JPH0192085A - Work tool posture control device for industrial robots - Google Patents

Abstract

PURPOSE: To lighten each individual arm, lessening the moment of inertia in time of its turning, and to control an operating tool in a proper manner by locking an attitude controlling motor, being horizontally extended, to a spot close to a base part in a first arm. CONSTITUTION: Both first and second arms 5 and 12 are formed into cylindrical types each, an attitude controlling motor 6, being horizontally extended, is locked to a spot close to a base part in this first arm 5. Driving force in this motor 6 is transmitted to a worm gear 7, a drive pulley 9, a first belt 21, a first transfer pulley 20, a turning shaft 19 rotatably supported by both these first and second arms 5, 12, a second transfer pulley 22, a second belt 23, and a driven pulley 18, whereby the attitude of an operating tool attached to a tool shaft 10 is controlled. Since the motor 6 is set up like this, each weight of both these first and second arms 5 and 12 is lightened, and an amount of inertia in time of their turning motions is reducible, and thus attitude control over the operating tool is accurately performable.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a highly versatile work tool attitude control device for an industrial robot used for inserting, extracting, assembling, etc. parts in high-mix, low-volume production.

Conventional technology and problems to be solved by the invention Recently,
This kind of versatile industrial robot inserts parts,
They are used for taking out, assembling, etc., and among them, industrial robots with arms that rotate in the horizontal direction are particularly widely used. In this type of industrial robot, a work tool is installed at the end of the arm to perform the desired work.In order to move the arm at high speed, the arm is made into a cylindrical shape to reduce its weight and reduce the amount of stress generated when the arm turns. A working tool 34 is attached to the lower end of the tool shaft 33, which is attached with a small screw and moves up and down by its operation, but in order to further increase the versatility of the robot, its posture can be changed arbitrarily according to the desired workpiece. A posture control device consisting of a posture control motor 35 and a belt transmission mechanism 36 for rotating the work tool 34 is provided at the tip of the arm 31 so that the work tool 34 can be freely rotated.
The weight applied to the tip of the arm 31 becomes heavier, and the arm 31
The inertia of the arm 31 when turning becomes large, resulting in drawbacks such as the effect of reducing the weight of the arm 31 being halved.

Means for Solving the Problems The present invention aims to eliminate the above-mentioned drawbacks, and includes a first arm that rotates in response to the rotation of a first motor that is fixed to a base, and a first arm that is fixed to the tip of the first arm. It has a second arm that pivots in response to the rotation of the second motor. Said second
A slide bearing is rotatably disposed at the tip of the arm, and a tool shaft to which a working tool is fixed at the lower end of the slide bearing is disposed so as to be movable up and down by the operation of a lifting means.

The first arm and the second arm have a cylindrical shape, and the first
A horizontally extending attitude control motor is fixed near the base within the arm. Further, a gear case housing a worm gear is fixed to the drive shaft side of the attitude control motor, and the gear case is configured such that the rotation of the drive shaft of the attitude control motor is decelerated in a direction orthogonal to the drive shaft and taken out. ing. Further, an attitude control drive pulley is fixed to the worm wheel of the worm gear so as to rotate together with the worm wheel.

On the other hand, the second motor has a hollow shape, and a rotating shaft that is rotatably held by the first arm and the second arm is disposed through the hollow part. A first transmission pulley is fixed to the upper end of the rotating shaft, and a second transmission pulley is fixed to the lower end, and a first belt is connected between the posture control drive pulley and the first transmission pulley, and a second transmission A second belt is wound between the pulley and a posture control driven pulley fixed to the slide bearing.

