JPH06262556A - Arm of horizontal articulated type robot - Google Patents

Abstract

PURPOSE:To provide a horizontal articulated type robot arm capable of making the structure of a fulcrum shaft or the like supporting a first arm lighter in weight, and less in its turning friction, capable of teaching direct by an operation and making miniaturization, and therefore excellent in economical efficiency, controllability and installability. CONSTITUTION:In a horizontal articulated type robot with a first arm 4 rotatable in a horizontal plane, a second arm 7 attached to a horizontal turning block 6 pivoted to a tip of this first arm 4, and a hand supporting block 12 at a tip of this second arm 7, it is provided with each base horizontal axis pivoted to this horizontal turning block 6 in a vertically paired manner, the second arm 7 forming two vertically paired parallel lings each other, whose respective bases are supported by these base horizontal axes, and pivotally supporting the hand supporting block 12 via two end horizontal supporting axes 13 and 11 at the tip part, and a motor turning the base horizontal axes of the second arm 7, respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an arm of a horizontal articulated robot.

[0002]

2. Description of the Related Art Recently, industrial robots are widely used in various fields. For example, as shown in the side view of FIG. 4 (A), a rotatable post is provided on a base installed on the floor. Horizontal articulated robots are known. That is, in the figure, 01 is placed on a base 02, and within a predetermined rotation range θ is a rotatable post, and a rotation mechanism 03 for rotating this is shown.
Is provided inside the base 02. 04 is post 01
It is a horizontally rotatable first arm supported by a support shaft 05 inserted from above in the upper part, a horizontally rotatable second arm 06 is attached to its tip, and a wrist 07 is attached to this tip. Is provided inside the post 01, and the support shaft 05 is moved up and down within a predetermined range Z so that the first arm 0
An elevating mechanism 08 for controlling the height of No. 4 is provided.

In the partially-enlarged vertical sectional view of the same drawing (B) showing the details of the lifting mechanism 08, reference numeral 09 is a drive motor having a motor pulley 010, which is driven by the motor pulley 010, belt 011 and driving pulley 012. Rotate the threaded rod 013 of the nut and screw it into the nut 0
14 is moved up and down to drive the up and down movement of the support shaft 05. Then, at the lower end of the screw rod 013, the brake movable portion 01
5 is fixed, and a brake fixing part 016 for attracting the electromagnetic wave 5 by electromagnetic action to brake the rotation of the screw rod 013 is attached to the lower bottom part 017 of the base 02. In the brake of this type of lifting mechanism, the drive motor 09 stops and the support shaft 05
While holding a predetermined height, in order to prevent the position from moving due to external force, etc., the brake fixing part 01
6 sucks the brake movable portion 015, brakes the rotation of the screw rod 013, and stops the support shaft 05 at a predetermined position.

However, such a device has the following drawbacks. (1) Since the motor 018 for rotating the second arm 06 is attached to the joint shaft portion, the weight thereof becomes large, and the motor 018 is disposed at the tip of the first arm 04 that extends long and the spindle is supported. In order to move 05 up and down, the support shaft 05 and the post 01 supporting the support shaft 05 must be made large, which increases the manufacturing cost and reduces the economical efficiency. (2) In this structure, since the frictional resistance of the portion of the post 01 supporting the support shaft 05 is increased, the operator does not move the second arm 0.
Direct teaching (hereinafter, referred to as direct teaching) having the tip of 6 and being directly operated becomes difficult, and thus operability is deteriorated. (3) Since the structure of the overhang-shaped first arm 04 and the balancer for accommodating the motor 018 at the tip end thereof are large and complicated, the device becomes large and heavy, and therefore the arrangement is not easy.

[0005]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances, and can reduce the weight of a structure such as a support shaft for supporting the first arm and reduce the rotational friction thereof. Direct teaching is also possible, and downsizing is possible,
Therefore, it is an object of the present invention to provide an arm of a horizontal articulated robot which is excellent in economy, operability and disposition.

