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WO1998017443A1 - Robot articule - Google Patents

Robot articule Download PDF

Info

Publication number
WO1998017443A1
WO1998017443A1 PCT/JP1997/003668 JP9703668W WO9817443A1 WO 1998017443 A1 WO1998017443 A1 WO 1998017443A1 JP 9703668 W JP9703668 W JP 9703668W WO 9817443 A1 WO9817443 A1 WO 9817443A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
spring
link
spring device
auxiliary link
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP1997/003668
Other languages
English (en)
Japanese (ja)
Inventor
Shinichi Kaido
Tsuyoshi Tanoue
Manabu Okahisa
Seiji Ogata
Koichi Yamaguchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
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 Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Publication of WO1998017443A1 publication Critical patent/WO1998017443A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Definitions

  • the present invention relates to an industrial robot, and more particularly to a horizontal articulated robot that transports a workpiece between two processing machines that are relatively far apart.
  • FIG. 5 is a plan view showing the configuration of the scalar robot
  • FIG. 6 is a side view of the same. The configuration of the scalar robot will be described with reference to FIG.
  • a first turning shaft 2 is provided vertically to the fixed base 1, and a turning head 3 is attached rotatably about the first turning shaft 2.
  • the swivel head 3 is driven by a first drive motor 4 mounted in the swivel head 3.
  • a first arm 5 is fixed to the swiveling head 3.
  • a second turning shaft 11 is provided vertically, and a second arm 12 is mounted to be rotatable around the second turning shaft 11. .
  • the second arm 12 is driven by a second drive motor 13 on the first arm 5.
  • This first prior art has the following problems.
  • the first arm 5 In order for the reference point P to move from the start point A to the end point B, the first arm 5 must first turn by the angle ⁇ .
  • the second arm 1 2 rotates together with the first arm 5 while maintaining the angle formed with the first arm 5] 3. Therefore, when the first arm 5 rotates by the angle ⁇ , the reference point ⁇ becomes Move to point C.
  • the second arm 12 In order for the reference point ⁇ to move from the point C to the end point ⁇ , the second arm 12 must be turned by the angle ⁇ . Therefore, the base In order to move the reference point P from the start point A to the end point B along a straight path, it is necessary to turn the second arm 12 by an angle 1 / while turning the first arm 5 by the angle c.
  • the operating angle ⁇ of the second arm 12 is the difference between the angle of the second arm 12 with respect to the fixed base 1 at point ⁇ and the angle of the second arm 12 with respect to the fixed base 1 at point B. This is larger than the operating angle 13 because the operating angle P of the first arm 4 is added to the above. In other words, the second arm 12 needs to turn at a higher speed than the first arm 5. Further, since the first arm 5 and the second arm 12 rotate simultaneously, an interference torque is generated between the first driving motor 4 and the second driving motor 13. That is, the interference torque increases the load on the first drive motor 4 and reduces the load on the second drive motor 13. In summary, the following problems are the first prior art! 'Well there.
  • Fig. 7 is a plan view omitting the structure of the horizontal articulated mouth bot of the Japanese Utility Model Application Laid-Open No. 6-42089 after the third axis
  • Fig. 8 is a side view thereof. The configuration of a horizontal articulated robot with a parallelogram link mechanism will be described with reference to FIG.
  • a first turning shaft 2 is provided vertically to the fixed base 1, and a turning head 3 is attached rotatably about the first turning shaft 2.
  • the swivel head 3 is driven by a first drive motor 4 mounted therein.
  • a first arm 5 is fixed to the turning head 3.
  • a first rotating shaft 6 is provided vertically, and an auxiliary link 7 is attached to be rotatable about the first rotating shaft 6.
  • a second rotating shaft 8 is provided vertically, and a link 9 is attached so as to be rotatable around the second rotating shaft 8.
  • the other end of the link 9 is rotatably mounted on a third rotation shaft 10 provided vertically to the fixed base 1.
  • the auxiliary link 7 is provided with a second turning shaft 11 coaxially with the first turning shaft 6.
  • the second arm 12 is rotatably attached to the auxiliary link 7 about the second pivot 11.
  • the second arm 12 is driven by a second drive motor 13 on the auxiliary link 7.
  • first drive motor 4 turns with the components of the second arm 12 and subsequent components as loads, a large drive torque is required.
  • the present invention provides a horizontal articulated robot in which the operating angle of the second arm 12 is small and the driving torques of the first driving motor 4 and the second driving motor 13 are small. With the goal.
  • the present invention provides a fixed base, a swivel head on the fixed base, swiveling around a vertical axis, and a first arm fixed to the swivel head.
  • a parallelogram link mechanism including an auxiliary link and a link; a second arm rotatably mounted on the auxiliary link so as to be coaxial with the first arm and a quick connection axis of the auxiliary link;
  • a spring device is provided between the first arm and the second arm.
  • the spring device has a non-linear characteristic.
  • the spring device has a brake.
  • FIG. 1 is a plan view of an articulated robot showing an embodiment of the present invention
  • FIG. 2 is a side view of an articulated robot showing an embodiment of the present invention
  • FIG. 3 is a spring showing an embodiment of the present invention
  • FIG. 4 is a side sectional view of the device, and FIG. 4 is an explanatory diagram showing a relationship between displacement and force of the spring device.
  • FIG. 5 is a plan view of a multi-joint robot showing an example of the first prior art
  • FIG. 6 is a side view of a multi-joint mouth robot showing an example of the first prior art
  • FIG. FIG. 8 is a plan view of a multi-joint mouth robot showing an example of the prior art
  • FIG. 8 is a side view of a multi-joint robot showing an example of the second prior art.
  • FIG. 1 is a plan view of an articulated robot according to an embodiment of the present invention, in which a structure after a third axis is omitted, and FIG. 2 is a side view of the same.
  • reference numeral 1 denotes a fixed base, which is fixed at the installation location.
  • a swivel head 3 is rotatably attached to the fixed base 1 around a first swivel shaft 2 provided vertically.
  • the turning head 3 is driven by a first drive motor 4 mounted in the turning head 3.
