JPS63191587A - Tapestry type joint 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 (Industrial Application Field) The present invention is used for industrial robots, and a wall-mounted device equipped with a balancer device for balancing the load on the robot's arm is a type joint. It's about robots.

[Conventional technology]

In the case of a conventional wall-mounted articulated robot, a robot base is fixed to a wall, a robot wrist is provided at the tip of a multi-jointed arm that protrudes from the base into space, and a robot hand, etc. is attached to the robot wrist. A desired robot work is performed by attaching a workpiece to the robot, and a balancer device is used to reduce the load caused by the rotational movement of the arm.

FIG. 4 is a schematic diagram of such a conventional balancer device, in which a base 12 is fixed to a wall 8 and a first
Spring type balancer device 3 with arm 16 suspended from ceiling 9
It is supported by 5.

A second arm 18 is arranged to protrude downward (hanging) at the tip of the first arm 16, and a wrist 22 is attached to the tip of the second arm.
is provided, the swivel base 14b rotates on the fixed base 14a,
The first arm 16 that hangs down the second arm 18 and the wrist 22 is moved up and down by the drive motor Mw, but the load thereof is reduced by the balancer device 35. In other words, in a spring-type balancer device, a spring that reduces the load is wound around a reel, and as the robot arm rotates, the spring is wound onto the reel and unwound from the reel, causing the arm to move. It is designed to reduce the load associated with vertical movement.

[Problem that the invention seeks to solve]

However, since the above-mentioned conventional wall-mounted spring-type balancer WW of the jointed robot has a structure suspended from the ceiling surface, it cannot be used when the robot base has a swivel base that rotates around an axis perpendicular to the wall surface. In this case, the spring-type balancer device suspended from the ceiling surface obstructs the turning movement, resulting in a restriction on the degree of freedom of the robot's turning movement.

Therefore, in order to solve the above-mentioned disadvantages, the present invention has the following features:
The balancer device is disposed on the robot itself without suspending the balancer device from the ceiling.

[Means and effects for solving the problem] For example, as shown in FIG.
A robot base 12 consisting of 4b is fixed, and a first arm 16 is connected to the tip of the swivel table with the tip as a rotation fulcrum, and the upper part of the second arm 18 having a wrist 22 at the lower end is attached to the first arm 16. Rotatably pivoted at the tip, and a swivel base 14b
The tip of the support piece 28 extending from the top surface and the approximate tip of the first arm 16 are connected by a balancer 30 constructed by combining a plurality of cylinders 33, 34, and 35 in parallel so as to exhibit a long expansion and contraction action. This solves the problems of conventional robots.

Then, by the above-mentioned means, the first
The balancer device stabilizes and balances the load applied to the rotational drive source provided at the rotational fulcrum of the arm, and also when the robot rotating base rotates by θ around an axis perpendicular to a vertical wall, the balancer device 30 Since the support pieces 28 rotate integrally, the balancer device does not interfere with the rotation of the robot base.

Further, since the support piece 28 is located above the pivot point of the first arm, and therefore the balancer device interposed between the support piece 28 and the tip of the first arm 16 is located above the first arm,
It does not become an obstacle to the U-rotation of the second arm.

〔Example〕

1 and 2 are side views showing the overall configuration of the wall-mounted joint robot of the present invention. FIG. 1 shows the state in which the first arm has rotated upward, and FIG. The figure shows a state in which the is rotated downward.

As is clear from these figures, the robot base 12 consisting of a fixed base 14a and a rotating base 14b that rotates θ is fixed to a substantially vertical wall 8. The swivel table 14b has a rotation axis (θ rotation axis) perpendicular to the wall surface 8, and has a first arm 16 at its tip that is movable up and down about a substantially horizontal axis (W axis) perpendicular to the rotation axis. Installed. A drive motor Mw, which is a rotational drive source for the first arm 16, is provided on the W axis and coupled to the first arm via a speed reduction mechanism (not shown).

A fulcrum for U rotation of the second arm 18 about the U axis is provided at the tip of the first arm 16. It is designed to make a U rotation beforehand.

The connection point between the second arm 18 and the first arm 16 is located slightly above the middle of the second arm, and there is a connection point between the top end (rear end) of the second arm 18 and the swivel base 14b. 1st
A link 20 that always remains parallel to the arm 16 is a bridge.

Also, at the tip of the second arm 18 is a robot throat wrist 22.
is provided, and the γ and β rotations of the wrist are performed by drive motors Mr and Mβ provided on both left and right sides of the most extreme end of the second arm 18. In addition, the second arm 18
Above is a motor Mα for driving the α rotation of the robot wrist 22.
is installed together with the gear box 24.

When each of the first and second arms moves in a three-dimensional space, the load applied to these arms and the weight of the arm and wrist cause variability in the drive motor MW forming the drive source of the W axis. According to the present invention, a balancer device is attached to the robot itself in order to reduce such a load and allow both arms to operate smoothly.

