WO2017042878A1 - Bras de robot polyarticulé - Google Patents

Bras de robot polyarticulé Download PDF

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Publication number
WO2017042878A1
WO2017042878A1 PCT/JP2015/075436 JP2015075436W WO2017042878A1 WO 2017042878 A1 WO2017042878 A1 WO 2017042878A1 JP 2015075436 W JP2015075436 W JP 2015075436W WO 2017042878 A1 WO2017042878 A1 WO 2017042878A1
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WO
WIPO (PCT)
Prior art keywords
arm
arm member
joint
articulated robot
robot arm
Prior art date
Application number
PCT/JP2015/075436
Other languages
English (en)
Japanese (ja)
Inventor
長戸一義
平田周一
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to JP2017538502A priority Critical patent/JP6634088B2/ja
Priority to PCT/JP2015/075436 priority patent/WO2017042878A1/fr
Publication of WO2017042878A1 publication Critical patent/WO2017042878A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to an articulated robot arm that can easily find the origin.
  • the calibration jig used there is an auxiliary member such as an angle regulating plate, a positioning pin for regulating the angle of the joint axis, and an angle for regulating the angle of another joint axis with respect to the jig body made of a frame.
  • a contact plate is assembled.
  • JP 58-132493 A Japanese Patent Application Laid-Open No. 08-155866
  • an object of the present invention is to provide an articulated robot arm that can easily find the origin in order to solve such a problem.
  • An articulated robot arm includes a support member erected on a base member, a first arm member rotatably supported by a first joint with respect to the support member, and the first arm member And the first arm portion in a predetermined posture and a first positioning hole in which a first positioning pin can be simultaneously inserted into the supporting member. .
  • the basic posture of the articulated robot arm can be created by an easy operation of inserting the first positioning pin into the first positioning holes formed in the first arm member and the support member. Therefore, the origin can be found.
  • FIG. 4 is a partial cross-sectional view taken along line AA of the articulated robot arm shown in FIG. 3.
  • FIG. 4 is a partial cross-sectional view of the articulated robot arm shown in FIG.
  • an articulated robot arm that constitutes a conveying device for a processing machine line will be described as an example.
  • a processing machine line a plurality of machine tools that perform a series of processing on the workpiece are arranged in parallel, and the transfer device transfers the workpiece in order to each of the plurality of machine tools.
  • FIG. 1 and 2 are perspective views showing the transfer device.
  • FIG. 1 shows a state in which the articulated robot arm 5 is extended in order to transfer a workpiece to and from a machine tool.
  • FIG. 2 shows a state in which the articulated robot arm 5 is folded to move between the machine tools.
  • the articulated robot arm 5 according to the present embodiment is folded into a compact state by driving the joint mechanism, and can be operated at a distant position by the extended posture.
  • the transfer device 1 including the articulated robot arm 5 is assembled so as to move across the front of a plurality of machine tools arranged side by side. Specifically, it is assembled to the front portion of the base 8 on which the machine tool is mounted.
  • the illustrated base 8 is of a size that mounts two machine tools, and in the case of a processing machine line composed of more machine tools, an additional base 8 is installed close to the side. become.
  • the traveling device 3 is assembled to the base 8, and an articulated robot arm 5 is mounted on the traveling device 3.
  • the traveling device 3 has a rack 12 and two rails 13 fixed in a horizontal direction with respect to a support plate 11 fixed to the front surface portion of the base 8.
  • a traveling slider 14 (see FIG. 3) is integrally fixed to the traveling platform 15, and the traveling slider 14 is assembled so as to grip the rail 13 and slide.
  • the traveling table 15 is provided with a traveling motor 16, and a pinion 17 fixed to the rotating shaft meshes with the rack 12. Accordingly, the pinion 16 that is rotated by the driving of the traveling motor 17 rolls on the meshing rack 12, and the traveling table 15 moves along the rail 13 on the front surface portion of the base 8.
  • the articulated robot arm 5 is mounted on the traveling platform 15 via a turning table 18.
  • the articulated robot arm 5 enables delivery of a machine tool and a workpiece within a narrow width dimension.
