JPH09272086A - Articulated robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make applicable for multiuse so that a control device, mechanical element, etc., can be partially reformed, by providing a plurality of divided shaft parts divided mountably/demountably in drive shaft unit including a drive source, and connecting wiring to the drive source of each divided shaft part from the control device. SOLUTION: A control part 2 in a control device of an articulated robot is divided into shaft controllers 2a to 2d, also a power part 3b is divided into shaft drivers 3a to 3d. Between an operating part 1 and the control part 2 is connected by wiring 7 through a connector 8, also the connector 8 and the wiring 7 are used so that shaft controller 2a to 2d and each shaft driver 3a to 3d can be connected by arbitrary combination. Further, a drive source 4a is provided in a divided shaft part 5a of a mechanical structure part, a drive source 4b is provided in a divided shaft part 5b, drive sources 4c, 4d are provided in a divided shaft part 5c, so that the drive sources 4a to 4d can be connected to each shaft driver 3a to 3d by the wiring 7 through the connector 8 by arbitrary combination.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot, which relates to an articulated robot having a plurality of drive shafts such as a rotary shaft and a linear motion shaft.

[0002]

2. Description of the Related Art Industrial robots are sold as dedicated robots whose specification fields are limited by the specifications of each manufacturer. Therefore, even in a multi-joint robot having a plurality of drive axes such as a rotation axis and a linear axis, for example, the 1-axis and the 2-axis and the 2-axis and the 3-axis are connected to each other, and only the joint portion is on the outside. Often covered by a shaft case such as a casting that slides.

The control panel for operating this articulated robot is also designated by the robot, and the operation unit,
The power unit, wiring, etc. are all fixed and operated according to predetermined servo parameters.

As described above, since the conventional industrial articulated robot is a set machine according to the specifications of each manufacturer, the field of use is limited for each robot and it is impossible to apply it to other than the standard specifications. . Further, since the mechanical structure is integrated with the control device, it was extremely difficult to modify it for a new application. Further, even if the control device, the mechanical element, and the like are partially advanced, there is a disadvantage that the advanced portion cannot be incorporated and applied later.

[0005]

In view of the above conventional circumstances, the present invention can be applied not only to a specific field but also to various purposes. An object is to provide an industrial articulated robot that can be partially improved.

[0006]

In order to achieve the above object, at least one articulated robot provided by the present invention is provided.
A plurality of split shaft portions that are detachably split into drive shaft units including one drive source, and are configured by selecting and combining two or more split shaft portions from the plurality of split shaft portions, and a control device. Is a multi-joint robot in which wiring is connected to the drive sources of the respective split shaft portions.

Further, in the articulated robot of the present invention, the control part and the power part of the control device are divided, and both parts are divided into a plurality of parts, and a predetermined power part is provided for each combined drive source of the divided shaft parts. And wiring to the control unit, respectively.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION The articulated robot of the present invention is divided into a plurality of drive shaft units each including at least one drive source such as a rotary shaft and a linear motion shaft, and each of the divided split shaft portions is at least respectively. It is configured to include a drive source such as a motor and a transmission element operated by the drive source. In addition, each split shaft part,
Other elements besides the drive source and the accompanying speed reducer and transmission element, such as a sensor for position detection, may be included. Further, it is also possible to further divide the arm portion or the like from each split shaft portion.

Therefore, according to the present invention, a large number of detachable shaft portions are prepared in advance in accordance with various uses, working modes, constituent elements of the robot, etc. One articulated robot can be configured by appropriately selecting and combining them. Therefore, the respective split shaft portions are configured to be detachable from each other, and the respective connecting portions are connected by a flange, a coupler or the like. In that case, it is preferable to standardize all the flanges and the like, but even if they are not standardized, it is possible to interpose a connecting flange to connect them.

