JPS6090685A - Multi-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 Technical Field of the Invention The present invention relates to an industrial rod pot (1-1), and particularly to an articulated mouth get whose arm or hand is composed of a plurality of joints.

<Technical Background> In recent years, industrial robots have been used to automate the manufacturing of various products, unmanned labor saving, etc. In order to smoothly perform complex manufacturing operations using such industrial robots, multi-joint mechanisms are used in the fingers of the arms or fingers. By using such a multi-joint mechanism, each joint can rotate,
The robot can perform predetermined tasks by bending or stretching.

<Prior art and problems> In conventional industrial robots, the entire multi-jointed arm or hand is designed as one fixed mechanism depending on the work content, and the tip needs to be light, so the power is low. In many cases, it is supplied via a transmission mechanism. Therefore, when changing the robot's work, it is necessary to
The entire joint and drive mechanism must be replaced, and the design of each joint's shape, dimensions, movement, drive mechanism, number of joints, etc. must be changed depending on the work. It was not easy to use.

<Object of the Invention> The present invention solves the above-mentioned drawbacks of the prior art, and is capable of easily assembling an arm or hand that performs various movements depending on the work content, and is capable of easily assembling an arm or hand that performs various movements depending on the work content, and does not require an increase or decrease in the number of joints due to design changes, etc. Or a multi-jointed mouth row that allows for easy changes in joint movement?
The purpose is to provide

<Structure of the Invention> In order to achieve this object, the present invention provides an articulated robot having a plurality of joint mechanisms, each of the joint mechanisms being provided with a drive unit for operating independently; Provided is a multi-jointed robot comprising a joint unit provided with connecting parts at both ends, and having a plurality of joint mechanisms connected by the front and rear connecting parts.

<Embodiments of the Invention> FIG. 1 is a perspective view of a joint unit according to the present invention. The joint unit 1 has a connecting member 3 pivotally attached to the upper end of the main body 2 around a shaft 4, and the connecting member 3 has protruding pieces 6 on both sides of the joint surface (upper surface of the unit) 5, and has a screw hole 7 at the rear end. A bent tongue 8 is formed.

A connector 9 for electrically connecting the joint units 1 to each other is provided on the joint surface 5 of the connecting member 3.

A guide groove 10 for receiving the protruding piece 6 of the connecting member 3 is provided at the lower end of the main body 2, and a connector 11 is provided at a position that aligns with the connector 9 at the upper end when the connection is made. Each connector 9, 11 is electrically connected by a short plug 12.

The insertion direction of this short plug I2 is parallel to the joint surface 5 as indicated by arrow C. The connecting member 3 is connected to the motor 15 via a link 13 and a screw 4i1f14 screwed into the link. Driven by the motor 15, the screw 14 rotates, which causes the link 13 to move up and down, causing the connecting part 3 to rotate nine times as shown by arrow A around the pivot 4, thereby achieving a bending joint movement of the joint unit 1. When the protrusion piece 6 is inserted into the guide groove 10, the elasticity of the guide piece Oa on the lower side of the guide groove 10 elastically clamps the protrusion piece 6, and the upper and lower joint units 1 are temporarily fixed together without wobbling. The upper and lower joint units 1 are further connected with screws 16 through the bent tongue portion 8 of the connecting member 3.
It is firmly fixed by screwing it into the screw hole 7 of.

The tightening direction of this screw 16 is parallel to the joint surface 5 as indicated by arrow B. Inside the main body 2, a signal bundle line 17 is provided which is connected to the upper and lower connectors 9 and 11 and is used to control the drive of the motor 5.

FIG. 2 is a perspective view of another embodiment of the joint unit 1 according to the invention. In this example, the top of joint unit 1☆1
A magnet 18 is provided on one side, and the lower end is made of a ferromagnetic material such as iron]9
It consists of a double-opening unit upper surface-1-1-! z→1+
y y h +-+ze=+=+i+-! yl j shi r
h Silver! -・ri 1 CIrf? kWb is fixed firmly. 20 is a coil excitation plug for reducing magnetic force when removing the unit. The other structures, functions, etc. of the bending and moving mechanisms, connectors, etc. are the same as in the example shown in FIG.

FIG. 3 is an exploded perspective view of the joint unit according to the present invention. A motor 102 is installed within the main body 101, and a threaded rod 103 is coupled to the rotating shaft of the motor 1020. A moving body 104 is screwed onto this threaded rod 03.
It reciprocates along with the forward and reverse rotation of the This moving body 104 is fixed to a continuous belt 107 that engages pulleys 105 and 106. Pulley 105 is connected to connecting member 109 via bevel gear 108 . Inside the main body 101, cables 20 such as power lines and signal lines are arranged with extra length. A connector 113 for connecting to the cable 120 is provided on the upper surface of the connecting member 109. This connector 1
13 is electrically connected via a short plug 114 to a connector 112 at the lower end of the joint unit to be coupled. A mounting piece 110 is provided at the lower end of the main body 101, and a mating connecting member 109 to be connected. against screw 111
are fixed to each other. The main body 101 is covered with a cover 115. The rotation of the motor 102 causes the threaded rod 103 to rotate, thereby rotating the gooey 105 via the movable body 104 and the belt 107, and the connecting member 109 to rotate the joint via the bevel gear 108. Note that the bevel gear is omitted, and the connection member 109 is moved in the direction of arrow A by rotation of the gooley 105.
It is also possible to make a rocking motion like this.