Function In the above-mentioned industrial robot, the attitude control motor that rotates the tool shaft to which the work tool is fixed by any angle is installed near the base of the first arm, approximately near the center of rotation, which increases the weight of the attitude control motor. When the first arm is rotated by
Not only can the increase in inertia of the arm be reduced,
Since there is no need to attach a posture control motor to the tip of the second arm, the weight added to the second arm is only the tool moving unit, and there is no increase in inertia when the second arm turns due to the provision of a posture control device. The inertia of the robot rotating part that occurs when the first arm and the second arm rotate can be reduced, and the posture of the work tool can be controlled without impairing the effect of reducing the inertia by reducing the weight of each arm. Furthermore, since the rotation shaft disposed at the tip of the first arm only needs to be fixed to the transmission pulley that forms part of the transmission mechanism, the rotation shaft can be formed into a cylindrical shape. Therefore, the weight applied to the first arm is further reduced, and the inertia of the rotating portion of the robot is further reduced. In addition, the wiring and piping of each device at the tip of the second arm is connected to the first arm through the rotating shaft.
Not only can the work tool posture control device be guided to the arm, but also the work tool posture control device can be completely housed within the first arm and the second arm, so the appearance of the entire robot can be maintained in good condition.

EXAMPLE Hereinafter, an example will be described based on the drawings. In FIG. 1, reference numeral 1 denotes an articulated industrial robot, and a first D robot consists of a stator part 3a and a rotor part 3b fixed to a base 2.
It has a D motor 3. A vertically extending cylindrical column 4 is fixed to the rotor portion 3b of the 10th DD motor 3, and the upper end of this column 4 is fixed to the rotor portion 3b of the 10th DD motor 3.
A cylindrical first arm 5 that pivots horizontally in response to the rotation of is fixed. An attitude control motor 6 is fixed in the first arm 5, located near the base near the center of rotation, and extending in the horizontal direction. On the drive shaft side of the attitude control motor 6, a gear case 8 houses a zero-balance flasher type worm gear 7 consisting of a drum 7a and a worm wheel 7b that rotate in response to the rotation of the attitude control motor 6.
is fixed, and is configured such that the rotation of the attitude control motor 6 is taken out in the orthogonal direction. Further, a posture control driving pulley 9 that rotates integrally is fixed to the worm wheel 7b of the worm gear 7, and is configured to rotate the tool shaft 10 via a transmission mechanism to be described later.

A second DD motor 11 consisting of a stator section 11a and a rotor section 11b is fixed to the tip of the first arm 5 with the rotor section 11b facing downward. A cylindrical second arm 12 is fixed to the rotor portion 11b of the second DD motor 11 and rotates integrally in the horizontal direction in response to the rotation thereof, and this second arm 12 is located below the first arm 5. It is configured to rotate. Further, a tool moving unit 13 is attached to the tip of the second arm 12. This tool moving unit 13 includes a second arm 12
A lifting means consisting of a Z-axis motor 14 extending in a direction intersecting with the Z-axis motor 14, a screw shaft 15 rotated by the drive thereof, and a bearing nut part 16 that is screwed onto the Z-axis motor 14 and raised and lowered, and a tool shaft that goes up and down integrally with the bearing nut part 16. 10, a working tool (not shown) fixed to the tool shaft 10 and a balance mechanism (not shown) provided within the tool shaft 10. Further, the tool shaft 10 is connected to the second arm 1.
The slide bearing 17 is rotatably mounted in a direction intersecting the direction of the arrow 2, and is guided so as to be raised and lowered. A driven pulley 18 for attitude control is fixed to this slide bearing 17 and is located inside the second arm 12, and the rotation of the attitude control motor 6 is transmitted via a transmission mechanism to be described later. It is composed of

Further, the second DD motor 11 fixed to the first arm 5 has a hollow portion extending in the axial direction thereof, and a rotary shaft 19 is provided in the hollow portion so as to be freely rotatable by the first arm 5 and the second arm 12. It is held and placed in. A first transmission pulley 20 is fixed to the upper end of this rotating shaft 19, and a first belt 21 is connected between the drive pulley 9 for attitude control and the first transmission pulley 20.
is wound. Further, a second transmission pulley 22 is fixed to the lower end of the rotation shaft 19, and a second belt 23 is wound between it and the attitude control driven pulley 18 to control the rotation of the attitude control motor 6. 4 pulleys 9.18.2
A working tool attitude control device is configured that transmits information to the tool shaft 10 via a transmission mechanism consisting of a 0.22 and two belts 21 and 23. Further, the rotary shaft 19 is formed in a hollow shape, and the inside of the cylinder is used to guide the wiring and piping of each device attached to the tip of the second arm 12 into the cylinder of the first arm 5. It is configured.

