JPS6288591A - Mechanism of 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 Application of the Invention] The present invention relates to an industrial rocket mechanism, and more particularly to an industrial rocket mechanism that increases the number of degrees of freedom of rocket operation without increasing the number of drive sources. It is.

[Background of the invention]

The mechanism of an industrial rocket generally includes multiple power sources,
It consists of a plurality of power sources and the same number of drive ends which are each linked to the plurality of power sources via a power transmission mechanism. In such an industrial robot mechanism, the combined number of unit movements of each drive end, ie, the number of degrees of freedom of rocket movement, is equal to the number of drive sources. An increase in the number of power sources mentioned above increases the complexity of the rocket mechanism, while an increase in the number of degrees of freedom improves the functionality of the rosette. Today, there is a need to increase the number of degrees of freedom without increasing the number of power sources, ie without increasing the complexity of the robot mechanism.

Therefore, in the mechanism of the industrial donkey rod mentioned above, an auxiliary drive end is installed separately from the existing drive end, and an electromagnet is installed at the auxiliary drive end, increasing the number of degrees of freedom without increasing the number of power sources. An industrial robot mechanism has been developed that increases the

However, the above-mentioned industrial robot mechanism operates on the same operating principle as a power source, that is, a motor! Since magnets are provided, an actuator dedicated to the auxiliary drive end is required, and the number of degrees of freedom cannot actually be increased without increasing the number of power sources. Furthermore, wiring for the electromagnet is required. Therefore, there is a problem that the structure becomes complicated.

[Purpose of the invention]

An object of the present invention is to provide an industrial robot mechanism that can increase the number of degrees of freedom without complicating the structure or increasing the number of power sources.

[Summary of the invention]

The present invention is characterized in that the auxiliary drive end is provided with a motion conversion mechanism that converts the motion of the drive end into the motion of the auxiliary drive end.

The present invention eliminates the need for an actuator dedicated to the auxiliary drive end by converting the operation of the drive end to the auxiliary drive end using a motion conversion mechanism.

[Embodiments of the invention]

Hereinafter, one embodiment of the industrial robot mechanism of the present invention will be described with reference to the accompanying drawings.

The mechanism of the industrial robot of the present invention in this example is as follows:
Rotation of the robot body, rotation of the upper arm, rotation of the forearm,
Wrist bending (wrist rotation) and wrist swing (wrist first rotation)
In addition to the five degrees of freedom (rotation), one new degree of freedom is added for twisting the wrist (second rotation of the handcuffs). In the figure, 1 is a robot body shaft 4 mounted on a base 3 fixed on a floor 2.
The opening of the first drive end rotatably mounted around the robot body is a robot body, and this robot body 1 is linked to a robot body motor 5 as a first power source via a power transmission mechanism (not shown). ing. Reference numeral 6 denotes the upper arm of the second drive end which is attached to the robot body 1 so as to be able to rotate about the first pivot axis 7 that is orthogonal to the robot body axis 4, and R6 is the upper arm of the power transmission mechanism (not shown). The upper arm motor 8 is connected to the upper arm motor 8 as a second power source. Reference numeral 9 denotes a third drive end forearm attached to the upper arm 6 so as to be pivotable about a second pivot axis 1o perpendicular to the robot body axis 4 and parallel to the first pivot axis 7, and this forearm 9 is used for power transmission. It is linked to a third power source, the forearm motor 11, via a mechanism (not shown). Reference numeral 12 denotes a fourth drive end that is attached to the forearm 9 so as to be able to rotate around a third rotation axis (hand 6 bending axis) 13 that is orthogonal to the robot body axis 4 and parallel to the first rotation axis 7 and the second rotation axis 10. The first wrist of the user, the first +t12, is linked to the wrist bending motor 14 of the fourth power source via a power transmission mechanism (not shown). 15
The first pivot shaft 7. is attached to the first wrist 12. Second pivot axis 10. Third
The second hand 6 of the fifth drive end is rotatably mounted around a second hand a-axis (wrist swing axis) 16 perpendicular to the rotation axis 13, and this second wrist 15 is connected to a power transmission mechanism (Fig. (not shown) to the wrist swing motor 17 of the fifth power source. 18 is a platen fixed to the first wrist 12); 19 is the first wrist 12 at the auxiliary drive end which is rotatably attached to the third hand shaft (wrist twisting shaft) 21 by means of a bearing 20; 618 includes a welding torch 22 as a tool. 23 is rotation of upper arm 6, rotation of forearm 9, 1st + t1
This is a motion conversion mechanism that converts at least the cooperative motion of two pivots, that is, the motion of linearly moving the second hand 115f in the direction of the arrow 24, into a rotating motion of the third hand 618. This motion change mechanism 23 consists of a chain 26 stretched on a chain stand 925 installed in the robot body, a sprocket 28 and a warm ear 29 attached to a rotating shaft 27 supported on the grip handle 19 so as to be perpendicular to the wrist twisting shaft 21. and a worm wheel 31 that is attached to the shaft portion 30 of the third wrist 18 and meshes with the worm ear 29.

The mechanism of the industrial robot of the present invention in this example is as follows:
It has the above configuration, and its operation will be explained below.