When a robot is constructed by connecting a plurality of split shaft portions, each split shaft portion is provided with a drive source. Therefore, wiring is separately connected to each drive source from the control device. The control device uses one common operating part regardless of the configuration of the plurality of split shaft parts to be combined. However, the control part and the power part of the control device are divided into a plurality of parts, and the drive source of each split shaft part is divided. It is preferable to connect the wiring to the predetermined power unit and the control unit for each so as to correspond to any combination of the split shaft units.

Specific examples of the articulated robot of the present invention are shown in FIGS. The control device for this articulated robot is shown in FIG.
As shown in FIG. 2, the operation unit 1, the control unit 2, and the power unit 3 are divided, and the control unit 2 further includes a plurality of axis controllers 2a and 2a.
b, 2c and 2d, the power unit 3 is also divided into a plurality of shaft drivers 3a, 3b, 3c and 3d. And
The operation unit 1 and the control unit 2 are connected by the wiring 7 via the one-touch connector 8, and at the same time, the control unit 2 and the power unit 3 are also connected by the connector 8 and the wiring 7 to the respective axis controllers 2a, 2b, 2c ,. 2d and each axis driver 3a, 3b, 3
It is possible to connect any combination between c and 3d.

The mechanical structure part of this articulated robot has three parts.
The split shaft portion 5 is divided into two split shaft portions 5a, 5b, 5c.
a has a drive source 4a, and the split shaft portion 5b has a drive source 4b.
The split shaft portion 5c includes drive sources 4c and 4d. These respective drive sources 4a, 4b, 4c, 4d can be connected to the respective axis drivers 3a, 3b, 3c, 3d of the power unit 3 in any combination by the wiring 7 via the connector 8 as in the case of the control device. It is like this.

Therefore, the servo parameters (capacity, rotation speed, movement amount, etc.) of the respective split shaft portions 5a, 5b, 5c are input to the respective axes of the control portion 2 by data input from the operation portion 1 or an external device corresponding thereto. Controllers 2a, 2b, 2c, 2
Since it can be arbitrarily set or changed to d, it is possible to meet all axis specifications. When driving the robot, each axis controller 2a, 2b, 2c, 2 of the control unit 2
The command from d is sent to each axis driver 3a, 3b, 3c, 3
By transmitting to each drive source 4a, 4b, 4c, 4d via d, each division | segmentation shaft part 5a, 5b, 5c each operate | moves, and the desired work as an articulated robot 6 can be performed as a whole.

The mechanical part of the articulated robot will be described in more detail with reference to FIG. This articulated robot
This is an industrial robot having a total of four axes, three rotating axes and one direct acting axis. This 4-axis robot includes a first split shaft portion 5a including one rotation shaft, a second split shaft portion 5b including one rotation shaft, and a first split shaft portion 5b including one rotation shaft and one linear motion shaft. The robot is constituted by three divided shaft portions 5c, selected from a large number of prepared divided shaft portions, and detachably assembled with each other by flanges.

The first split shaft portion 5a is provided with a motor as a drive source 4a, and forms a vertical rotation shaft for rotating the arm 9a around the shaft via a speed reducer. The second split shaft portion 5b is also a vertical rotary shaft similarly provided with the drive source 4b, and the arm 9b is provided with the third split shaft portion 5c. Third
The split shaft portion 5c includes two drive sources 4c and 4d, so that the vertical drive shaft 10a having both the ball screw mechanism and the ball spline mechanism can be vertically moved by the drive source 4c and rotated by the drive source 4d. It has become. Further, a flange 10b for mounting a working part or a tool according to a desired application is attached to the lower end of the drive shaft 10a.

Each of the split shaft portions 5a, 5b, 5c has at least one drive source as described above and a drive shaft driven by the drive source, a speed reducer, a transmission element, a position detector such as an encoder, and the like. It includes the necessary mechanical elements according to each axis, and the outside thereof is usually each split shaft part 5a, 5
The casing covers every b and 5c. Then, the drive sources 4a, 4b, 4c, 4 of the respective split shaft portions 5a, 5b, 5c.
d is each of the shaft drivers 3a, 3b of the power unit 3 of the control device by the wiring 7 via the connector 8 as shown in FIG.
It is connected to 3c and 3d and driven independently according to the specified conditions.