[0006]

To this end, the present invention provides a first arm that is rotatable in a horizontal plane, and a second arm that is attached to a horizontal rotation base pivotally attached to the tip of the first arm. In a horizontal joint type robot having a hand abutment at the tip of the second arm, each base horizontal shaft pivotally supported by the horizontal rotation base in a pair in the vertical direction and each base horizontal shaft has a base. A second arm that is supported and has a pair of upper and lower sides that form a parallel link with each other and that pivotally supports the hand support via an end horizontal support shaft; and a motor that rotates the base horizontal shaft of the second arm. It is characterized in that it is possible to move up and down while keeping the hand abutment vertically on the second arm.

[0007]

According to this structure, the first arm which is rotatable in the horizontal plane, the second arm which is attached to the horizontal rotary table pivotally attached to the tip of the first arm, and the second arm In a horizontal joint type robot having a hand abutment at the tip of an arm, each base horizontal shaft pivotally supported by the horizontal rotation base in a pair in the up-and-down direction, and a base portion supported by each base horizontal shaft respectively. A second arm that forms a parallel link with a pair of upper and lower parts that pivotally support the hand abutment via an end horizontal support shaft;
A motor for rotating the horizontal axis of the base of the second arm is provided, and it is possible to move up and down while keeping the hand support on the second arm vertically. Therefore, the following operation is performed. (1) Since the lifting mechanism having a heavy structure is not required for the support shaft of the first arm, the manufacturing cost of the arm is reduced. (2) Rotational friction of the support shaft of the first arm is reduced, and it becomes easy for an operator to directly teach with the tip of the second arm. (3) Externally, the balance of the second arm can be balanced with a simple tension spring structure, and the balancer can be made smaller and lighter.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a horizontal 5-joint robot will be described with reference to the drawings. First, in the perspective view of FIG. 1 and the side view of FIG. A first arm 4 that horizontally rotates by a servomotor 3 (FIG. 2) is attached to a vertically extending base 2 (FIG. 2) around a rotation axis I-I in a direction indicated by an arrow A. At this tip, a horizontal rotation base 6 that is horizontally rotated by a servomotor 5 (FIG. 2) is provided around the rotation axis II-II in the direction indicated by the arrow B, and swings vertically on this side surface. The second arm 7 and the link member 8 forming the parallelogram link are mounted. The second arm 7 is connected to an output shaft 10 of a servo motor 9 (FIG. 2) mounted on the horizontal rotary table 6, and is indicated by an arrow C around the rotary shaft core III-III by the servo motor 9. As such, it is swing driven up and down. The link member 8 is supported by a horizontal support shaft 11 fixed to the horizontal rotary table 6.

At the tips of the second arm 7 and the link member 8, a hand support 12 is supported via horizontal support shafts 13 and 11, respectively. A two-axis operation wrist 14 is attached to the lower part of the hand support 12, and this is driven by servomotors 15 and 16 attached to the upper part of the hand support 12, and the wrist 14 operates in such a manner that the base side is a rotation axis IV. Horizontal rotation is performed around -IV as indicated by arrow D, and the tip side is rotated on the vertical plane around rotation axis V-V as indicated by arrow E.

A hand 17 is attached to the V-V axis of the wrist 14, and a finger 18 is opened and closed in the direction indicated by an arrow F by the operation of a pneumatic actuator 19 attached to the hand 17 to grip or release an article. To do. Reference numeral 20 balances the load torque of the second arm 7 due to the weight of the hand support 12, the wrist 14, the hand 17 and the like to reduce the load of the servo motor 9 and at the same time, the hand 17 can be easily moved when directly teaching the robot. This is a tension spring for a balancer.

In such a device, the horizontal plane is rotated by the first arm 4 which horizontally rotates and the second arm 7 which also horizontally rotates, and the second arm 7 and The parallel link formed by the link member 8 is shown in FIG. 2 while maintaining the axial direction of the rotatable hand support 12 and the upper and lower limit positions of the operation of the second arm 7 and the link member 8, and Hand abutment 12 and hand 17 at that time
As shown by the chain lines for the positions and orientations of the same, it is possible to perform a vertical movement up and down and have a three-dimensional movement range. Therefore, the wrist 14 attached to the hand abutment 12 and the hand 17 attached thereto maintain the vertical direction by the parallelogram link, and the wrist 14 is rotated in the horizontal direction to correct the angular position. You can obtain the required position and posture. In addition, the horizontal rotation of the wrist 14 can correct the posture changes caused by the first arm 4 and the second arm 7 that rotate horizontally, and can direct all directions together with the rotation operation on the vertical plane. it can.