  • a first arm 5 is fixed to the swiveling head 3 and extends horizontally. That is, the first arm 5 turns around the first turning axis 2 in a horizontal plane.
  • the first key A first rotating shaft 6 is provided vertically at the tip of the system 5, and an auxiliary link 7 is attached to be rotatable around the first rotating shaft 6.
  • a second rotating shaft 8 is provided vertically, and a link 9 is rotatably mounted.
  • One end of the link 9 is rotatably attached to a third rotating shaft 10 provided vertically to the fixed base 1.
  • a parallelogram link mechanism is constituted by the fixed base 1, the first arm 5, the auxiliary link 7, and the link 9.
  • the auxiliary link 7 has a second pivot shaft 11 provided coaxially with the first pivot shaft 6.
  • the second arm 12 is rotatably mounted around the second pivot 11 and is driven by the second drive motor 13 on the auxiliary link 7.
  • Reference numeral 20 denotes a spring device, one end of which is rotatably connected to the first arm 5 and the other end of which is rotatably connected to the second arm 12.
  • the spring device 20 includes a spring box 21, a spring receiver 22, a connecting rod 23, a first spring 24, a second spring 25, and a brake 24.
  • a mounting portion 21a is fixed.
  • a cylindrical support 21c extends from the bottom 21b in the longitudinal direction of the spring box 21.
  • the spring receiver 22 is in the spring box 21.
  • the connecting rod 23 has a mounting portion 23a at one end.
  • the spring device 20 is rotatably pivotally attached to the first arm 5 at the mounting portion 21a, and is rotatably pivotally connected to the second arm 12 at the mounting portion 23a. .
  • the connecting rod 23 is inserted into the inside of the spring box 21 through the support part 21c with the end opposite to the mounting part 23a at the head, and is connected to the spring receiver 22.
  • the natural length of the first spring 24 is shorter than the inner length of the spring box 21, and the second spring 25 is shorter than the first spring 24.
  • the first spring 24 and the second spring 25 are arranged concentrically inside the spring box 21, and have ends fixed to the spring receiver 22. Since the connecting rod 23 slides on the support portion 21c, the spring holder 22, the connecting rod 23, the first spring 24, and the second spring 25 are integrated into a spring box. The inside of 2 1 moves freely along the length of the spring box 2 1. Since the first spring 24 and the second spring 25 are shorter than the spring box 21, the connecting rod 23 is inserted deepest into the spring box 21, that is, the spring device 20 is the most. In the retracted state, the first spring 24 and the second spring 25 are attached to the bottom 21b of the spring box. Do not touch.
  • the reaction force of the first spring 24 and the second spring 25 is not applied to the connecting rod 23.
  • This state continues until the connecting rod 23 is pulled out of the spring box 21, that is, the spring device 20 is extended, and the first spring 24 contacts the bottom 21 b of the spring box. .
  • the first spring 24 contacts the bottom 21b of the spring box only the reaction force of the first spring 24 is applied to the connecting rod.
  • the connecting rod 23 is further pulled out of the spring box 21, the second spring 25 comes into contact with the bottom 21 b of the spring box, and the second spring 25 is added to the first spring 24. Is applied to the connecting rod 23.
  • FIG. 4 is a view for explaining the relationship between the displacement of the spring device 20 and the force.
  • the displacement is increased when the length of the spring device 20 is set to 0, and the connecting rod 24 is pulled out of the spring box 21 and the length of the spring device 20 is increased. If the displacement is from 0 to D1, the force is 0. When the displacement becomes larger than D1, a force is generated according to the displacement-reaction curve 31 of the first spring 24. When the displacement reaches D 2, a force is generated according to the displacement reaction curve of the second spring 25. Therefore, the displacement-reaction curve 33 of the spring device 20 is a non-linear combination of the displacement-reaction curve 31 of the first spring 24 and the displacement-reaction curve of the second spring 25. Things. By selecting the combination of the length of the two springs and the spring constant, the characteristic of the displacement-reaction force of the spring device 20 can be selected in a desired form.
  • the brake 26 is attached to the outside of the bottom 21 a of the spring box 21, and restrains the connection rod 23 from sliding with respect to the spring box 21 by an external command.
  • the tension of the spring device 20 applies the first arm 5 counterclockwise around the first pivot 2. Also acts as torque to turn in the direction. In this way, the spring device 20 acts as a force to assist the acceleration torque when the reference point P moves from the point A to the point B. Since the spring device 20 has the nonlinear displacement-reaction force characteristic as described above, a large force is generated when the reference point P is in the acceleration section L1, and the constant speed section L2 Does not generate force. In the constant speed section L2, a large torque is not originally required, and when the reference point P passes through the middle point M between the points A and B, the force of the spring device 20 decelerates the arm. In order to avoid this, the non-linear displacement-reaction characteristics as described above are given.
  • the spring device 20 serves to convert the kinetic energy of the arm into the strain energy of the spring and store it. Conversely, when the reference point P returns from point B to point A, the strain energy stored in the spring is converted back to the kinetic energy of the arm.
  • the first drive is used to hold the position against the tension of the spring device 20.
  • a large holding torque is required for the motor 4 and the second drive motor 13.
  • the connecting rod 23 is tightened by the brake 26 in response to a command from a robot control device (not shown) to suppress the generation of a large holding torque.
  • the spring coat 20 may be a simple tension spring or a device having a function equivalent thereto, or a solid elastic body such as rubber as long as it has a function similar to a spring. It may be a device utilizing the compressibility of a fluid.
  • a two-axis multi-joint robot composed of a first arm 5 and a second arm 12 that revolves in a horizontal plane is used in order to avoid complicated explanation. Even in the case of a multi-joint robot having three or more axes, the present invention can be implemented if a part of the robot has a horizontal two-axis configuration similar to the present invention.
  • the present invention relates to industrial robots, especially two processing machines that are relatively far apart. Can be applied to horizontal articulated robots that transport