The connection of the respective split shaft portions 5a, 5b, 5c is made by the flange, coupler or the like as described above. For example,
The connection between the first split shaft portion 5a and the second split shaft portion 5b in FIG. 2 will be described. The first split shaft portion 5a includes a rotatable base portion 12a at the lower end, and the base portion 12a is fixed. The frame 11 is detachably attached to the annular flange 12b at the upper end of the frame 11 with a bolt so that the frame 11 can be rotated about a vertical rotation axis. In addition, the first split shaft portion 5
On the side surface of a, another flange 13a is vertically provided,
The flange 13b of the arm 9a is detachably attached to the flange 13a with a bolt.

At the other end of the horizontally extending arm 9a, an annular flange 14b parallel to the annular flange 12b of the fixed frame 11 is provided on the upper surface thereof, and at the lower surface of the second split shaft portion 5b. The rotatable base part 1 provided
It is connected to 4a by a bolt. Therefore, the second split shaft portion 5b constitutes the rotary shaft that rotates around the vertical rotary shaft at the other end of the arm 9a that rotates in the horizontal direction by the rotational drive of the first split shaft portion 5a.

Similar to the above, another arm 9b is connected to the second split shaft portion 5b by a flange and extends horizontally.
A third split shaft portion 5c is vertically connected to the other end of the arm 9b via a flange. And the third
The split shaft portion 5c of the second split shaft portion 5b is the other end of the arm 9b that rotates in the horizontal direction by the rotational drive of the second split shaft portion 5b.
a can rotate around a vertical axis and move linearly in the vertical direction,
Various processes are performed by a tool (not shown) attached to the flange 10b at the lower end of the drive shaft 10a.

As described above, the articulated robot of the present invention is
Since the split shafts that make up the robot are removable from each other, it is of course possible to change the configuration of each shaft by increasing or decreasing the number of shafts by selecting and combining the split shafts according to the application. It is also possible to change the height of each shaft, the arm length, the torque of the drive source of each shaft, the rotation speed, the gear ratio, and the like.

Therefore, since the configuration can be arbitrarily changed in units of axes, one robot can be applied to many purposes, and modification after the robot is introduced is extremely simple. Moreover, with the progress of mechanical technology or control technology, it is easy to incorporate new technology by partially updating the mechanical elements and the control device. In addition, since the drive is performed in units of axes, it is easy to find a trouble such as a drive failure, and it is possible to quickly deal with the trouble.

[0022]

According to the present invention, the robot is not a dedicated robot for a specific purpose but can be used for various purposes, and the control device, mechanical elements, etc. are partially improved with technological progress. Therefore, it is possible to provide an industrial articulated robot in which troubles can be easily detected and dealt with.

[Brief description of drawings]

FIG. 1 is an overall block diagram illustrating a specific example of an articulated robot of the present invention.

FIG. 2 is a side view for explaining a mechanical configuration in a specific example of the articulated robot of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Operation part 2 Control parts 2a, 2b, 2c, 2d Axis controller 3 Power part 3a, 3b, 3c, 3d Axis driver 4a, 4b, 4c, 4d Drive source 5a, 5b, 5c Split axis part 6 Articulated robot 7 Wiring 8 Connector 9a, 9b Arm 10a Drive shaft 10b Flange 11 Fixed frame 12a, 14a Base part 12b, 13a, 13b, 14b Annular flange

Claims (2)

[Claims] 1. A plurality of split shaft portions that are detachably split into drive shaft units including at least one drive source, and by selecting and combining two or more split shaft portions from the plurality of split shaft portions. A multi-joint robot that is configured and has wires connected from the control device to the drive sources of each split shaft. 2. The control unit and the power unit of the control device are divided, and the both units are divided into a plurality of parts, and wiring is connected to a predetermined power unit and control unit for each combined drive source of the divided shafts. The articulated robot according to claim 1, characterized in that: