JPWO2007037130A1 - robot - Google Patents

Abstract

Provided is a manipulator capable of realizing an equivalent maximum extension posture while reducing the load on the first axis. A base (8), a body part (9) provided on the base so as to be pivotable, a controller provided in the body part or in the base, and a plurality of arms provided in the body part A plurality of arms (5) comprising at least a hollow actuator for rotatably connecting a body and the arm body, and a linear body that is inserted into a hollow portion of the hollow actuator and connected to a connector inside the arm body ), The axes of the first shafts located at the base ends of the arms of the arm body are arranged substantially in parallel, and the inclinations of the rotation axes of the adjacent hollow actuators are arranged 90 degrees different from each other. .

Description

  The present invention has at least two arms having a plurality of arm bodies and joint portions that rotatably connect the arm bodies to a body portion pivotally supported from a base, and in particular, The present invention relates to a robot configured such that the axial centers of one joint portion are arranged substantially in parallel.

FIG. 4 is a diagram showing a conventional mobile manipulator. In the conventional movable manipulator, the first axis of the arm is arranged substantially horizontally with respect to the paper surface. That is, the joint e is attached to the body horizontally with respect to the paper surface (see Patent Documents 1 and 2).
JP-A-2-237778 (page 2-4, FIG. 2) Japanese Patent Laid-Open No. 11-188668 (page 4-6, FIG. 7)

In conventional manipulators, the first axis of the arm is arranged substantially horizontally with respect to the paper surface, so the load on the first axis is always applied to industrial robots that often work in a state of extending forward. Therefore, there is a problem in that the device requires a corresponding reduction gear capacity and motor capacity, and the apparatus becomes large.
The present invention has been made in view of such problems, and an object of the present invention is to provide a manipulator capable of realizing an equivalent maximum extension posture while reducing the load on the first axis.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 includes at least a base, a body part rotatably provided on the base, and a joint part rotatably connecting the two arm bodies adjacent to the plurality of arm bodies. And a plurality of arms provided on the plurality of body parts.
The invention according to claim 2 is characterized in that the joint portion includes at least a servo motor and a speed reduction mechanism.
The invention according to claim 3 is characterized in that the speed reduction mechanism is a wave gear.
The invention according to claim 4 is characterized in that the joint portion is constituted at least by an actuator in which the motor and the speed reduction mechanism are integrated.
The invention according to claim 5 is characterized in that the rotation center of the actuator is hollow.
According to a sixth aspect of the present invention, a linear body is inserted through the hollow portion of the actuator.
The invention according to claim 7 is characterized in that the linear body is a power line or a signal line of the actuator.
The invention according to claim 8 is characterized in that the linear body is a power line of an end effector.
The invention according to claim 9 is characterized in that the linear body is a signal line of an end effector.
The invention according to claim 10 is characterized in that the linear body is an air pipe of an end effector.
The invention according to claim 11 is characterized in that the linear body is a paint pipe.
The invention according to claim 12 is characterized in that the linear body is a pipe for water for welding.
The invention according to claim 13 is characterized in that the linear body is a wiring for welding.
The invention according to claim 14 is characterized in that the linear body is a pipe for sealing.
The invention according to claim 15 is characterized in that the axial centers of the first axes located at the base end of the arm of the arm body are arranged substantially in parallel.
The invention according to claim 16 is characterized in that the inclination of the rotation axis of the adjacent joint is 90 degrees.
The invention according to claim 17 is characterized in that the linear body is connector-connected at least inside the arm body.
The invention according to claim 18 is characterized in that a controller is provided in the body part or the base part.
The invention described in claim 19 is characterized in that a work table is provided in the body portion or the base portion.
The invention as set forth in claim 20 is characterized in that the work table is stored in the body part or the base part.
Further, the invention according to claim 21 is a base, and a body part that is turnably provided on the base,
A controller provided in the body part or the base, a hollow actuator provided in the body part for rotatably connecting the arm bodies and the arm body, and a hollow portion of the hollow actuator. A plurality of arms composed of at least a linear body connected to the connector inside the arm body,
The axial centers of the first axes located at the base ends of the arms of the arm body are arranged substantially in parallel,
The adjacent hollow actuators are arranged so that the inclinations of the rotation axes thereof are different by 90 degrees.
The invention described in claim 22 is characterized in that the arm has seven degrees of freedom.
The invention described in claim 23 is characterized in that a work table is provided in the body part or the base part.
The invention described in claim 24 is characterized in that the work table is stored in the body part or the base part.