  • a total of four rails 81 are laid on the base 8 so that two machine tools can be mounted. Therefore, the machine tool has a reduced width so as to fit within the width of the two rails, and the articulated robot arm 5 is designed so that workpieces can be delivered in a narrow internal space of such a machine tool. Is.
  • an upper arm member 22 is connected to a support base 21 fixed to the turning table 18 via a first joint mechanism 23, and a forearm member 25 is connected to the upper arm member 22 with a second joint mechanism 26. It is connected through.
  • the support base 21 has a pair of support plates 211 erected, and the upper arm member 22 is formed with a pair of upper arm plates 221 corresponding to the pair of support plates 211.
  • the plates 211 and 221 are connected to each other by a joint shaft, and the angle of the upper arm member 22 is adjusted by driving the first joint mechanism 23.
  • a space is formed between the pair of upper arm plates 221, and the forearm member 25 is configured to enter the space.
  • the forearm member 25 is formed with a pair of parallel forearm plates 251 on the left and right, and the forearm plate 251 and the upper arm plate 221 are connected by a joint shaft. Therefore, the angle of the forearm member 25 relative to the upper arm member 22 is adjusted by driving the second joint mechanism 26.
  • FIG. 3 is a side view showing the articulated robot arm 5, and particularly shows the basic posture of the articulated robot arm 5 in which the upper arm member 22 and the forearm member 25 are folded.
  • 4 is a partial cross-sectional view taken along the line AA of the articulated robot arm 5 shown in FIG. 3
  • FIG. 5 is a view taken along the line BB of the articulated robot arm 5 shown in FIG. FIG.
  • the first joint mechanism 23 has a first joint motor 31 fixed to a support plate 211, and a timing belt between a pulley 32 on the rotating shaft side and a pulley 34 on the shaft 33 side. 35 is passed.
  • the shaft 33 is connected to the upper arm plate 221 through a speed reducer 36.
  • a joint shaft 37 is formed on the opposite side between the support plate 211 and the upper arm plate 221 so as to be coaxial with the shaft 33. Therefore, the drive of the first joint motor 31 is transmitted to the upper arm plate 221 via the timing belt 35 and the speed reducer 36, and the angle of the upper arm member 22 with respect to the support base 21 is adjusted according to the rotation output.
  • the second joint mechanism 26 has the second joint motor 41 fixed to the forearm plate 251, and the rotation shaft thereof is connected to the speed reducer 43 via the shaft 42.
  • the reduction gear 43 is provided between the upper arm plate 221 and the forearm plate 251, and is configured such that the rotation of the second joint motor 41 is transmitted to the forearm plate 252 via the reduction gear 43.
  • a joint shaft 44 is formed coaxially with the shaft 42 on the opposite side between the upper arm plate 221 and the forearm plate 251. Therefore, the angle adjustment of the forearm member 25 with respect to the upper arm member 22 is performed according to the rotation output of the second joint motor 41.
  • a robot hand 28 is attached to the end of the forearm member 25 that is the tip of the articulated robot arm 5.
  • the robot hand 28 is rotatably attached via a bearing member 45 formed between the robot arm 28 and the forearm plate 251, and the rotation of a hand motor 46 fixed to the forearm member 25 is attached to the bearing member 45 by the belt 47. It is comprised so that it may be transmitted via. Therefore, the angle of the robot hand 28 is adjusted according to the rotation output by driving the hand motor 46.
  • the articulated robot arm 5 is driven by the upper arm member 22, the forearm member 25, and the robot hand 28, which are movable parts, to perform work in a predetermined posture.
  • the orientation of the workpiece is indexed. Therefore, in order for the multi-joint robot arm 5 to work accurately, the rotation positions of the output shafts of the first joint motor 31, the second joint motor 41, and the hand motor 46, the upper arm member 22, the forearm member 25, and The angle (posture) of the robot hand 28 must match.
  • the origin is determined with the rotation positions of the first joint motor 31, the second joint motor 41, and the hand motor 46 in the basic posture of the multi-joint robot arm 5 shown in FIG. It is configured as follows.
  • the basic posture of the articulated robot arm 5 must be constant, but in this embodiment, the basic posture can be created with a simple configuration by pinning. That is, in the past, a level and a complicated calibration jig were used, but instead of them, the origin search is realized by a simple structure.
