio Takahashi. No. 10 Yago 2 illustration rod 30 3B Rod 4 illustration No. 5 (211 Kaya 70 ″” Jis illustration rod 9 Kyokan IQ illustration

Claims (1)

[Scope of Claims] 1. An industrial robot having an arm structure having a joint part and an arm connecting each joint part on a rotating part constituting a joint part, in which the arm between the joint parts is provided with: An industrial robot characterized by being provided with arm axis changing means for moving the range of motion obtained by the arm structure. 2. In the industrial robot 1 as set forth in claim 1, the arm axis changing means includes a first joint portion on a rotating portion constituting the arm structure and a second joint portion located beyond this. An industrial robot characterized by being installed on the arm between. 3. The industrial robot according to claim 1, wherein the arm axis changing means is provided on the arm that connects the rotating section and the first rotating section. 4. In the industrial robot according to claim 2 or 3, the arm axis changing means is provided with a joint in the arm so as to be rotatable and fixed, and one arm joint of the joint is connected to the arm. In the industrial robot according to claim 2 or 3, the arm axis changing means changes the arm axis. Industrial robots 1 to 1, characterized in that a bonded body is separably bonded to the arm. 6. The industrial robot according to claim 4 or 5, characterized in that the connecting body and the arm connected thereto have a common connecting part.