JPS60242991A - Joint 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 (Industrial Application Field) The present invention relates to an articulated robot, and more particularly to an articulated robot throat whose overall weight can be reduced.

(Prior Art) As is well known, an articulated robot has a plurality of arms that are rotatably supported in sequence, and by rotating each arm, the position of the tip of the tip arm is controlled. It is a type of robot that performs various tasks such as loading/unloading, machining work, etc. In this robot,
A driving source is provided for each pivot portion, that is, a so-called joint portion, of each arm, and each arm can be rotated by these driving sources.

(Problem to be Solved by the Invention) In the above-mentioned articulated robot, each joint is provided with a drive source, so each arm has a drive source that is connected to all the arms located on the tip side. Both types and the drive source will act. Therefore, in order to support this weight, it is necessary to provide rigidity to the arm, and this and the use of multiple drive sources increase the weight of the entire robot, which impairs the robot's maneuverability. The disadvantage is that Furthermore, since it is necessary to use a plurality of drive sources, there is also the drawback that the cost of the robot increases.

This invention was made to solve the above-mentioned drawbacks, and its purpose is to reduce the weight of the entire robot, and to drive it with less drive source than conventional devices. The object of the present invention is to provide an articulated robot that can be constructed lightweight and inexpensively.

(Means for Solving the Problems) Therefore, in the articulated robot of the present invention, a driven part for rotating the arm is provided at the pivot point of the arm, and a drive source is provided at a position outside of this arm. The driven part is driven by a drive source via a flexible shaft, and the arm is rotated.

(Function) As described above, the drive source is placed outside the arm, and this drive source drives the driven part via the flexible shaft to rotate the arm. It will have no effect. Therefore, the arm is not required to have rigidity corresponding to its weight, making it possible to reduce the weight of the arm itself, and by extension, the weight of the entire robot. It is also possible to adopt a structure in which multiple flexible shafts are derived from the drive source and multiple driven parts are driven by these multiple flexible shafts, and as a result, the number of drive sources can be reduced compared to conventional devices. Also, from this point of view, it is possible to reduce the weight and cost of the robot.

(Embodiments) Next, specific embodiments of the articulated robot of the present invention will be described in detail with reference to the drawings.

First, in FIG. 1, reference numeral 1 denotes a base. A rotary table 3 is rotatably mounted on the base 1 via a rotating part 2, and a main arm 4 is further rotatably attached to the rotary table 3. has been done. This main arm 4 includes a first arm 5,
It consists of a 27th arm 6 and a third arm 7. The base of the first arm 5 is rotatably attached to the rotary table 3 via a rotary joint 8, and the intermediate portion of the second arm 6 is attached to the tip of the first arm 5 via a rotary joint 9. Further, the base of a third arm 7 is rotatably attached to the tip of the second arm 6 via a rotary joint 10. Further, an operating section, for example a clamp 11, is attached to the tip of the third arm 7. A rotating section 12 is provided in the middle of the second arm 6, so that the tip 6a of the 27th arm 6 can rotate around its axis.

On the other hand, a drive source 13 is arranged on the side of the base 1, and three flexible shafts 14, 15, 20 are led out from this drive source 13. The first flexible shaft 14 is connected to the rotating part 2, the second flexible shaft 15 is connected to the rotating joint 8, and the flexible shaft 20 is connected to a reducer mounted on the rear end 6b of the second arm 6. It is connected to 21. Four more flexible shafts 16, 17, 18, and 19 are led out from the reducer 21, and a third
The flexible shaft 16 is connected to the rotary joint 9, the fourth flexible shaft 17 is connected to the rotating part 12, the fifth flexible shaft 18 is connected to the rotary joint 10, and the sixth flexible shaft 19 is connected to the clamp 11.