  • the support plate 211 and the upper arm plate 221 overlap in the rotation axis direction around the joint axis in the first joint portion in which the first joint mechanism 23 is configured. Even in the second joint portion where the second joint mechanism 26 is configured, the upper arm plate 221 and the forearm plate 251 overlap in the direction of the rotation axis around the joint axis. Therefore, a fixed basic posture can be created by constraining the support plate 211 and the upper arm plate 221 at the first joint portion and the upper arm plate 221 and the forearm plate 251 at the second joint portion simultaneously with the pins.
  • the first positioning pin 51 is inserted below the upper arm member 22, and the second positioning pin 52 is inserted above.
  • Yes. 4 and 5 show cross sections of the insertion portion of the first positioning pin 51 or the second positioning pin 52, respectively.
  • the upper arm plate 221 has a through hole 225 in the horizontal direction parallel to the rotation axis
  • the support plate 211 has a bottomed hole 215 in the horizontal direction.
  • the through hole 225 and the bottomed hole 215 have the same diameter, and are configured as one first positioning hole 61 by being overlapped on the same axis in the basic posture.
  • the 1st positioning pin 51 is inserted with respect to the 1st positioning hole 61 so that it may show in figure.
  • the upper arm plate 221 is formed with a through hole 227 in the horizontal direction parallel to the rotation axis
  • the forearm plate 251 is also formed with a bottomed hole 257 in the horizontal direction.
  • the through hole 227 and the bottomed hole 257 have the same diameter, and are configured as one second positioning hole 62 by being overlapped on the same axis in the basic posture.
  • the second positioning pin 52 is inserted into the second positioning hole 62 as illustrated.
  • a stopper 53 is detachably fixed to the forearm member 25, and the main body 281 of the rotating robot hand 28 is brought into contact with the stopper 53 by taking the basic posture shown in FIG.
  • the articulated robot arm 5 stands up as shown in FIGS.
  • the forearm member 25 is accommodated in the upper arm member 22.
  • the first positioning hole 61 is coaxially overlapped with the through holes
  • the first positioning pin 51 is inserted into the hole 215 and the bottomed hole 215, and the second positioning pin 52 is inserted into the second positioning hole 62 with respect to the through hole 227 and the bottomed hole 257 that are coaxially stacked. Is inserted.
  • the multi-joint robot arm 5 maintains the basic posture even when the power is turned on, and the rotation positions of the first joint motor 31 and the second joint motor 41 that do not rotate are set to zero degrees (origin).
  • the robot hand 28 is rotated by turning on the power to the hand motor 46 and the main body 281 is brought into contact with the stopper 53.
  • the rotation position of the hand motor 46 applied to the stopper 53 is set as zero degrees (origin).
  • the operator aligns the positions of the through hole 225 and the bottomed hole 215, and the through hole 227 and the bottomed hole 257, respectively, and the first positioning pin 51 is in the first positioning hole 61.
  • the origin can be easily found simply by inserting the second positioning pins 52 into the second positioning holes 62, respectively.
  • there is no variation in the basic posture of the articulated robot arm 5 by each worker and an accurate home position can always be obtained by anyone.
  • the articulated robot arm 5 is configured such that the support plate 211 and the upper arm plate 221, and the arm plate 221 and the forearm plate 251 overlap each other in the rotation axis direction. Suitable for adopting the structure for.
  • the origin of the robot hand 28 is determined by the stopper 53 that is detachably fixed to the forearm member 25, accurate origin determination is always possible without any variation among operators.
  • the articulated robot arm may have a structure different from that of the above embodiment, and the positioning hole and the positioning pin may be formed according to the structure of the articulated robot arm.
  • the first positioning hole 61 or the second positioning hole 62 may be used as a through hole, and the cross section of the hole or pin may be used. May be a square shape such as a square instead of a circle.
  • the first positioning pin 51 and the second positioning pin 52 in the normal state are extracted and stored, but are always inserted into the through holes 225 and 227 of the upper arm plate 221, and the origin You may make it the push type inserted in the bottomed holes 215,257 at the time of taking out.