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Ce robot articulé, pourvu d'une pluralité de bras conçus pour tourner dans un plan horizontal, comprend une base fixe (1), une tête pivotante (3) montée sur la base fixe (1) et destinée à pivoter autour d'un axe vertical, un mécanisme d'articulation en parallélogramme, lequel présente un premier bras (5) fixé sur la tête pivotante (3), un élément d'articulation auxiliaire (7), un élément d'articulation (9), un second bras (12) monté sur l'élément d'articulation auxiliaire (7) de manière à être coaxial avec un arbre de raccordement et à pouvoir être basculé entre le premier bras (5) et l'articulation auxiliaire (7), ainsi qu'un dispositif à ressort (20) s'étendant entre les premier (5) et second (12) bras. Etant donné que le dispositif à ressort (20) agit dans une certaine direction de manière à faciliter l'accélération et la décélération du premier (5) et du second (12) bras, le moteur d'entraînement peut être doté d'une petite puissance.
PCT/JP1997/003668 1996-10-18 1997-10-13 Robot articule Ceased WO1998017443A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP29741596A JPH10118967A (ja) 1996-10-18 1996-10-18 多関節ロボット
JP8/297415 1996-10-18

Publications (1)

Publication Number Publication Date
WO1998017443A1 true WO1998017443A1 (fr) 1998-04-30

Family

ID=17846218

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1997/003668 Ceased WO1998017443A1 (fr) 1996-10-18 1997-10-13 Robot articule

Country Status (2)

Country Link
JP (1) JPH10118967A (fr)
WO (1) WO1998017443A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006106165A1 (fr) * 2005-04-04 2006-10-12 Fundacion Fatronik Robot parallele a quatre degres de liberte et a rotation illimitee
CN105945474A (zh) * 2016-06-01 2016-09-21 广西大学 一种多自由度可调式焊接机器人

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104708628A (zh) * 2015-02-15 2015-06-17 赖卫华 一种双臂机械手
JP2020049550A (ja) * 2018-09-21 2020-04-02 オークマ株式会社 ロボットユニット

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0355192A (ja) * 1989-07-20 1991-03-08 Tokico Ltd バランス機構
JPH05228884A (ja) * 1992-02-19 1993-09-07 Tokico Ltd 工業用ロボット
JPH0642089U (ja) * 1992-09-25 1994-06-03 株式会社安川電機 多関節ロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0355192A (ja) * 1989-07-20 1991-03-08 Tokico Ltd バランス機構
JPH05228884A (ja) * 1992-02-19 1993-09-07 Tokico Ltd 工業用ロボット
JPH0642089U (ja) * 1992-09-25 1994-06-03 株式会社安川電機 多関節ロボット

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006106165A1 (fr) * 2005-04-04 2006-10-12 Fundacion Fatronik Robot parallele a quatre degres de liberte et a rotation illimitee
ES2262428A1 (es) * 2005-04-04 2006-11-16 Fundacion Fatronik Robot paralelo de cuatro grados de libertad con rotacion ilimitada.
ES2262428B1 (es) * 2005-04-04 2007-11-16 Fundacion Fatronik Robot paralelo de cuatro grados de libertad con rotacion ilimitada.
CN105945474A (zh) * 2016-06-01 2016-09-21 广西大学 一种多自由度可调式焊接机器人

Also Published As

Publication number Publication date
JPH10118967A (ja) 1998-05-12

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