Effects of the Invention In the industrial robot described above, the posture control motor 6, which changes the posture of the work tool by transmitting rotation to the tool shaft 10 to which the work tool is fixed, is fixed near the base of the first arm 5 near the center of rotation. Due to the weight of this posture control motor 6, the first
An increase in inertia when the arm 5 turns can be reduced. Also, a posture control motor 6 is attached to the tip of the second arm 12.
Since it is not necessary to attach the tool movement unit 13 to the tip of the second arm 12, the weight applied to the second arm 12 can be reduced, and the weight applied to the tip of the second arm 12 can be reduced. The inertia is not affected by the work tool posture control device, and the inertia of the robot rotating part that occurs when the first arm 5 and the second arm 12 rotate can be reduced, and the effect of reducing the inertia by reducing the weight of each arm is achieved. The posture of the work tool can be controlled without damage. In addition, since the rotating shaft 19 located at the tip of the first arm 5 only fixes the transmission pulley, it can be made into a cylindrical shape, which not only makes it possible to further reduce the weight of the rotating part of the robot but also Wiring and piping for each device attached to the tip of the arm 12 can be stored and guided to the first arm 5, and all the work tool attitude control devices can be housed within the first arm 5 and the second arm 12. Since it can be stored, the robot has a simple shape and the overall appearance of the robot can be improved. Furthermore, this robot has no exposed dangerous rotating parts, making it possible to provide an extremely safe robot.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway front view of the present invention, and FIG. 2 is an explanatory view of the main parts of a conventional example. 1 industrial robot, 2 base, 3 first DD motor, 3a base part, 3b rotor part,
4 Pillar, 5 First arm, 6
Attitude control motor, 7 Worm gear, 7a
Worm, 7b Worm wheel, 8 Gear case, 9 Attitude control drive pulley, 10 Tool axis,
11 2nd DD motor, 11a stator section, 11
b rotor part, 12 second arm, 13
Tool movement unit, 14 Z-axis motor, 15 Screw shaft, 16 Bearing nut portion, 17 Slide bearing, 18 Attitude control driven pulley, 19 Rotating shaft, 20
1st transmission boo 18 21 1st belt, 22
Second transmission pulley, 23 Second belt, 30
industrial robot, 31 arm, 32 tool movement unit, 33 tool axis, 34 work tool,
35 Attitude control motor, 36 Belt transmission mechanism, Patent applicant Nitto Seiko Co., Ltd.

Claims (1)

[Claims] The first arm 5 rotates in response to the rotation of the first motor 3 fixed to the base 2, and the first arm 5 pivots in response to the rotation of the second motor 11 fixed to the tip of the first arm 5. Second arm 1
2, a slide bearing 17 is rotatably arranged at the tip of the second arm 12, and a tool shaft 10, which is raised and lowered by the operation of the lifting means, is arranged on the slide bearing 17, so that the tool shaft 10 can be raised and lowered. In an industrial robot with a working tool fixed to the lower end, the first arm 5 and the second arm 12 are cylindrical, and a posture control motor 6 extending horizontally near the base of the first arm 5 is fixed, and the posture control A gear case 8 housing a worm gear 7 is fixed to the drive shaft side of the attitude control motor 6 so that the rotation of the drive shaft of the attitude control motor 6 is decelerated in a direction orthogonal to the drive shaft. The posture control driving pulley 9 is fixed to the worm wheel 7b so as to rotate integrally with the worm wheel 7b, while the second motor 11 has a hollow shape, and is located in this hollow part so that it can be freely rotated by the first arm 5 and the second arm 12. A first transmission pulley 20 is fixed to the upper end of the rotation shaft 19 and a second transmission pulley 22 is fixed to the lower end of the rotary shaft 19 held by the rotation shaft 19. 1
A power tool posture control device characterized in that a belt 21 is wound around the second transmission pulley 22 and a posture control driven pulley 18 fixed to a slide bearing 17.