Upper arm motor8. Forearm motor 11. At least two motors of the wrist bending motor 14 are driven to bend the upper arm 6 and the forearm 9.
．． At least two drive ends of the first wrist 12 are rotated in full coordination, the second wrist 15 is moved in the direction of the arrow 42, and the third wrist 18 is inserted and the welding torch 2
2 to wrist twist axis 21? Rotate around the center. In other words, by the action of arrow A, the snow rocket) 2g is the chain 2
6, and the action of the arrowhead rotates the Suguroketsu) 28, and the rotational force is applied to the rotating shaft 27.6. Worm gear 29.
Worm wheel 31. It is transmitted to the shaft part 30 of the third wrist 18, and the welding torch 22 rotates around the twist shaft 21γ of the hand 6. At the awn, the sprocket 28 comes off from the chain 26 by the action of arrow 2, and the sprocket by the action of arrow 2. 4 returns to its original position. By repeating the above-described series of operations (a), (b), (b), and (ii), the welding torch 22 can be rotated by any angle about the half-hour twist axis 21f and set at any position.

In this way, in this embodiment, the robot body 10
Rotation, rotation of the upper arm 6, rotation of the forearm 9, and the 1,000th 1i
In addition to the five degrees of freedom of bending the second wrist 15 and swinging the second wrist 15, one degree of freedom of twisting the third wrist 18 is added. 2
2. If interference occurs between the workpiece and the welding position, or if the welding position becomes insufficient due to the limits of the working area, temporarily stop the welding work,
It is possible to continue the welding operation by rotating the welding torch 22 at any angle around the handcuff twisting shaft 21. Further, in this embodiment, the motion conversion mechanism 2
In 3, the rotation of the upper arm 6, the rotation of the forearm 9, the rotation of the first wrist 12, and the coordinated movement of at least two rotations, and the third cow II'
Since the rotational movement of the welding torch 22 is converted into the rotational movement through the welding torch 22, a dedicated actuator for rotating the welding torch 22 is not required, and the structure can be made smaller and lighter without complicating the structure. Furthermore, in this embodiment, the motion conversion mechanism 23 includes a worm gear 29 and a worm wheel 3.
1 is used, the brake action is applied around the handcuff twisting shaft 21, thus eliminating the need for a clutch or brake mechanism, and further downsizing can be achieved.

In the above-described embodiment, the chain 26 of the motion conversion mechanism 23 is stretched on the robot body 1 via the chain stand 25, but it may be stretched on the floor 2. In addition, the chain 26° sprocket 28 of the motion conversion mechanism 23
In addition, rack, pinion or timing belt, 7
″-li etc. may also be used.

Furthermore, in addition to the worm gear 29 of the motion conversion mechanism 23,
♂-Le screws or gears may be used. Furthermore, in the above embodiment, the third wrist 18 (
Although one degree of freedom of the rotation of the welding torch 22) is newly added, one degree of freedom of the traveling movement of the robot body 1 or the vertical (elevating) movement of the robot body 1 may be added.

〔Effect of the invention〕

As is clear from the above, the mechanism of the industrial logget of the present invention is such that the auxiliary drive end is provided with a motion conversion mechanism that converts the motion of the drive end into the motion of the auxiliary drive end. By converting the operation of the drive end into the operation of the auxiliary drive end, an actuator dedicated to the auxiliary drive end becomes unnecessary. Therefore, the number of degrees of freedom can be increased without complicating the structure and without increasing the number of power sources.

[Brief explanation of drawings]

The attached drawings show an embodiment of the spitting mouth &7) mechanism of the present invention, with Fig. 1 being a front view, Fig. 2 being a sectional view showing the internal structure of the movement conversion mechanism, and Fig. 3 being a movement conversion mechanism. FIG. 3 is an explanatory diagram showing the operation of the mechanism. l...Robot main body, 5...Robot main body motor, 6
...Bicep, 8...Bicep motor, 9...Forearm, 11...
...Forearm motor, 12...First hand 6.14...Wrist bending motor, 15...Second hand ξ, 17...Hand 00 motor, 18...Half three wrists, 22...Welding Torch, 23.
...Movement conversion mechanism, 25...Chain stand, 26
... Chain, 27 ... Rotation 1111, 28 ... Sprocket, 29 ... Worm gear, 30 ... Shaft, 3
1... Worm wheel. Agent Patent Attorney Tadashi Akimoto Jitoshi 1 Figure 913

Claims (1)

[Claims] 1. A plurality of power sources, the same number of drive ends as the power sources respectively linked to the plurality of power sources via a power transmission mechanism, and disposed separately from the drive ends. 1. An industrial robot mechanism comprising an auxiliary drive end, characterized in that the auxiliary drive end is provided with a motion conversion mechanism that converts the motion of the drive end into the motion of the auxiliary drive end. 2. The industrial robot mechanism according to claim 1, wherein the motion conversion mechanism converts the motion of the drive end into a rotational motion of the auxiliary drive end. 3. The motion conversion mechanism consists of a chain stretched over the robot body, a sprocket installed at the auxiliary drive end, a worm gear linked to the sprocket, and a worm gear meshed with the worm gear and pivotally supported by the rotating shaft at the auxiliary drive end. The industrial robot mechanism according to claim 2, comprising a worm wheel. 4. The motion conversion mechanism consists of a chain stretched outside the robot body, a sprocket disposed at the auxiliary drive end, a worm gear linked to the sprocket, and a worm gear meshed with the worm gear and pivotally supported by the rotating shaft of the auxiliary drive end. 3. The industrial robot mechanism according to claim 2, comprising a worm wheel.