According to the first and second aspects of the present invention, since a plurality of arms are provided, work efficiency is good.
According to the invention described in claims 2, 3, and 21, since the motor and the speed reduction mechanism are housed in the joint portion, it is compact.
According to the invention described in claims 4 to 14 and 21, since the joint portion, the motor and the speed reduction mechanism are composed of an integrated actuator, the arm is compactly constructed in the joint rotation axis direction. The size can be reduced, and installation in a narrow space is possible.
According to the fifteenth and twenty-first aspects of the present invention, since the axial centers of the first shafts of the arm body are arranged substantially in parallel, the torque acting on the positioning shaft is reduced even when the arm is extended. it can.
Further, according to the inventions of claims 16 and 21, teaching can be performed efficiently because it is close to the same teaching operation method as a conventional industrial robot.
Further, according to the inventions of claims 17 and 21, since the linear body is detachably coupled by at least one joint portion, the hollow portion only needs to be considered, and the maximum is possible regardless of the connector size. It becomes possible to arrange a limited number of cables.
Moreover, according to the invention of Claims 18 and 21, since the controller is provided in the body part, it is compact.
Moreover, according to the 19th and 23rd inventions, parts can be temporarily placed on the work table, so that work efficiency is good.
Further, according to the invention described in claims 20 and 24, when the work is not performed, the work table can be stored, so that the space can be saved.
According to the twenty-second aspect of the present invention, since there are seven degrees of freedom, the degree of freedom of the arms is large.

The front view of the manipulator apparatus which shows the Example of this invention Longitudinal sectional view of arm of manipulator of the present invention Side sectional view of a manipulator device showing an embodiment of the present invention Side sectional view of a conventional manipulator device

Explanation of symbols

C1 1st arm body C2 2nd arm body C3 3rd arm body C4 4th arm body C5 5th arm body C6 6th arm body C7 7th arm body (end effector)
7 pivot axis 8 base 9 body 5a first arm 5b second arm 10 J2 axis linear body 11a connector 11b connector 12 J2 axis reduction gear part 13 J2 axis motor part 14 J2 axis servo motor 15 J2 axis hollow hole J1 joint Axis J2 Joint axis J4 Joint axis J5 Joint axis J6 Joint axis J7 Joint axis 101 J1 axis servo motor 301 J3 axis servo motor 401 J4 axis servo motor 501 J5 axis servo motor 601 J6 axis servo motor 701 J7 axis servo motor 102 J1 axis deceleration 202 J2 axis reducer 302 J3 axis reducer 402 J4 axis reducer 502 J5 axis reducer 602 J6 axis reducer 702 J7 axis reducer 103 J1 axis hollow hole 303 J3 axis hollow hole 403 J4 axis hollow hole 503 J5 axis hollow Hole 603 J6 axis hollow hole 703 J7 axis hollow hole 104 J1 axis linear body 204 J3 axis linear body 30 J4 axis linear member 404 J5 axis shaped body 504 J6 axis shaped body 604 J7 axis linear body

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a front view of an articulated manipulator of the present invention. In FIG. 1, a body 9 installed on a base 8 is pivotally supported on the base 8 and can be pivotably positioned by a servo motor and a speed reducer. 5a is a first arm and 5b is a second arm. Inside the body 9, the controller of the robot of the present invention is built. Further, the body 9 is provided with a work table (not shown) for the robot to perform operations such as assembly, and can be stored in the body 9. The storage is performed by a storage drive device, but may be performed using the robot's own arm without providing the storage device.
Hereinafter, the detailed structure of the arm will be described. However, as will be described later, the arm structure shown in FIG. 1 (FIG. 3) is not shown.

FIG. 2 is a longitudinal sectional view in a state where the first arm is extended forward, in which the joint axis J1 corresponds to the proximal end side (base) of the arm and J7 corresponds to the distal end side.
In FIG. 2, C1 is a first arm body, C2 is a second arm body, C3 is a third arm body, C4 is a fourth arm body, and C5 is a fifth arm body. C6 is a sixth arm body, and C7 is a seventh arm body (end effector).

The first arm body C1 rotates about the joint axis J1, the second arm C2 rotates about the joint axis J2, the third arm C3 rotates about the joint axis J3, and the fourth arm C4 rotates about the joint axis J4, the fifth arm C5 rotates about the joint axis J5, and the sixth arm C6 rotates about the joint axis J6. The seventh arm C7 rotates about the joint axis J7.
Depending on the application, positioning is possible without the J3 axis.

