WO1997039859A1 - Robot dote d'un outil d'asservissement au niveau de l'extremite frontale de son poignet - Google Patents
Robot dote d'un outil d'asservissement au niveau de l'extremite frontale de son poignet Download PDFInfo
- Publication number
- WO1997039859A1 WO1997039859A1 PCT/JP1997/001443 JP9701443W WO9739859A1 WO 1997039859 A1 WO1997039859 A1 WO 1997039859A1 JP 9701443 W JP9701443 W JP 9701443W WO 9739859 A1 WO9739859 A1 WO 9739859A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- servo
- robot
- arm
- tool
- axis
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Definitions
- the present invention relates to an industrial robot, and more particularly, to a robot using a tool driven by a servo such as a servo hand or a servo gun at a tip end of a wrist.
- a servo such as a servo hand or a servo gun
- a robot In general, a robot is usually used with various tools attached to the tip of the wrist. Some of these tools include a servo drive axis (ie, a servo controlled drive axis) for its own operation, such as a servo hand or a servo gun. Hereinafter, such a tool is referred to as a “servo tool”.
- a servo drive axis ie, a servo controlled drive axis
- a servo tool such as a servo hand or a servo gun
- the basic axis for the operation of the robot body for example, six axes for a 6-axis robot
- An additional axis was provided, and this additional axis was used for driving the servo tool.
- the robot having a servo tool at the tip of the wrist includes: a servo tool operatively connected to the final wrist axis; a servomotor used as a drive source of the final wrist axis; and a servomotor.
- the drive source diverting means has a switching mechanism operatively coupled to the output shaft of the servomotor, and the switching mechanism uses the servomotor as a drive source for the servo tool and a servomotor. It operates in a non-diverting mode in which the is used as a drive source for the final wrist axis.
- Switching control between the diversion mode and the non-diversion mode of the switching mechanism can be performed by a robot control device that controls the robot.
- a position detector that directly detects the position is provided, and its output is sent to a robot controller, which is used for controlling the servo tool. This is preferred.
- Servo hands and servo guns are typical examples of servo tools suitable for such drive source conversion.
- an electromagnetic clutch can be used as a switching mechanism for easily switching between the diversion mode and the non-diversion mode.
- Figure 1 is a perspective view of a robot with six drive axes that are servo-controlled
- FIG. 2A is a conceptual diagram showing the servo hand connected to the final wrist axis according to the first embodiment of the present invention.
- FIG. 2B is a conceptual diagram showing the servo hand shown in FIG. 2A from the side.
- FIG. 3 is a conceptual diagram showing a servo gun coupled to a final wrist axis according to a second embodiment of the present invention.
- FIG. 4 is a main block diagram showing a configuration of a robot control device usable in each embodiment of the present invention.
- a robot main body 1 has six drive shafts J 1 to J 6 controlled by a servo, and a three-axis J 4 of a wrist 1a.
- the servo tool is attached to the final wrist axis J6 of J6.
- the servo hand 10 shown in FIGS. 2a and 2b as a servo tool is mounted on the final wrist axis J6 of the six-axis robot shown in FIG.
- the servomotor M6 is shared by the drive source of the final wrist axis (sixth axis J6) and the drive source of the servohand of the 6-axis robot shown in FIG.
- the operation of the servo motor M 6 is controlled by the robot controller 30 in the same manner as the servo motors M 1 to M 5 (see FIG. 4) that drive the other robot axes J 1 to J 5. Is controlled.
- a pulse coder (position detector) 11 is coupled to the output shaft of the servomotor M6. Pulse coder 1 1 output Is sent to the robot controller 30 as a feed knock signal, and is used for controlling the servo motor M6.
- the output shaft 12 of the servo motor M 6 is connected to the speed reducer 13, and the output shaft 14 of the speed reducer 13 is fixed to the second arm 20 and laid.
- a second hollow clutch 16 is attached to the second arm 20 so as to face the first arm 18, and a fixed portion (nosing) of the speed reducer 13 is provided with:
- a first hollow clutch 15 is attached so as to face the first arm 18.
- the first arm 18 is allowed to rotate around the axis J 6 and to slide along the axis J 6 via the bearing 17 inserted into the output shaft 14 of the speed reducer 13. Is supported.
- the first and second hollow clutches 16 and 15 are each constituted by an electromagnetic clutch provided with an exciting coil and are arranged so as to be symmetrical with respect to the first arm 18. .
- the robot control device 30 excites the command E 1 for exciting the coil of the first hollow clutch 15 or the coil of the second hollow clutch 16.
- Command E 2 is output alternatively. That is, the coils of both hollow clutches 15 and 16 are not excited simultaneously.
- the first and second arms 18 and 20 are driven integrally with the drive axis J 5 immediately before the final wrist axis J 6. That is, no relative rotational displacement of the second arm 20 with respect to the first arm 18 occurs, and no approach / separation movement between the tips 19 and 21 occurs. That is, the output of the command E 2 In this state, the first and second arms 18 and 2 do not function as servo hands, and Even if the data M6 is rotated, only the posture of the robot hand composed of the arms 18 and 20 changes (non-reuse mode).