FIG. 4 is a side view of another example of the joint unit according to the present invention, and FIG. 5 is a longitudinal sectional view thereof. A threaded rod 103 is directly connected to a motor 102 attached to the main body 101, and a moving body 104 that is screwed onto the threaded rod 103 has a bell) 107.
' is fixed. Belt 107' engages a sector of rotation 116 rotatable about axis 118. As in the case of the previous example, the rotation of the motor 102 causes the rotating body 116 to pivot via the bell) 107', and the connecting member 117 integrally connected to the rotating body 116 bends at the joint as shown by arrow B. Perform concatenation. A return spring 119 is engaged with the end of the rotating body 116 to always bias the rotating body 116 in one direction. This return spring absorbs the backlash of the screw $4103 and the wobbling of the joint movement.

The outer periphery of the return spring 119 is covered with a sleeve 21. This sleeve 121 protects the cable 120 from becoming entangled with the spring 119 and protects the moving body 104.
It acts as a guide and prevents rotation. These joint units constitute a multi-joint robot arm that is connected in multiple stages and has a hand 122 at its tip, as shown in FIG. 6, for example. The belt 107' of this joint unit has a strain 1-
The force during joint movement can be detected by attaching a magnetic tape 124, and the position of the bell) 107' can be detected by a magnetoresistive head (magnetic sensor) 125 provided on the main body side with a magnetic tape 123 attached. can do.

Another example of the joint unit is shown in FIG. This joint unit consists of a bevel gear mechanism consisting of bevel gears 201, 202 and a bevel gear 203 in which these gears mesh, and the connecting portion 2
04 has bevel gears 201 and 2 for the unit main body 205.
02 as shown by the arrow, and around the axis of the bevel gear 203 as shown by the arrow E. Each bevel gear 201, 2.02 is a motor 206, 207
separately driven by Threaded rod 208 to motor 206
are connected, and rotation of the threaded rod 208 causes a nut 209 fixed on the threaded rod to slide.

One end of a belt 210 is fixed to the nut 209, and the other end of the belt 210 is connected to the main body 205 via a spring 211.
Fixed. By sliding the nut 209, the belt 210
The bevel gear 201 rotates via. The rotation mechanism of the bevel gear 202 by the motor 207 is also similar to this.

The extendable joint unit is shown in FIGS. 8 and 9. A motor 213, a threaded rod 214 connected to the motor 213, and a nut 215 that slides on the threaded rod due to rotation of the threaded rod are housed in the main body 212. motor 2
13, the nut 215 slides within the main body, and the connecting portion 216 fixed to the nut 215 moves in the axial direction of the main body, causing the entire joint unit to expand and contract.

A rotatable joint unit 1 is shown in FIGS. 10 and 11.

A motor 218, a threaded rod 219 connected to the motor, and a nut 220 that slides on the threaded rod as the threaded rod 219 rotates are housed within the body 217. Oak l
A screw 22 with a large lead is formed on -220. A cylinder 223 is mounted on the nut 220, having a thread 222 on its inner surface that engages the thread 221. motor 218
7) 220 slides 8υj, and the cylinder 223 rotates together with the connecting portion 224 around the motor axis. In this way, a large torque can be obtained by transmitting the rotation of the motor 218 via the nut instead of directly transmitting the rotation.

A robot arm that performs desired movements can be constructed by appropriately combining the joint units that perform rotation, bending, and extension/contraction operations described above. Examples of such robot arms are shown in FIGS. 12 and 13. Mouth yj in Figure 12
? The cutter performs the work of pulling out the grass 225. Joint unit 2
The rotatable and bendable joint unit of FIG. 7 or the rotatable joint unit of FIG. 11 is used as the joint unit 27, and the bendable joint unit of FIG. 1, FIG. 2, or FIG. Can be combined.

The robot in FIG. 13 operates the drinking fountain 228. FIG. 14 shows an example of the mechanism of the hand 229 that grips the animal control device 229.
It is shown in FIG. A threaded rod 231 is connected to the motor 230, and a nut 232 is mounted on the threaded rod. The nut 232 is configured to slide on the threaded rod 231 as the threaded rod 231 rotates. One end of two overlapping belts 233 is fixed to the nut 232, and each belt 233
The other end is fixed to rollers 234, 235. A finger 236,237 is fixed to each roller 234,235. Each roller 234, 235 is biased by a spring 238, 239 in the direction of opening fingers 236, 237. motor 2
When the nut 232 is moved forward (to the right side) by rotation of the finger 236, the action of the springs 238 and 239
, 237 opens (Fig. 15). If the motor 230 is rotated in the opposite direction and the nut 232 is moved to the left, the finger 236°237
is closed (Fig. 14).