  Joint axis J1 and joint axis J2, joint axis J2 and joint axis J3, joint axis J3 and joint axis J4, joint axis J4 and joint axis J5, joint axis J5 and joint axis J6, joint axis J6 and joint axis J7 are orthogonal to each other Is configured to do. According to the present axis configuration, since the operation is orthogonal to the axis that supports the operation axis, the teaching method is close to the same teaching operation method as that of a conventional industrial robot, and teaching can be performed efficiently. Further, the rotation centers of the joint axis J1, the joint axis J3, the joint axis J5, and the joint axis J7 are configured to be on the same line when standing upright. According to this shaft configuration, the minimum size is required for installation in a narrow space. That is, the projected area from the top view of the manipulator is minimized. However, it is also possible to give an offset dimension to the respective rotation centers of the joint axis J1, the joint axis J3, the joint axis J5, and the joint axis J7. FIG. 1 shows a configuration when an offset is given to J1.

The joint axis J1 (first axis) is driven by the servo motor 101 via the speed reducer 102, and the rotation centers of the servo motor 101 and the speed reducer 102 coincide with the rotation axis of the joint axis J1. A hollow hole 103 is opened at the rotation center of the servo motor 101 and the speed reducer 102, and a linear body 104 is provided.
The joint axis J2 (second axis) is driven by the servo motor 14 via the speed reducer 12, and the rotation centers of the servo motor 14 and the speed reducer 12 coincide with the rotation axis of the joint axis J2. A hollow hole 15 is opened at the rotation center of the servo motor 14 and the speed reducer 12, and the linear body 10 is disposed.
The joint axis J3 (third axis) is driven by the servo motor 301 via the speed reducer 302, and the rotation centers of the servo motor 301 and the speed reducer 302 coincide with the rotation axis of the joint axis J3. A hollow hole 303 is opened at the center of rotation of the servo motor 301 and the speed reducer 302, and a linear body 304 is provided.
The joint axis J4 (fourth axis) is driven by the servo motor 401 via the speed reducer 402, and the rotation centers of the servo motor 401 and the speed reducer 402 coincide with the rotation axis of the joint axis J4. A hollow hole 403 is opened at the center of rotation of the servo motor 401 and the speed reducer 402, and a linear body 404 is disposed.
The joint axis J5 (fifth axis) is driven by the servo motor 501 via the speed reducer 502, and the rotation centers of the servo motor 501 and the speed reducer 502 coincide with the rotational axis of the joint axis J5. A hollow hole 503 is opened at the center of rotation of the servo motor 501 and the speed reducer 502, and a linear body 504 is disposed.
The joint axis J6 (sixth axis) is driven by the servo motor 601 via the speed reducer 602, and the rotation centers of the servo motor 601 and the speed reducer 602 coincide with the rotational axis of the joint axis J6. A hollow hole 603 is opened at the rotation center of the servo motor 601 and the speed reducer 602, and a linear body 604 is disposed.
The joint axis J7 (seventh axis) is driven by a servo motor 701 via a speed reducer 702, and the rotation centers of the servo motor 701 and the speed reducer 702 coincide with the rotation axis of the joint axis J7. A hollow hole 703 is opened at the rotation center of the servo motor 701 and the speed reducer 702, and a linear body is disposed.
The linear bodies are linear bodies such as actuator power lines and signal lines, end effector power lines, signal lines, air, seal coating pipes, welding primary cables, and ground wires.

Usually, the working area of an industrial robot is important in the forward movement area. In order to maintain the “learn before” posture, gravity torque acts on the basic shaft for positioning, and the frame of the motor and the speed reducer used for each joint has become large. According to the arm configuration of the present invention, as shown in FIG. 2, even if gravity acts in the X direction in the most extended posture, it is perpendicular to each rotary joint, so the speed reducer and motor capacity of each joint are reduced. Even a highly portable double arm can be provided. Further, since only a horizontal operation can be performed with this posture alone, when using a reduction gear or a motor with a smaller capacity, an operation restriction may be provided for each joint axis. In this case, since the increasing rate of the operating angle is larger than the increasing rate of the gravitational torque by the COS function, it is possible to efficiently limit the operation.

In the most effective embodiment, it is desirable that the rotation axis of the first axis of the arm is substantially parallel to each other. May be installed.

