JPS62181886A - 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 Industrial Application] The present invention relates to industrial robots, and more particularly to vertically articulated robots.

[Conventional technology]

FIG. 5 shows six examples of conventional multi-joint robots.

This is a rotating platform 220 that can freely rotate on the pace 210.
A pedestal 230 that swingably supports the robot arm mechanism is provided on the swivel base 220. An upper arm 240 is swingably supported on the pedestal 230, and a parallel arm is mounted on the upper end of the upper arm 240. Quadrilateral drive linkage 250
A forearm 260, which is made wtM41J (detailed explanation will not be given), is swingably supported. Drive motors 270 and 280 for driving the robot arm mechanism are installed on both sides of the pedestal 230.

A +m rear structure 290 is rotatably supported at the distal end of the forearm 260, and the drive motors 300 and 310 are housed in appropriate positions in the parallelogram drive link mechanism 250 described above.

FIG. 6 shows the parallelogram drive linkage 250 of FIG. 5 and the wrist drive power transmission system located within the forearm 260. This is a schematic modification of the sprocket chain system power transmission method that governs the bending (or swinging) and rotating (twisting or twisting) actions of the wrist mechanism 290, and the rotation of the hand lantern structure 290. Operation is by motor 30
0 → Sprocket 320 → Chain 330 → Double relay sprocket 340 → Chain 350 → Sprocket 3
60→Achieved by bevel gear 370, and wrist mechanism 2
The operation of the song 90 is motor 310 → sprocket 380
This is achieved by → chain 390 → double relay sprocket 400 → chain 410 → sprocket 420. FIG. 7 is a plan view of the internal structure of the forearm 260,
As is clear from the drawings, the drive chains 350, 41
0 extends parallel to both sides of the forearm 260 along the longitudinal centerline B of the forearm 260, and the wrist is arranged such that the centerline of the wrist 290 coincides with the centerline B. c.
The center lines A of the upper part 1240 intersect with each other. For this reason, the dimension of the forearm 260 in the width direction has inevitably become large.

This was disadvantageous in terms of speeding up the robot and saving energy. For this reason, efforts have been made recently to reduce the size of the shaft. An example thereof is shown in FIG.

The configuration shown in this figure reduces the width of the front leg by moving the chain and sprocket transmission system for driving closer to and concentrating on the center line B of the forearm during the rotation of the wrist m mechanism 290.
It has achieved a smaller size and lighter weight. However, in both the drive systems shown in FIGS. 7 and 8, the chains 330, 390
, 350, and 410, the rigidity of the drive system is low, and the robot's movement accuracy and movement characteristics (
It has a disadvantageous structure in terms of (@motion during steady operation, imaging during transient operation), portability, etc. Several ideas have been made to solve h.

Fig. 9 shows motors 300 and 310 shown in Fig. 5 attached to a forearm 260 for the purpose of increasing the rigidity of the sprocket-naene type wrist drive system (backlash of the chain due to chain elongation and bounce). Install it, remove the relay sprocket and connect the sprocket directly to the motor) 3
Attach 40,400 and chain 350 and 410
Here is an example of how to drive . In general, the output of the motor remains unchanged at 1'! F When the weight is reduced, the motor becomes elongated and cylindrical as shown in Figure 9 in terms of visibility technology, but
For this reason, when the robot performs various bending/extending cooperative movements including turning, the outer end of the motor tends to cause disadvantages such as narrowing the effective operating range of the robot (interfering with circumferential bending). Also, for assembly, maintenance, etc.) 340, 40
Since it is not possible to arrange the forearm 260 closer to each other, the width of the forearm 260 increases, making it difficult to achieve the desired size reduction.

[Problem that the invention seeks to solve]

An object of the present invention is to provide a small-sized robot with high rigidity and suitable for high-speed operation, and with high wrist characteristics.