The robot shown in FIG. 16 performs the work of storing documents into envelopes. The opening of the envelope 24.0 placed on the stand 242 is
43 is folded down and opened, and the joint unit 24 is extendable and retractable.
4. Insert the document 241 inside by 245.

The robot in Figure 17 takes in fruit. Detector 24
The fruit is identified at 6, the leaves are pushed out of the way by the operation of the handpiece 247, and the fruit stem is cut with scissors 248.

The robot shown in FIG. 18 performs page turning work of a book.

A wedge-shaped support 250 is inserted into a suitable position of the book 249, and the uppermost page is peeled off by rotation of the rubber roller 251. Furthermore, the hand piece 252 is inserted under the topmost page that has been peeled off, and this page is turned over.

<Effects of the Invention> As explained above, the multi-jointed mouth H according to the present invention;
In this case, each joint is configured as a joint unit having an independent drive mechanism, and a robot is formed by combining joint units that perform desired movements. Therefore,
By selecting joint units, it is easy to assemble a robot that performs movements according to the work content, and it is also easy to increase/decrease the number of joints and change movements.

In addition, as explained in particular in FIGS. 1 and 2, in the joint unit according to the present invention, the insertion direction of the screw that connects the joint units is parallel to the joint surface (substantially relative to the longitudinal direction of the joint unit). right angle) and a protruding piece (
(Fig. 1) into the guide groove is parallel to the joint surface, and the insertion direction of the shorting plug for electrically connecting the connectors is parallel to the joint surface.
During the connection operation, there are no forces acting perpendicularly to the joint surfaces, thus preventing damage to internal components due to bonding forces.

However, as explained in particular in FIGS. 3, 4, and 5, in the present invention, the forward movement by the motor is converted into a joint flexion movement through a rotating body that engages with the belt and the handle. ing. Therefore, since the rotation angle of the motor and the bending rotation angle always maintain a constant proportional relationship, the bending operation can be easily controlled with high accuracy. In addition, the force sensor and position sensor can be easily installed, and force, position, acceleration, etc. can be easily and reliably detected, and based on these, advanced control of the mouth-closing arm is possible.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a joint unit according to the present invention, and FIG. 2 is a perspective view of another example of the joint unit according to the present invention. FIG. 3 is an exploded perspective view of a joint unit according to the present invention, FIG. 4 is a side view of another embodiment of the present invention, and FIG. 5 is a -
(2) Cross-sectional view, FIG. 6 is a perspective view of a robot arm using the joint unit of FIG. 4. 7 is a perspective view of another example of the joint unit according to the present invention, FIG. 8 is a perspective view of still another example of the joint unit according to the present invention, and FIG. 9 is an exploded view of the joint unit of FIG. 8. , FIG. 10 is a perspective view of still another example of the joint unit according to the present invention, FIG. 11 is an exploded view of the joint unit shown in FIG. 10, and FIG. 12 is a robot using the joint unit according to the present invention. FIG. 13 is a perspective view of another example of a robot arm using the joint unit according to the present invention, and FIGS. 14 and 15 show the mechanism of the hand portion of the robot arm in FIG. 13. 16, 17, and 18 are perspective views showing yet another example of a lower arm using the joint unit according to the present invention. DESCRIPTION OF SYMBOLS 1... Joint unit, 2... Main body, 3... Connection member, 5... Joint surface, 9, 11... Connector, 12...
・Short plug, 15, 102, 213, 230・
...Motor, 14,103,208,214...Neso rod. Patent applicant Fujitsu Limited Patent agent Akira Aoki Patent attorney Oro Nishidate Patent attorney 1) Yukio Patent attorney Akira Yamaguchi Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 02 Figure 12 Figure 14 Figure 15 Figure 17 Figure 18

Claims (1)

[Scope of Claims] 1) An articulated robot having a plurality of joint mechanisms, wherein each of the joint mechanisms is provided with a drive section that operates independently, and a connecting section at both ends. , a multi-jointed mouth yJ? characterized in that a plurality of joint mechanisms are connected by both the connecting parts. So). 2) The drive unit is composed of a motor, a rod rotated by the motor, and a moving body that is threaded onto the rod and reciprocates along the rod. Articulated mouth pit. 3) The articulated robot according to claim 1, wherein the joint mechanisms are connected by fitting in a direction perpendicular to the longitudinal direction of the joint mechanisms. 4) The multi-jointed gutter according to claim 2, wherein the movable body and the connecting portion are connected via a belt and a rotating body that engages with the belt. 5) The articulated robot according to claim 4, wherein the belt is provided with a force sensor or a position sensor.