JPS61297087A - 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 invention] The present invention relates to the structure of an industrial robot.

[Technical background of the invention and its problems]

In recent years, advances in motor technology have led to the development of high-torque, low-speed, high-precision servo motors (so-called direct drive motors, hereinafter referred to as drive motors) that can directly drive the arms of industrial robots (hereinafter referred to as robots). Since it is no longer necessary, there is no power loss due to friction, and the controllability is good, making it possible to increase the speed of the robot.

However, at present, in order to generate high torque with this drive motor, the external size and weight increase, so it cannot be incorporated into a robot arm. On the other hand, robots with multiple degrees of freedom (for assembly)
Conventionally, there is a vertically articulated type shown in Figure 7,
In practice, it is often used in a rectangular parallelepiped work area U (indicated by a chain double-dashed line), which is a small part of the operating range S0.

This is because many conveyors are installed on the assembly line, robots are installed in the line that carries in and out the assembled parts in a straight line, and parts supply devices are placed around the line.
The work area required for this robot is a rectangular parallelepiped. For this reason, the vertically articulated robot shown in the figure has a large amount of wasted work area.

Therefore, the above-mentioned robot has a large amount of wasted work area, resulting in a decrease in usage efficiency.

Therefore, as a robot manufactured with this in mind, there is a suspended polar coordinate robot shown in FIG.

Although this has an operating range S2 that is almost like a rectangular parallelepiped and has a reasonable structure, it requires a large space above the work space as an operating space for the vertical axis, which results in wasted space.

[Purpose of the invention]

The present invention was made in view of the above-mentioned circumstances, and is an industrial device that approximates the operating range to the required work area, reduces the weight of the servo motor used as the drive source of the arm, and enables high-speed drive. The purpose is to provide robots.

[Summary of the invention]

The present invention has a support, an arm that is attached to the top of the support, is bendable, has a top shape with the top connecting the wrist facing downward, and has a plurality of drive sources in the portion facing the top of the arm. The arm is bent by attaching a drive unit and driving these multiple drive sources independently or in conjunction, and by attaching the drive source near the support of the arm, the effects of weight and mass are eliminated. This is what I did.

[Embodiments of the invention]

An embodiment of the industrial robot of the present invention will be described below with reference to the drawings. In FIGS. 1, 2, and 3, an industrial robot 1 includes a support 2 having an installation surface 2a at the bottom, a support 3 protruding forward at the top, and a cylindrical cylinder at the tip of the support 3. A first drive motor device 4 attached to the section 3a, and a second drive motor device 5 and a third drive motor device attached in a direction perpendicular to both ends of the output shaft of the first drive motor device 4. 6, this second drive motor device 5 and the third drive motor device 6
An arm device N7 is attached to each output shaft of the arm device 7 and has a bendable intermediate portion and is rotatably connected at the tip, and a wrist 8 is rotatably connected to the connecting portion at the tip of the arm device 7.
Consists of.

As shown in FIG. 4, the first drive motor device 4 includes a drive motor 10 attached to the cylindrical portion 3a at the tip of the support portion 3, an output shaft 10a of the drive motor 10, and a cylindrical portion 3a. Rotation detection unit 11 installed between
and a brake section 12. Further, the second drive motor device 5 is connected to the output shaft 10 of the drive motor 10.
a connecting member 13 attached to one end of a, a drive motor 14 attached to the cylindrical portion 13a at the end of the connecting member 13, and a drive motor 14 attached between the output shaft 14a of the drive motor 14 and the cylindrical portion 13a. It is composed of a rotation detection section 15 and a brake section 16. The third drive motor device N6 has the same configuration as the second drive motor device 5,
A connecting member 17 attached to the other end of the output shaft 108 of the drive motor 10 and the same cylindrical portion 1 at the end of the connecting member 17.
It consists of a drive motor 18 attached to the shaft 7a, a rotation detection section 19 and a brake section 20 attached between the output shaft 18a of the drive motor 18 and the cylindrical section 17a.

The arm device 7 has one end on both sides of a shaft 21 that rotates together with the output shaft 14a of the drive motor 14 of the second drive device 5 via a key 21a, and further rotates together via keys 21b and 21c. Upper arm 2 connected to
2, a lower arm 24 whose one end is rotatably connected to the other end of the upper arm 22 via a pin 23, and an output shaft 18 of the drive motor 18 of the third drive motor device 6.
an upper arm 26 having the same length as the above-mentioned upper arm 22; The lower arm 29 has one end rotatably connected to the other end of the upper arm 26 via a pin 27 and has the same length as the lower arm 24 described above. Here, both upper arms 22 and 26 mentioned above are inclined in a C shape when viewed from the front side, and both upper arm parts 24 and 29 are as follows.
When viewed from the front, it slopes in an inverted convex shape. Further, both upper arms 22.26 and both upper arms 24.29 are connected to the first drive motor device 4 and the connecting member 13.29 when viewed from the front side.
As a whole, including 17, they are connected in a pentagonal shape with the top facing downward.

The wrist 8 has one end rotatably connected to the intermediate portion of the upper arm 22 via a pin 30, and the other end of a link 31 and the pin 3.
2, and when the arm device 7 is in operation, it always faces in a predetermined direction in conjunction with the upper arm 22.

Next, the operation of the above configuration will be explained with reference to the fifth section. First, the drive motor 14 of the second drive motor device 5 is driven clockwise to the operating limit, the upper arm 22 is rotated so that the tip is at the B1 position, and at the same time the drive motor of the third drive motor device w6 is driven. 18 counterclockwise to the operating limit, and rotate the upper arm 26 so that its tip is at the A1 position.

