JPS6052290A - 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] [Technical Field of the Invention] The present invention relates to an industrial robot. This invention relates to an industrial robot equipped with a pedestal and five links that are supported by the pedestal and provide an output section VC with multiple degrees of freedom of movement.

[Prior art]

FIG. 1 shows the approximate overall configuration of a conventional device of this type, in which a rotating table is rotatably placed on a bed 1, and a first servo motor 3 serving as a drive source is attached to the rotating table 2. has been done. The pedestal ψ that accommodates the first servo motor 3 and is connected to the rotating table 3 is rotated in the direction of arrow A on the bed 1 via the swivel table and the seventh servo motor 3Y. A second servo motor S and a second servo motor 6 are mounted opposite to each other. The ninth link g has shaft portions at both ends.The ninth link g has shaft portions at both ends.The ninth link g has shaft portions at both ends.The ninth link g has shaft portions at both ends.The ninth link g has shaft portions at both ends. are doing.

The upper end of the third link 9 is connected to the rear end of No. 1972g, and the other end of the third grip 10, one end of which is supported on the frame, is connected to the lower end of the third link 9. . With these link mechanisms, No. 2974g is swung in the direction of the arrow (indicated by the arrow) as the third servo motor B is driven. The S-th servo +b'' motor 12 is mounted on the rear end of the second link g, facing the φ-th motor
I am wearing it. At the upper part of the rear end of the second link g, there is a sixth
A revo motor 13 is installed.

Also, there is a first link between the first link 7 and the pedestal. In order to limit the rotational moment when the λ-th link g swings forward as shown by the broken line, a cylindrical case puffer with a built-in compression coil spring is provided. This is the second
As shown in the figure, the shaft /3 is attached to the first link 7 by bolt /3.
A is combined.

A fitting hole /Fa forming a first rotation fulcrum formed at the upper end of the case /6 is fitted to the shaft /B, so that the case /ψ is swingably supported. Inside case lII, there is a flange i'y at the upper end.
6. A rod 17 having a fitting hole 17b serving as a second pivot point is inserted at the lower end. An end cover 1g, through which the rod 17 passes, is connected to the lower end of the case with bolts 79.

A compression coil spring 20 is housed in the case 1 and is compressed between the fishing part 75 and the end cover 1.

On the other hand, a pair of fitting holes, 2/a, is connected to the frame with bolts 2.7, and a pair of fitting holes, 2/f
The rod i and the rod are connected to each other by fitting into the fitting hole 7b of the rod. A ring cog is attached to the stopper 16 to prevent the rod/7 from coming off.

With the above configuration, each servo motor's 'l;+j @
From rtt-, the output section moves in multiple degrees of freedom as the turning table 7 rotates and the link group moves. Now, the first link 7 and the second link are at the position indicated by the broken line in Fig. 1. Assuming that the case/V is displaced relative to the first IJ socket, the case/V rotates relative to the first IJ socket because the fitting hole l at the upper end of the liss/q is fitted with the shaft/AK. On the other hand, since the fitting hole 71) at the lower end of the rod 17 is fitted to the connecting shaft 23, the rod 17 rotates relative to the mount and the case L and the rod 17 are connected to the shaft 16. The connecting shafts 7 and 7 are approximately concentric. Here, since the distance between the shaft 16 and the connecting shaft 2J increases due to the 70 m inclination of the first link, the flange part 7a of the rod 7 compresses the compression coil spring Jθ between the end cover 2J. Become. Follow C, 117th
The rotation moment of the link 7 and the 2974th g is suppressed by the compression force of the compression coil spring 20. Therefore, the first link 7 can be easily rotated from the position shown by the broken line in FIG. 1 in the counterclockwise direction. This means that it can be rotated with a small amount of driving force. By the way, the compression coil spring 10 is housed in the case puffer fish, and the upper end is held by the fishing part /7fi of the rod 17, and the lower end is held by the end cover /f, so in the unlikely event that the compression coil spring 20 breaks. Even so, a sudden drop in the compression force of the compression coil spring 20 can be avoided.

However, in the conventional device as described above, the first one is heavy and has a large weight. There was a problem in that a compression coil spring with a large compression force was required to suppress the rotational moment of the first link 7,g.

[Summary of the invention]

This invention was made in view of the above-mentioned circumstances, and by locating the fulcrum of the compressing rod such as a compression coil spring on the side opposite to the output part from the center line of the compression coil spring, It is an object of the present invention to provide an industrial robot in which the rotational moment of a link can be effectively limited by increasing the compression dimension.

It is also an object of the present invention to arrange a pair of rotational moment limiting means on both sides of the first IJ tank, one end of which uses the pedestal as a fulcrum and the other end of which uses the side surface of the t-th IJ tank as a fulcrum; is located on the side opposite to the output part with respect to the center line of the first link, and the other fulcrum on the pedestal side is located on the output part side with respect to the center line of the first link.
An object of the present invention is to provide an industrial robot capable of separately limiting rotational moments when a link is tilted forward and backward.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be explained with reference to FIG. 3. The fulcrum of the rod 17 on the mount q side shown in FIG. and position it on the side opposite to the output section. The other configurations are the same as those shown in FIGS. 1 and 2.