[Means for solving problems]

In order to improve the various drawbacks of the conventional art, the present invention provides a swivel device, an upper arm that is swingably engaged to the swivel device through a joint portion, and a joint portion that is connected to the upper arm portion. a forearm portion rotatably engaged with the forearm portion, and a wrist having a movement function with two degrees of freedom or more, which is rotatably connected in the vicinity of the practical end portion of the forearm portion;
The wrist is disposed on the side of the forearm, and a plurality of drive motors for the wrist are provided on the same 14111 side near the rear end of the forearm, each drive motor having a
It is characterized in that the rotational force is transmitted to the wrist via each power transmission device disposed inside the forearm.

[Effect]

In addition to the wrists, drive motors for the wrists are located on the front legs. This shortens the power transmission path to the wrist, resulting in high rigidity. Further, each drive motor is arranged on the same 01l1 plane of 1 μm1 on the forearm. For this reason,
The degree of interference with the surroundings is smaller than when these are arranged separately, and the effective operating range of the robot is expanded. Further, the assembly or maintenance/inspection work of each power transmission device that transmits the output of each drive motor can be efficiently performed from the opposite side where the drive motor is not located. This can be done even when the power transmission devices are close to each other, so the forearm surrounding them can be traced.

〔Example〕

Embodiments of the present invention shown in FIGS. 1 and 2 will be described below. Please refer to the part numbers in the conventional drawings as much as possible. In this embodiment, two sets of chain and sprocket power transmission systems for wrist rotation and bending are concentrated in close proximity to each other, thereby reducing the width and weight of the forearm. However, compared to the case shown in Fig. 9, sprockets 340 and 40
Chain 350°41 without worrying about size
Since the two sets of transmission systems are brought close to each other in consideration of the width interference of only 0, and the force is good, the degree of proximity can be increased compared to that in FIG.

Therefore, the width of the forearm 260 can be further reduced or the width of the forearm 260 can be further reduced. Furthermore, since maintenance is easy by removing the cover 393, inspection and assembly adjustments are time consuming. Figure 1.

Although FIG. 2 shows an example in which wrist function is improved by increasing the degree of freedom of the wrist 290', the present invention can also be effectively applied to wrists other than the wrist.

As shown in FIG. 2, the general structure of this industrial robot includes a pace 210, a swivel base 220 that rotates on the base 210, an upper arm support 230 mounted on the swivel base 220, and an upper arm support base 230 mounted on the swivel base 220. The front @ 260 is swingably supported on the upper end of the upper arm 240, and the upper arm 240 and the forearm 2
The lever 60 and the forearm swing link 70 swing together with the forearm 60 to form a parallelogram mechanism, and the wrist 290' is rotatably supported on the distal end of the forearm 50 with a desired degree of freedom. There is.

Wrist 290' has three degrees of freedom. The driving force of the twist stop in this is located at this wrist 290' itself.
, is obtained from a drive motor 450 for twisting. Other driving forces for bending and swinging are 1 chain 410,
350.

Wrist 290' is positioned laterally of forearm 260.

Therefore, the pair of chains 410 and 350 are connected to the wrist 290.
It does not require such a wide spacing as th to be interposed therebetween. Sprocket for wrist 290') 42
0. The photographic sprockets 360 are disposed within the forearm 260 in close proximity to each other.

310 is a drive motor for bending, and 300 is a drive motor for swinging. 400 and 340 are sprockets arranged on the output side of the solar cell.

Drive motors 300, 310 and their sprockets 340.
400, a reduction gear and a bearing are arranged.

The drive motors 300, 310 are attached to the actual rear end of the forearm 350. Also, these drive motors 300 and 310 are the same 1ll11 in the forearm 350.
t arranged perpendicularly to the forearm 350 on the 11111 plane of
I'm there. 393 is a cover formed on the side opposite to the above-mentioned side to allow the liquor tax to be adjusted freely, and if this is removed, it becomes a sprocket)
340,400 or chains 350,410 are visible. assembly.