Abstract

La présente invention concerne un bras de robot polyarticulé (5), pour lequel la détermination d'origine est facile, qui comprend : un élément de support (21) érigé sur un élément de base (15) ; un premier élément de bras (22) supporté en rotation par rapport à l'élément de support (21) par une première articulation (23) ; et de premiers trous de détermination de position (61: 215, 225), qui sont formés dans une partie de la première articulation (23) dans laquelle se chevauchent le premier élément de bras (22) et l'élément de support (21) et dans lesquels une première goupille de détermination de position (51) peut être insérée en même temps dans le premier élément de bras (22) et l'élément de support (21) à une orientation spécifiée.
PCT/JP2015/075436 2015-09-08 2015-09-08 Bras de robot polyarticulé WO2017042878A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2017538502A JP6634088B2 (ja) 2015-09-08 2015-09-08 多関節ロボットアーム
PCT/JP2015/075436 WO2017042878A1 (fr) 2015-09-08 2015-09-08 Bras de robot polyarticulé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/075436 WO2017042878A1 (fr) 2015-09-08 2015-09-08 Bras de robot polyarticulé

Publications (1)

Publication Number Publication Date
WO2017042878A1 true WO2017042878A1 (fr) 2017-03-16

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PCT/JP2015/075436 WO2017042878A1 (fr) 2015-09-08 2015-09-08 Bras de robot polyarticulé

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JP (1) JP6634088B2 (fr)
WO (1) WO2017042878A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020165989A1 (fr) * 2019-02-14 2020-08-20 株式会社Ｆｕｊｉ Robot à articulations multiples
CN112469533A (zh) * 2018-07-24 2021-03-09 株式会社富士 工件自动输送机

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61294510A (ja) * 1985-06-24 1986-12-25 Nissan Motor Co Ltd 絶対位置検出装置
JPS6352206A (ja) * 1986-08-21 1988-03-05 Mitsubishi Electric Corp サ−ボ制御装置
JPH04306705A (ja) * 1991-04-03 1992-10-29 Seiko Epson Corp キャリブレーション方法
JP2005028529A (ja) * 2003-07-08 2005-02-03 Yaskawa Electric Corp 産業用ロボットの原点位置合わせ装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4055691B2 (ja) * 2003-10-03 2008-03-05 松下電器産業株式会社 産業用ロボット
JP2006289588A (ja) * 2005-04-14 2006-10-26 Matsushita Electric Ind Co Ltd 産業用ロボットの原点調整方法
JP5199815B2 (ja) * 2008-10-08 2013-05-15 川崎重工業株式会社 原点位置調整機構、及びロボット
WO2013099104A1 (fr) * 2011-12-28 2013-07-04 パナソニック株式会社 Bras de robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61294510A (ja) * 1985-06-24 1986-12-25 Nissan Motor Co Ltd 絶対位置検出装置
JPS6352206A (ja) * 1986-08-21 1988-03-05 Mitsubishi Electric Corp サ−ボ制御装置
JPH04306705A (ja) * 1991-04-03 1992-10-29 Seiko Epson Corp キャリブレーション方法
JP2005028529A (ja) * 2003-07-08 2005-02-03 Yaskawa Electric Corp 産業用ロボットの原点位置合わせ装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112469533A (zh) * 2018-07-24 2021-03-09 株式会社富士 工件自动输送机
WO2020165989A1 (fr) * 2019-02-14 2020-08-20 株式会社Ｆｕｊｉ Robot à articulations multiples
JPWO2020165989A1 (ja) * 2019-02-14 2021-09-09 株式会社Ｆｕｊｉ 多関節ロボット
JP7198568B2 (ja) 2019-02-14 2023-01-04 株式会社Fuji 多関節ロボット

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JPWO2017042878A1 (ja) 2018-06-21
JP6634088B2 (ja) 2020-01-22

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