Here, the plan view of FIG. 3 shows the plane movement range of the rotation center axis of the wrist 14 when the rotation range of the first arm 4 is 180 degrees and the second arm 7 is horizontal.
This is shown by broken line hatching.

According to the apparatus of this embodiment, the first arm rotatable in the horizontal plane and the second arm attached to the horizontal rotary table pivotally attached to the tip of the first arm. ,
In a horizontal joint type robot having a hand abutment at the tip of the second arm, each base horizontal shaft axially supported in a pair vertically on the horizontal rotation base and each base supported by each base horizontal shaft. And a second arm whose upper and lower ends form a parallel link with each other by a pair of upper and lower parts that pivotally support the hand support via the horizontal end support shaft, and a motor for rotating the base horizontal shaft of the second arm. Since it is possible to move up and down while keeping the hand support on the second arm vertically, the following effects can be obtained. (1) The lifting mechanism having a heavy structure is not required for the support shaft of the first arm, the manufacturing cost of the arm is reduced, and the economical efficiency is improved. (2) Rotational friction of the support shaft of the first arm is reduced, and it becomes easy for an operator to directly teach the tip of the second arm, and thus operability is improved. (3) It is possible to balance the second arm externally with a simple tension spring structure, which makes the balancer smaller and lighter,
Therefore, the disposition property is improved.

[0014]

In summary, according to the present invention, a first arm rotatable in a horizontal plane, a second arm attached to a horizontal rotary table pivotally mounted at the tip of the first arm, and the first arm Two
In a horizontal joint type robot having a hand support at the tip of an arm, each base horizontal shaft pivotally supported by the horizontal rotary base in a pair in the vertical direction and the base supported by each base horizontal shaft A second arm forming a parallel link in a pair of upper and lower parts for pivotally supporting the hand abutment through an end horizontal support shaft, and a motor for rotating a base horizontal shaft of the second arm. By making it possible to move up and down while keeping the above-mentioned hand abutment vertically on the two arms, the structure of the support shaft etc. for supporting the first arm can be made lightweight, and its turning friction is small and direct teaching is provided by the operator. The present invention is extremely useful industrially because it can provide a horizontal articulated robot arm which can be downsized and can be miniaturized, and which is therefore excellent in economy, operability, and disposition.

[Brief description of drawings]

FIG. 1 is an overall perspective view showing an embodiment of the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is a plan view showing a plane operation range of a rotation center axis of a wrist 14 of FIG.

FIG. 4 shows a known horizontal articulated robot (A),
(B) is a side view and a partially enlarged vertical sectional view, respectively.

[Explanation of symbols]

 1 Base 2 Base 3 Servo Motor 4 First Arm 5 Servo Motor 6 Horizontal Rotating Base 7 Second Arm 8 Link Member 9 Servo Motor 10 Output Shaft 11 Horizontal Support Shaft 12 Hand Abutment 13 Horizontal Support Shaft 14 Wrist 15 Servo Motor 16 Servo motor 17 Hand 18 Finger 19 Pneumatic actuator 20 Tension spring A Arrow B Arrow C Arrow D Arrow E Arrow F Arrow

Claims (1)

[Claims] 1. A first arm rotatable in a horizontal plane, a second arm attached to a horizontal rotation base pivotally attached to the tip of the first arm, and a hand support attached to the tip of the second arm. In a horizontal joint type robot having a base, each base horizontal shaft axially supported by the horizontal rotation base in a pair in the up and down direction, and each base horizontal shaft having a base supported and a tip end horizontal support shaft. A pair of upper and lower parts that pivotally support the hand abutment via a pair of parallel arms, and a motor that rotates a horizontal axis of the base of the second arm. An arm for a horizontal articulated robot that is capable of moving up and down while keeping the table vertical.