- the operation mode of the servo hand and the 6-axis robot are controlled.
- the open / close position of the sub-hand 10, which can select one of the normal modes that operate as a bot, is relative to the tip of the first arm 18 and the end of the second arm 20.
- the relative angle h is recognized by the robot control device 30 as the difference between the attitude of the first arm 18 and the second arm 20 around the axis J6.
- the output of the pulse coder 11 when the command E1 is output can be used.
- the pulse coder 11a and 11b are coupled to the edges of the first and second arms 18 and 20 via gears, etc.
- the rotational position of the second arms 18 and 20 around the axis J6 can be directly measured and output to the robot controller 30.
- a method of directly measuring the rotational position of the arms 18 and 20 around the axis J6 is advantageous for more accurately measuring the opening / closing position of the sub-hand.
- FIG. 3 a second embodiment of the present invention will be described with reference to FIG. 3.
- the wrist last of the 6-axis robot shown in FIG. The axis is equipped with a servo gun 40 as a servo tool.
- a servo gun 40 as a servo tool. Note that in FIG. 3, the same reference numerals are used to indicate elements that are common to the first embodiment.
- the servomotor M6 is shared by the drive source of the final wrist axis (sixth axis J6) and the drive source of the servo gun of the 6-axis robot shown in FIG. Like the servo motors Ml to M5 for driving the robot axes J1 to J5, they are controlled by a robot controller 30.
- the pulse coder 11 is connected to the rotation axis of the servo motor M6 and is output. The output of the pulse coder 11 is sent to the robot controller 30 as a feed knock signal, and is used for controlling the servo motor M6.
- the output shaft 12 of the servo motor M 6 is connected to the input shaft of the speed reducer 13, and the output shaft 14 of the speed reducer 13 is fixed to the pulley 22.
- a first hollow clutch 15 is mounted on a fixed portion (housing) of the reducer 13, and a second hollow clutch 16 is mounted on the pulley 22.
- a bearing 17 is inserted into the output shaft 14 of the speed reducer 13, and the main body 41 of the servo gun 40 is supported via the bearing 17 and the foot 41 a. This allows the servo gun body 41 to rotate around the axis J 6 and slide along the axis J 6.
- the second arm 20 is replaced by a pulley 22 and the first arm 18 includes a foot 41a. It has been replaced by the main body 41 of the sabogan.
- the servo gun 40 has a ball screw 42 penetrating through the servo gun body 41 and having an axis C 1 C parallel to the final wrist axis J 6, and a ball nut 4 3 screwed with the ball screw 4 2.
- a tip 44 for spot welding is attached to the tip of the ball screw 42, and a tip 45 facing the tip 44 is attached to the tip 41 b of the servo gun body 41. Installed.
- the pulley 22 and the nut 43 are connected via a transmission mechanism including a benolet 23.
- the first and second hollow clutches 15 and 16 are each constituted by an electromagnetic clutch having an exciting coil, and are symmetric with respect to the foot 41 a of the servo gun body 41. Be arranged.
- the robot controller 30 has a command F1 for exciting the coil of the first hollow clutch 15 or the second hollow clutch.
- the command F2 'for exciting the coil of the switch 16 is alternatively output.
- the coils of both hollow clutches 15 and 16 cannot be excited simultaneously.
- the operation mode of the servo gun and the six-axis robot are output. You can select one of the normal modes that operate as the default.
- the open / close position of the sabogan can be defined, for example, by the distance d between chips 44 and 45. This distance d is recognized by the robot controller 30 as a translational position along the axis C 1 C of the ball screw 42. To recognize the translation position of the ball screw 42, the output of the pulse coder 11 when the command F1 is output (when the belt 23 is running) can be used.
- a pulse coder 46 a for directly detecting the rotational position of the servo gun body 41 is provided.
- a pulse coder 46 b for directly detecting the rotational position of the nut 43 of the ball screw 42 may be provided, and their outputs may be sent to the robot controller 30.
- FIG. 4 is a block diagram of a main part of the configuration of a robot control device 30 usable in the above-described embodiment.
- the processor board 31 is equipped with a processor board 31.
- the processor board 31 has a central processing unit (CPU) 31a, a ROM 31b, and a RAM 3 consisting of a microprocessor. Have 1 c
- the CPU 31a controls the entire robot controller in accordance with the system program stored in the ROM 31b.
- the RAM 31c In the RAM 31c, created operation programs and various set values are stored.
- a part of RAM 31 c is used for temporary data storage for calculation processing performed by CPU 31 a.
- a hard disk device or the like prepared as appropriate as an external device is used for storing the program data and the set values.
- Digital servo control circuit 3 2 is processor board 3 It is connected to 1 and controls the servo motors M 1 to M 6 via the servo amplifier 33 in response to the command from the CPU 31 a.
- the servo motor M6 is used for driving the final wrist axis (the sixth axis in this case) and for driving the servo tools such as a sabohand and a sabogan.