Next, the operation will be explained. In FIG.

Now, the first rick 7 is swinging, and its center line is vertical.
Consider the case of tilting from position 7a to 7a/. At this time, the case 4, the rod 17, and the compression coil spring 20 also tilt together, and the locus of the shaft 16 becomes like an arc Q. In the conventional one shown in FIG. 1, the lower end of the rod 17 is located at a point Pt on the center line 7a, and the locus of the upper end of the compression coil spring θ, that is, the flange /7a, can be expressed as an arc R/. On the other hand, in the above embodiment, since the position of the lower end of the rod 17 is at the PJ point on the side opposite to the output section with respect to the first link 7, the locus of the upper end of the compression coil spring 20 is an arc R, 2
become that way. Therefore, as the center line of the eleventh link 7 moves from 7a to 7a/, the compression coil spring
The compression distance of 20 is Lj compared to the conventional Lj, and the amount of compression is significantly increased.

As described above, when a compression coil spring with the same spring characteristics and 9 dimensions is used, the effect of limiting the rotation moment of the 1st and 2nd IJ tanks is improved compared to the conventional one.

Fig. S shows another embodiment, in which the rotational moment limiting means shown in Fig. 2 are arranged on both sides of the first link 7, and one of the members has a case lug, a shaft 16, etc. , 2/A is provided on the side opposite to the output part with respect to the center line 7a of the first link 7, and the mounting base U/B of the other one having the case/9f, shaft 16, etc. is provided with respect to the center line 7a of the first link 7. It is provided on the output section side.

With the above configuration, in addition to the effect of the one in Figure 3.

1st. When second link 7, g tilts backward, case/F
A similar rotational moment limiting effect can be obtained by the rotational moment limiting means on the side l).

〔Effect of the invention〕

As described above, the present invention reduces the link driving force by increasing the rotational moment limiting effect of the compression coil spring when the link is tilted, improves the accuracy of the motion of an industrial robot, and A similar effect can be achieved for.

[Brief explanation of drawings]

Figure 1 is a side view of the conventional device, and Figure 1 is a partial 1n section.
Figure i and Figure 3 are side views of essential parts of an embodiment of this invention, and Figure 9
The figure is a schematic diagram illustrating its operation, and Figure S is a side view of a main part of another embodiment of the present invention. L... Bed 1.2-- Rotating table 1.7... Lth servo motor, G... Frame, left... Second servo motor, 6... Third servo motor, 7... First link, g.
- λth link, ri... 3rd link, lθ... 2nd link, //... 1st servo motor +/λ... 5th servo motor, / ,?・・6th servo motor +/ge・・case, /Ua・・fitting hole (first rotation fulcrum), /6・・
Shaft, 17... Rod +/7a... Flange + 17b... Fitting hole (rotation fulcrum of No. 1), /Za... End cover, Yu θ... Compression coil spring 5.2/, 2/A ,,27B...Mounting stand 5. ! /a... Fitting hole 5.23... Connection shaft. In each figure, the same reference numerals indicate the same or corresponding parts. Agent Masu Oiwa Ohei 1 Figure 3 2 Figures 3 Figure 1? Banknote 4 figure z

Claims (1)

[Claims] (1) A bed, and a turning table placed on the bed and rotated by a seventh servo motor. A pedestal mounted on the revolving table; a third servo motor mounted on the pedestal; a link, the first having an output portion at the free end;
An industrial robot equipped with a 21J link whose substantially central portion is supported at the upper end of the IJ link and oscillates by being driven by the third servo motor. a cylindrical case provided with a cover; a rod having a flange at one end and inserted into the case; the other end loosely passing through the end cover; and a rod having a first pivot point; a compression coil spring compressed between the flange and the end cover;
．． One of the second rotational fulcrums is pivoted on the first IJ link and the other on the pedestal at a position opposite to the output part with respect to the center line of the first link. An industrial robot that is characterized by the ability to (j) A bed and a first bed placed on this bed.
- A rotating table rotated by a motor, a pedestal mounted on the swivel table, and a second pedestal mounted on the pedestal. a third servo motor;
21st IJ link, which has an output section at its free end, has a substantially central portion supported by the upper end of the first IJ link, and is oscillated by being driven by the third servo motor. The robot includes a cylindrical case having a first rotation fulcrum at one end and an end cover at the other end; (10) a rod having a rotational fulcrum, and a compression coil spring housed in the case and compressed between the collar portion and the end cover;
．． One of the 10th rotation fulcrums is pivoted to the 11) above, and the other is pivoted to the mount at a position on the output side and a side opposite to the output side with respect to the center line of the first link. An industrial robot characterized by comprising: a pair of rotational moment limiting means.