Since all the joints do not have a gear mechanism having a parallel axis and an angle between the servo motor and the speed reducer, a quiet operation is possible even if the motor rotates at high speed. Further, since flat actuators are used for all the axes, the arm width dimensions A, B, and C in the X direction shown in FIG. 2 can be shortened, so that the interference between the arms can be reduced, and the peripheral tools and workpieces It has a configuration with dramatically improved accessibility.
In addition, the motor of each joint can have an outer dimension close to the outer diameter of the speed reducer, and the diameters of the motor magnet and core can be greatly increased, resulting in a large output motor, driving load of the actuator, It became possible to increase speed and acceleration.

  The linear bodies disposed in the hollow hole portions of the joints are connected by the connectors before being disposed in the hollow holes of the adjacent shafts. For example, in the case of the J2 axis, both ends of the linear body 10 are joined to the linear body 104 that has passed through the J1 axis and the linear body 304 that has passed through the J3 axis by connectors 11a and 11b, respectively. For this reason, in order to let a large sized connector pass, the restriction | limiting in the number of cables which can be arrange | positioned in a hollow part is prevented. In addition, when there are few application cables, it is not necessary to relay by a connector, and you may relay by arbitrary joint parts. This is because the J1 axis passes through the cables from J2 to J7, so there are many actuator driving cables, but the application cable occupies a larger proportion of the tip axis.

Thus, since a required cable is arrange | positioned in an actuator hollow part, it may be determined by a required hollow diameter rather than the capacity | capacitance of a reduction gear or a motor. In other cases, it is possible to configure at least the J1 axis to the J3 axis with a wave gear device harmonic drive (registered trademark) with the same capacity by adopting a lightweight material for the arm or by providing an operating angle limit. Therefore, it is possible to provide a manipulator having a small arm outer shape, no interference between the arms, and dramatically improved accessibility to peripheral jigs and workpieces.
In the above embodiment, the case of two arms has been described, but a plurality of arms may be used.
Further, the controller of the robot may be provided inside the base instead of the body 9.

Claims (24)

The base,
A body portion provided on the base so as to be pivotable;
An arm provided on a plurality of the body parts configured at least from a plurality of arm bodies and a joint part rotatably connecting the two adjacent arm bodies;
A robot characterized by comprising The robot according to claim 1, wherein the joint portion includes at least a servo motor and a speed reduction mechanism. The robot according to claim 2, wherein the speed reduction mechanism is a wave gear. The robot according to claim 2, wherein the joint portion includes at least an actuator in which the motor and the speed reduction mechanism are integrated. The robot according to claim 4, wherein the actuator has a hollow center of rotation. The robot according to claim 5, wherein a linear body is inserted into a hollow portion of the actuator. The robot according to claim 6, wherein the linear body is a power line or a signal line of the actuator. The robot according to claim 6, wherein the linear body is a power line of an end effector. The robot according to claim 6, wherein the linear body is a signal line of an end effector. The robot according to claim 6, wherein the linear body is an air pipe for an end effector. The robot according to claim 6, wherein the linear body is a paint pipe. The robot according to claim 6, wherein the linear body is a water pipe for welding. The robot according to claim 6, wherein the linear body is a wiring for welding. The robot according to claim 6, wherein the linear body is a pipe for sealing. The robot according to claim 6, wherein the axes of the first axes positioned at the base ends of the arms of the arm body are arranged substantially in parallel. The robot according to claim 15, wherein an inclination of a rotation axis of adjacent joints is 90 degrees. The robot according to claim 6, wherein the linear body is connector-connected at least inside the arm body. The robot according to claim 16, wherein a controller is provided in the body part or the base part. The robot according to claim 18, wherein a work table is provided on the body part or the base part. The robot according to claim 19, wherein the work table is stored in the body part or the base part. The base,
A body portion provided on the base so as to be pivotable;
A controller provided in the body or the base;
A hollow body that is provided in the body portion and is connected to a plurality of arm bodies and a hollow actuator for rotatably connecting the arm bodies, and a linear body that is inserted into a hollow portion of the hollow actuator and is connected to a connector inside the arm body. A plurality of arms composed of at least
The axial centers of the first axes located at the base ends of the arms of the arm body are arranged substantially in parallel,
A robot, wherein the hollow actuators adjacent to each other are arranged so that inclinations of rotation axes thereof are different by 90 degrees. The robot according to claim 21, wherein the arm has seven degrees of freedom. The robot according to claim 22, wherein a work table is provided in the body part or the base part. The robot according to claim 23, wherein the work table is stored in the body part or the base part.

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