As shown in FIG. 2, the drive source 13 drives a pair of discs 24.
5 are rotated in opposite directions to each other, and the three rollers 26a, 27a, 28a are moved by one disc 24 to this disc 24.
the two rollers 2 by the other disk 25 in the same direction as
6b and 27b are each driven in the same direction as this disk 25. A contactor 29 provided at the base end of the first flexible shaft 14 is connected to a pair of rollers 26a and 26b that are rotated in opposite directions.
In between, the contact 30 of the second flexible shaft 15 is placed between the other pair of rollers 27a and 27b, and the contact 31 of the flexible shaft 20 is in contact with the roller 28a. In this case, each contact 29.30 of the first and second flexible shafts 14.15 is connected to a pair of rollers 26a, 26b, as shown in FIG.
, and 27a and 27b, is reciprocated by a driving source such as an air cylinder 32. That is, when the contactor 29.30 contacts one of the rollers 26a, 27a, the flexible shaft 14.15 rotates in the normal direction,
When it comes into contact with the other roller 26b, 27b, it reverses, and any of the rollers 26a, 26b, and 27a
, 27b, the drive is stopped. The reason why the motor 23 is provided with the flywheel 22 is that when each contactor 29, 30 contacts the rollers 26a...27b as described above, the motor 23 and other flexible shafts 14
．． This is to reduce the influence of load fluctuations on 15.20.

The flexible shaft 20 is constantly driven as described above, and is also connected to the reducer 21, which has substantially the same structure as the drive source 13. That is, this reducer 21 uses a flexible shaft 20 instead of the output shaft of the motor 23.
is used as a driving source, and this flexible shaft 2
3rd to 6th flexible shaft 16 by o
- The structure is such that it drives each pair of rollers (not shown) similar to the above, which are provided corresponding to 19.

and the first to sixth flexible shafts 14.
・19 is the rotating part 2 and the rotating joint 8.9.1 as described above.
0, the rotating part 12, and the clamp 11, but in each connection part, driven parts such as each arm, that is, the arm etc. It shall be connected to the part that rotates or rotates. The purpose of further interposing the reduction gear in this way is to reduce the torque transmitted by the flexible shaft, reduce the deflection of the shaft, make it possible to use a small diameter shaft, and further reduce weight and cost.

Although not shown, a detector such as an encoder is attached to each of the rotating parts 2.12, the rotating joint 8.9.10, and the clamp 11 to detect the amount of rotation of each part, and based on the detected amount, This allows drive control of each of the arms and the like.

In the articulated robot described above, the first to sixth flexible shafts 14, . The driven parts of the section 2.12, the rotary joint 8.9.10, and the clamp 11 are each driven, and operations such as rotation and pivoting of the arm 5.6.7 are performed. In this case, the air cylinder 32 provided in the drive source 13 and the deceleration M&21
By selectively operating drive sources such as the above, it is possible to select the operating states of forward rotation, reverse rotation, and stoppage of each driven portion. Therefore, it is possible to perform drive control exactly the same as that of conventional articulated robots.

The articulated robot does not provide a drive source for each joint like conventional robots, but instead drives each joint with a single motor 23 placed outside the robot body. The weight of the driving source does not act on each arm or the like.

Therefore, the weight of each arm, etc., and even the entire robot can be reduced. Furthermore, since only one driving source is required as described above, weight and cost reductions can also be achieved in this respect.

Although one embodiment of the articulated robot of the present invention has been described above, the articulated robot of the present invention is not limited to the above embodiment, and can be implemented with various modifications. For example, in the above example, one motor drives multiple driven parts, but it is also possible to drive multiple driven parts with multiple motors, or drive one driven part with one motor. It may also be driven. Further, although the above example uses a reduction gear, it is also possible to omit this reduction gear.

(Effects of the Invention) The articulated robot of the present invention is constructed as described above, and therefore the robot of the present invention can be made lighter overall, and can be driven with less drive source than conventional robots. Therefore, weight reduction and cost reduction can be achieved in this respect as well.

[Brief explanation of the drawing]

FIG. 1 is an overall explanatory diagram showing an example of an articulated robot of the present invention, FIG. 2 is an explanatory diagram of its driving source, and FIG. f3 is an explanatory diagram of its forward/reverse switching mechanism. 4... Main arm, 5... First arm, 6...
Second arm, 7... Third arm, 13... Drive source,
14.15.16.17.18.19.20...Flexible shaft, 23...Motor. Figure 1

Claims (1)

[Claims] 1. A driven part for rotating the arm is provided in the pivot part (8) of the arm (5), and a drive source (23) is provided outside the arm (5). An articulated robot characterized by driving a driven part via a flexible shaft (15) and rotating an arm (5).