That is, in this embodiment, the support piece 28 extends horizontally from the upper surface of the swivel table 14b of the robot base, and a plurality of air A balancer 30 consisting of a combination of cylinders was interposed.

FIG. 2B is a front view of only the balancer portion of FIG. 2A, and as is clear from the figure, the balancer 30 is
A cylinder 33 has a rod 33' fixed to a support point 31, and a rod 33 is attached to a plate P1 attached to the cylinder 33.
3 of the cylinders 34 with the rods 35' fixed to the support points 32 of the first arm;
It was composed of nine cylinders, each consisting of a combination of seed cylinders.

The action of each cylinder of the balancer 30 is as shown schematically in FIGS. 3A and 3B, with support points 31 at both ends of the balancer 30,
When a tensile action occurs between the cylinders 32 and 32, the configuration shown in FIG. 3A changes to the configuration shown in FIG. a plate P extending from and attached to cylinders 34 and 35;
is extended. Therefore, the balancer 30 can be expanded and contracted in a long length by combining a plurality of cylinders.

Although an air cylinder is used in this embodiment, it is also possible to use a hydraulic cylinder, and in short, it is sufficient to achieve elongated expansion and contraction by combining short cylinders in parallel.

In addition, in this embodiment, three types of cylinders 33, 34, 3
I used 9 cylinders with 5 units as 3 units, but
Depending on the stress-elongation characteristics of one cylinder, it may be one cylinder (three cylinders) or two units (six cylinders).

In the robot of the present invention, when the balancer 30 is in the contracted state as shown in FIG. 1, the dimension of the balancer 30 is approximately the length of one cylinder, but when the first arm is rotated downward as shown in FIG. , the balancer extends to several times the length of the cylinder, and the resistance force of the extended cylinder acts in the lifting direction against the weight and work load of each arm and wrist, stabilizing and balancing the operation of the robot. play.

In addition, it is possible to appropriately select the number of combinations of cylinders according to the work characteristics of the robot, and by preparing mass-produced cylinders of standard specifications, it has become possible to assemble various types of wall-mounted robots.

Further, in both FIGS. 1 and 2A, the second arm is in a vertical state, but even when the second arm rotates U and moves the wrist 22 below the first arm, the balancer 30 Since it is located above (outside the first arm in FIG. 2A), the balancer does not become an obstacle to the U-rotation of the second arm. Further, when the robot base rotates through θ, the balancer 30 also rotates integrally with the balancer, so that the degree of freedom of the robot's θ rotation is not restricted as in conventional ceiling suspension balancers.

〔Effect of the invention〕

For wall hanging, a balancer was attached to the joint type robot itself, so
When fixing the robot to a wall surface, there is no need to find a separate mounting surface for mounting one end of the balancer as in the past, and therefore the mounting position of the robot can be freely selected.

Furthermore, since the balancer rotates integrally when the robot rotation base rotates, the balancer does not restrict the rotation range of the robot.

Furthermore, since the balancer is disposed above the first arm, the balancer does not restrict the U rotation of the second arm (and does not narrow the working range of the robot).

Also, since the balancer is a parallel arrangement of multiple cylinders,
The balancer can be installed compactly even though it can accommodate long lengths of expansion and contraction.

Furthermore, since cylinders of the same standard can be mass-produced and balancers suitable for robots with different work characteristics can be assembled, production can be streamlined.

[Brief explanation of the drawing]

1 and 2A are overall schematic side views of the robot of the present invention, with FIG. 1 showing the state in which the first arm has rotated upward, and FIG. 2A showing the state in which the first arm has rotated downward. Indicates a moved state. FIG. 2B is a front view of the balancer portion in FIG. 2A. FIGS. 3A and 3B are explanatory diagrams of the actions of various cylinders constituting the balancer, respectively. FIG. 4 is an overall schematic side view of the conventional example. 8... Vertical wall, 12... Base, 14a.
...Fixed base, 14b... Swivel base, 16... First arm, 18... Second arm, 20... Link, 22... Wrist, 28 Support piece, 3
0... Balancer, 31, 32... Support point, 3
3, 34, 35...Cylinder.

Claims (1)

[Claims] 1. A fixed base (14a) is fixed to a substantially vertical wall (8), and a rotating base (14b) protruding from the fixed base (14a) is attached to the tip thereof as a rotation fulcrum. A second arm (18) having a wrist (22) at the lower end is suspended from the first arm (16) with the tip of the first arm (16) as a pivot point. At the same time, the support piece (28) on the upper part of the swivel table (14b) and the first arm (16) are connected to each other by a balancer (30) in which a plurality of cylinders (33, 34, 35) are arranged in parallel. Type joint robot. 2. Attach the support piece (28) to the rotation shaft (
W) The robot according to claim 1, which extends from the upper surface of the swivel table (14b) above.