- the other servo motors M1 to M5 drive the first to fifth axes of the robot, similarly to a normal robot.
- a serial port 34 is connected to the bus 37, and the serial port 34 is connected to a teaching operation panel 38 with a liquid crystal display, an RS232C device (communication interface). Face) 3 9 is connected.
- the teaching operation panel 38 is used to input programs such as operation programs, position data, and other necessary setting values.
- the bus 37 further includes an input / output device for digital signals (digital I / O) 35 and an input / output device for analog signals (analog IZO) 3. 6 are joined.
- the alternative command E 1 ZE 2 described in each of the above embodiments is provided by the CPU 31 a via the digital signal input / output device (digital I / O 0) 35.
- the robot of the present invention has a function of using the final wrist axis as a drive axis of a servo tool. Therefore, it is possible to equip the robot with a servo tool such as a servo hand / servo gun without providing a dedicated additional axis, which is very economically advantageous.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP97919688A EP0846529A4 (en) | 1996-04-24 | 1997-04-24 | ROBOT WITH A SERVO DEVICE AT THE DEMANDING END OF THE WRIST |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8/126353 | 1996-04-24 | ||
JP8126353A JPH09290381A (ja) | 1996-04-24 | 1996-04-24 | サーボツールを手先部に装備したロボット |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997039859A1 true WO1997039859A1 (fr) | 1997-10-30 |
Family
ID=14933088
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1997/001443 WO1997039859A1 (fr) | 1996-04-24 | 1997-04-24 | Robot dote d'un outil d'asservissement au niveau de l'extremite frontale de son poignet |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0846529A4 (ja) |
JP (1) | JPH09290381A (ja) |
WO (1) | WO1997039859A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102615652B (zh) * | 2012-04-13 | 2014-06-04 | 中国科学院合肥物质科学研究院 | 基于双电磁离合器的二自由度机器人关节 |
JP7216479B2 (ja) * | 2018-03-28 | 2023-02-01 | ダイハツ工業株式会社 | スポット溶接装置 |
CN112659095A (zh) * | 2020-12-22 | 2021-04-16 | 福建诚壹实业有限公司 | 一种低温冷库用高架上货天花板机械手 |
DE102021108201B3 (de) * | 2021-03-31 | 2022-07-07 | Fft Produktionssysteme Gmbh & Co. Kg | System und Verfahren zur Abarbeitung einer Montageaufgabe mittels eines Roboters |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60161081A (ja) * | 1984-01-30 | 1985-08-22 | 株式会社日立製作所 | サ−ボマニプレ−タの制御機構 |
JPH04183590A (ja) * | 1990-11-16 | 1992-06-30 | Mitsubishi Electric Corp | 把持装置 |
JPH06114763A (ja) * | 1992-10-02 | 1994-04-26 | Canon Inc | ロボット可動部の位置決め方法及びその装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2225476C3 (de) * | 1972-05-25 | 1975-04-24 | Engel, Heinrich, 6407 Schlitz | Betätigungsvorrichtung |
DE2513539A1 (de) * | 1975-03-26 | 1976-10-14 | Siemens Ag | Greifer fuer industrie-roboter |
FR2411061A1 (fr) * | 1977-12-07 | 1979-07-06 | Renault | Robot de soudure, pour l'assemblage par soudure par points de pieces de tolerie |
EP0076231A3 (de) * | 1981-09-24 | 1984-04-25 | Franz Schäfer | Verfahren und Einrichtung zum seriellen Bearbeiten und/oder zur Montage von Werkstücken |
DE3218769A1 (de) * | 1982-05-18 | 1983-11-24 | Mayon Electronic GmbH, 8034 Germering | Modulbaustein fuer einen roboterarm |
US4685861A (en) * | 1984-10-30 | 1987-08-11 | Michael Madock | Continuous shaft-driven industrial robot |
DE3504233A1 (de) * | 1985-02-07 | 1986-11-27 | KK Automation Klaus Th. Krämer GmbH & Co KG, 7107 Neckarsulm | Greiferarm fuer handhabungsgeraete |
-
1996
- 1996-04-24 JP JP8126353A patent/JPH09290381A/ja not_active Withdrawn
-
1997
- 1997-04-24 EP EP97919688A patent/EP0846529A4/en not_active Ceased
- 1997-04-24 WO PCT/JP1997/001443 patent/WO1997039859A1/ja not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60161081A (ja) * | 1984-01-30 | 1985-08-22 | 株式会社日立製作所 | サ−ボマニプレ−タの制御機構 |
JPH04183590A (ja) * | 1990-11-16 | 1992-06-30 | Mitsubishi Electric Corp | 把持装置 |
JPH06114763A (ja) * | 1992-10-02 | 1994-04-26 | Canon Inc | ロボット可動部の位置決め方法及びその装置 |
Also Published As
Publication number | Publication date |
---|---|
EP0846529A1 (en) | 1998-06-10 |
EP0846529A4 (en) | 1999-03-17 |
JPH09290381A (ja) | 1997-11-11 |
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