Due to this rotation of both upper arms 22.26, the wrist 8 connected to the connecting portion of both lower arms 24.29 is placed in the C1 position.

When the drive motor 14 of the second drive motor device 5 is driven counterclockwise from this state, one of the upper arms 22 rotates ( (indicated by a dashed line). Here, B2 is the position when the upper arm 22 and the lower arm 24 are in a straight line state. Therefore, one wrist 8 is
It moves from the C1 position to the C2 position along the arc R.

Further, when the drive motor 18 of the third drive motor device 6 is driven clockwise in the above state (wrist 8 is in the C1 position), the other upper arm 26 moves from the A1 position to the A2 position along the circular arc a. Rotate (indicated by the two-dot chain line) to move to the desired position.

Here, A2 is the position when the upper arm 26 and the lower arm 29 are in a straight line state. Therefore, the wrist 8 moves from the C1 position to the Ca position along the circular arc.

From this, the arc, R, becomes the upper movement limit of the wrist 8.

Next, with the wrist 8 placed in the C1 position, the drive motor 14 of the second drive device 5 is driven counterclockwise, and at the same time the drive motor 18 of the third drive motor device 6 is driven counterclockwise.
When driven clockwise at a constant speed, the wrist 8 moves vertically in a straight line from the C1 position to the C4 position (both upper arms 22.2
6 and both lower arms 24.29 are shown in dotted lines).

From this state, when both the drive motors 14.18 of the second drive device 5 and the third drive device 6 are driven counterclockwise in coordination, the wrist 8 moves from the C4 position to the C2 position along the arc Q. do.

Furthermore, when both the drive motors 14 and 18 of the second drive motor device 5 and the third drive motor device 6 are driven clockwise in coordination with each other from the above state (wrist 8 is in C4 position), wrist 8 is in C4 position. C along the arc P from the position
Move to position 3. From this point on, the arcs P and Q become the lower movement limits of the wrist 8.

Therefore, the wrist 8 is connected to both the drive motors 14 of the second drive motor device 5 and the third drive motor device 6.
．． By driving 18 in the same direction or in different directions, at a constant speed or at an inconstant speed, it is possible to move to any position within the operating range S shown by diagonal lines in the figure.

The above is the movement of the wrist 8 due to the drive of the second drive device 5 and the third drive device 6, and this movement is in a vertical plane. When driven, the arm device 7 has the shape (
It is possible to swing without changing the positional relationship of each arm. This swing is in a direction perpendicular to the above-mentioned vertical plane.

As a result, the wrist 8 can move not only in the vertical plane, ie, two-dimensional movement, but also in the solid T, ie, three-dimensional movement, as shown in FIG. 6.

At this time, since the range of motion of the wrist 8 can be limited, it is not necessary to swing the entire arm horizontally, and the required torque of each drive motor 10, 14, 18 can be kept small. Moreover, the above-mentioned operation, that is, the arm mounting w7
In both the operation of changing the top shape of the arm and the operation of swinging the entire arm, each drive motor 10.14.1
8 is substantially at the center of rotation, the unbalance moment due to weight and the moment of inertia due to mass can be kept extremely small, and the wrist 8 can be moved at high speed.

Furthermore, the operating range can cover the rectangular parallelepiped operating area necessary for assembly work with a part of the sector-shaped rotating body so as to reduce waste. Moreover, since the vertical movement is performed by bending the upper arm 1122.26 and the lower arm 24.29, no wasted space is created above the operating area.

In the above embodiment, the wrist 8 is linked to the upper arm 24 via the link 31, but the lower arm 24.2
9. The lower arms 24 and 29 may be interlocked via a quadrilateral link and a slide mechanism, and may always be oriented in the direction of the bisector of the intersection angle of the lower arms 24 and 29.

〔Effect of the invention〕

Since the present invention 1 is configured as described above, the configuration is simple, the torque of each drive motor can be kept small, and the weight and mass of the drive motor do not affect the drive of the arm device, allowing high speed operation. You can move your wrist. Further, there is no wasted space above the arm, so the work area can be used effectively.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an embodiment of the industrial robot of the present invention, Fig. 2 is a front view seen in the direction of the first arrow A, and Fig. 3 is a side view seen in the direction of the arrow A in Fig. 2. 4 is a cross-sectional view showing the main part of an embodiment of the present invention, FIG. 5 is an explanatory diagram showing the operation of an embodiment of the present invention, and FIG. FIG. 7 is an explanatory diagram showing the operation of the embodiment, FIG. 7 is an explanatory diagram showing a conventional industrial robot, and FIG. 8 is an explanatory diagram showing a conventional industrial robot different from FIG. 7. 2... Support column 4... First drive motor device 5... Second drive motor device 6... Third drive motor device 7... Arm device 8... Wrist 10.14, 18...Drive motor 22.26...
・Upper arm 24.29...Lower arm (8733) Agent Patent attorney Yoshiaki Inomata (1 idiot) 5th Mine 7TiJ

Claims (2)

[Claims] (1) A support, a pentagonal arm attached to the top of the support, which is freely bendable, and with the top connecting the wrist facing downward, and an arm attached to the part facing the top of the arm,
An industrial robot consisting of a drive unit with multiple drive sources. (2) The industrial robot according to claim 1, wherein the drive unit has a drive source arranged in a direction perpendicular to the horizontal plane.