JPS62292371A - 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 an industrial robot, and particularly to a horizontally articulated industrial robot.

[Conventional technology]

Conventional industrial robots can be broadly classified into two types. FIG. 2 is a front view showing an example of the first type. In FIG. 2, the first arm drive motor 1
2 is fixed to the body 11, and the second arm drive motor 14 is fixed to the tip of the first arm 13 and moves together with the first arm 13. FIG. 3 is a diagram showing an example of the second format. In FIG. 3, the first arm drive motor 22 and the second arm drive motor 24 are both fixed to the body 21, and the timing belt 26 is fixed to the body 21.
The structure is such that the power of the second arm drive motor 24 is transmitted to the second arm 25 to drive it.

In the conventional industrial robot described above, in the example shown in FIG. 3, the second arm drive motor 14 becomes a load on the first arm drive motor 12, and has a large influence on its dynamic 1Y performance. Furthermore, since the drive motors for the arms of each axis are required to be large and have high torque, there is a drawback that the entire robot system including the drive device is expensive.

- In the example shown in Figure 3, the first arm drive motor 22
and the second arm drive motor 24 are both fixed to the body 21, so the second arm drive motor 24 does not become an inertial load on the first arm drive motor 22, but the timing belt 26 is used as a power transmission means. As a result, there are many nonlinear elements such as backlash and lost motion, and the assembly robot 1 has the disadvantage that its performance in terms of speed and accuracy decreases.

[Problems to be Solved by the Invention] The problems to be solved by the present invention, in other words, the purpose of the present invention is to eliminate the drawbacks of the conventional industrial robots as described above and to make them small and lightweight. The purpose of the present invention is to provide an industrial robot that can perform high-speed and highly accurate operations.

[Means for Solving the Problems] The industrial robot of the present invention includes a first rotation unit, a second rotation unit fixed to the rotation part of the first rotation unit, and a second rotation unit fixed to the rotation part of the first rotation unit. A first arm fixed to the main body of the unit, a rotating shaft rotatably disposed at the tip of the first arm, and one end rotatable to the rotating part of the second rotating unit. The second rotating unit is connected to the rotating part of the second rotating unit and is attached so that the center angle is at a phase of 90° with respect to the rotation center of the rotating part of the second rotating unit, and the other end is rotated so as to maintain the same phase with the rotating shaft. It is configured to include two freely attached links of equal length and a second arm fixed to the rotating shaft.

〔Example〕

Next, the present invention will be explained in detail with reference to the drawings.

FIGS. 1(a) and 1(b) are a plan view and a front view showing an embodiment of the present invention.

In FIG. 1, the rotating unit 1 is fixed to the floor. The rotating unit 2 is fixed to the rotating part of the rotating unit 1. Further, a disk 3 is fixed to the rotating portion of the rotating unit 2, and a first arm 4 is fixed to the main body of the rotating unit 2. A bearing 7 is attached to the tip of the first arm 4, and a rotary shaft 6 is rotatably attached to this bearing 7.

The rotating shaft 6 and the disc 3 are connected on the upper surface by links 5a and 5b of equal length. Link 5a 5b
One end of the disk 3 has a central angle of 90 degrees with respect to the rotation center of the disk 3.
It is rotatably attached via a universal joint with a phase of .degree., and the other end is rotatably attached to the rotating shaft 6 so as to maintain the same phase relationship. A second arm 8 is fixed to the lower end of the rotating shaft 6, and a hand 9 can be attached to the tip of the second arm 8.

Next, the operation of the above embodiment will be explained.

The first arm 4 is a rotating unit 2 that is fixed to the rotating part of the rotating unit 1 when the rotating unit 1 operates.
It rotates in unison with the On the other hand, the second arm 8 is
2. A disk 3 fixed to the rotating part of the rotating unit 2 when the rotating unit 2 operates, which can operate independently of the first arm 4 when the rotating unit 2 rotates.
rotates, and a rotating shaft 6 connected to the disc 3 through links 5a and 5b also rotates. This rotational movement of the rotational shaft causes the second arm 8 fixed to the rotational shaft 6 to rotate. At this time, links 5a and 5)) are connected to the second arm
When link 5a is at the dead center, the link 5b mainly transmits the rotational force of the rotating unit 2, and when link 5b is at the dead center, the link 5a passes through the dead center once during each rotation. mainly transmits rotational force, so that the rotating shaft 6 can smoothly and continuously rotate 7
[Effects of the Invention] As explained in detail above, the industrial Kawaguchi bot of the present invention has the robot body configured by stacking two rotation units, and the rotation movement of the second arm is driven by two links. This has the effect of being able to drive the second arm drive motor at high speed without putting a load on the first arm drive motor, and because it does not use a timing belt etc. for power transmission, it can drive at high speeds without rattling or backlash. This has the effect of being able to perform accurate positioning operations.Therefore, it has the effect of providing a robot with a simple structure and low cost.

[Brief explanation of the drawing]

FIGS. 1(a) and (b) are a plan view and a front view showing an embodiment of the present invention, FIG. 2 is a front view showing an example of a conventional industrial robot, and FIG. 3 is a conventional industrial robot. It is a front view which shows another example. 1, 2... Rotating unit, 3... Disc, 4... First arm, 5a, 5b... Link, 6... Rotating shaft, 7
...Bearing, 8...Second arm, 9...Hand. /゛- 1””,' Agent Patent Attorney Susumu Uchihara, 71.2? Lower part Vmu 1 = J 42 times the name Nakayu φ・Kaya 1 arm l: Dyeing arm, Buddhasame! I no〉ri De S Had〉do (Bun Kaya 11 yen)

Claims (1)

[Claims] a first rotation unit, a second rotation unit fixed to the rotation part of the first rotation unit, a first arm fixed to the main body of the second rotation unit, and the first arm a rotary shaft rotatably disposed at the tip of the rotary shaft, and one end rotatably connected to the rotary part of the second rotary unit with respect to the center of rotation of the rotary part of the second rotary unit. Two links of equal length are attached so that the center angles are in phase with each other at 90°, and the other end is rotatably attached to the rotating shaft so as to maintain the same phase, and fixed to the rotating shaft. An industrial robot comprising: a second arm;