Inspections and adjustments will be made under these conditions. Since the sprockets 340 and 400 are not arranged on the cutting surface, this work can be performed even if the spacing between them is narrow. This spacing in the width direction matches that of the sprocket 360°420 on the wrist side. Sprocket 340°400 and sprocket 360,
A chain 350.degree. 410 as a power transmission device is wound between the wrist 290' and the wrist 290'. Point A is the center of rotation by the swivel base 220, and this force is located in the middle of the width of the forearm 260.

FIGS. 3 and 4 show other embodiments. This twisting drive motor 450 is fixed to the 91st surface of the forearm 260, and
The power is transmitted to an input shaft (not shown) at the wrist 290' via an auxiliary power transmission system 630 attached to the wrist 290'.

The features or possible features of the above embodiments are listed as follows.

(1) The width of the forearm 260 can be significantly reduced because the distance between the chains 350 and 410, which control the bending and swinging motions of the wrist 290', can be brought close together to the extent that they do not touch each other during chain motion. , we can feel that we have achieved the compact size and weight reduction necessary for speeding up robots.

(2) Since the range in which the robot interferes when turning can be limited to at least one side, the range of motion can be widened.

(3) Maintenance of the reducer or sprocket connected to the motor is easy.

(4) Since the motors farther from the center of rotation can be placed closer to the center of the forearm than the motors in front, the area of interference can be reduced.

(5) Since the motor is biased to one side of the forearm, the rigidity of only one piece 9111 of the forearm frame can be improved, and the other side can be constructed from a thin member with relatively low IQII, so it can be placed on both sides. Compared to the case where the rigidity of the paper is improved, the overall weight becomes lighter.

(6) The rigidity of the wrist bending and swing axes can be approximately doubled compared to conventional products, resulting in higher precision.

High speed vc44 rate.

(7) Since the interference area is small, multiple robots can be placed close together even in a narrow space.

(8) Since the motor wiring is only on one side, it can be simplified and the appearance can be made simple.

(9) The mounting cases for the motors 300 and 310 can be integrated and shared, reducing the number of parts.

(IQ) The high-precision machining part is concentrated on only one side of the forearm, making machining easy and inexpensive.

〔Effect of the invention〕

Since the present invention has the above-described configuration, the robot main body can be made highly rigid, compact, and lightweight.

[Brief explanation of drawings]

Fig. 1 is a sectional view showing the main parts of the robot of the present invention, Fig. 2 is a 111111 side view showing the entire robot, Fig. 3 is a plan view of a robot according to another embodiment, and Fig. 4 is the 1i1 side view of the robot.
11 side view, Figure 5 is a perspective view showing a conventional robot, Figure 6 is a perspective view showing a conventional robot.
The figure is a schematic diagram showing the power transmission system, FIG. 7 is a sectional view of the main part thereof, and FIG. 8 is a sectional view of the same main part showing another conventional example.
@9 Figure is a similar sectional view of the main part showing another conventional example. 350: Forearm, 3oo: MA drive motor 31O: Drive motor, 340: Sprocket, 400: Sprocket,
350: Chain, 410: Chain agent Patent attorney Katsuo Ogawa (',,',
・′、≧1!7） Figure No. 2 7 $ 3 Figure No. 5 Concave No. 2 8 7

Claims (1)

[Scope of Claims] 1. A rotating device, an upper arm rotatably engaged to the rotating device by a joint portion, and a upper arm rotatably engaged to the upper arm by a joint portion. and a wrist rotatably engaged near the substantial tip of the forearm and having a movement function with two or more degrees of freedom, and the wrist is disposed on the side of the forearm. A plurality of drive motors for the wrist are provided on the same side surface near the substantial rear end of the forearm, and the rotational output of each drive motor is transmitted to each power transmission device disposed inside the forearm. An industrial robot characterized in that the information is transmitted to the wrist via the robot. 2. The industrial robot according to claim 1, wherein a removable cover for inspection is provided on the opposite side of the forearm corresponding to each drive motor.