JPS59201788A - Operating device, interference thereof is compensated - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an interference-compensated operating device, which is useful when applied to the wrist portion of a robot.

Positioning devices, typified by industrial robots, have different working parts (arms, etc.) due to the nature of their work (approaching or entering objects to perform work).

It is required to downsize the wrist, hand, etc., especially the wrist part. At the wrist part, the l-axis ~
3-axis operation is required, and at the same time there is a strong demand for miniaturization.

Here, an example of the wrist mechanism of a robot according to the prior art is shown in the first example.
As shown in the figure. As shown in the figure, operation command units ia, Ib,
1c is -f:i″L that servo control section 2 a, z b
, 2 c K command unit-give-'i, co-! /--
E control parts 2a, 2b, 2C are drive motors 3a, 3b.

Drive and control 3C individually. Inside the robot arm 4 on the inner wall, a rotating shaft 5C and a cylindrical rotating shaft 5a, 5b are arranged in a circular manner6, and the drive motor 3a is driven through a reducer 6a and gears 7, 8. Rotating shaft 5aK connected 2
The drive motor 3b is connected to a reducer 6b and a gear 9. The drive motor 3C is connected to the rotating shaft 5c via a reducer 6C, while the drive motor 3C is connected to the rotating shaft 5cK via a reducer 6C.
A casing-like rotating member 11a fixed to the rotating shaft 5a rotatably supports a casing-like rotating member 11b by enveloping it inside. The rotating member 11C is rotatably inserted. In this case, the rotating member 11a, lib.

0 in which the direction of rotation of 11c is different, and the rotation axis 5
9 ahead of b! A is bevel gears 12, 13 and shirt) ll
b is connected to the rotating member 11b via 9, and the tip of the rotating member 11b is connected to the rotating member 1 via a bevel gear 14.15.
Connected to 1C. Further, a mounting surface portion 19 on which a hand portion is mounted is connected to the rotating member 11c via bevel gears 16, 17 and a shaft 18.

Note that, as shown in FIG. 2, the rotating members 11a and llb are arranged so that the rotating shafts of the rotating members 11b and llc are orthogonal to the rotating axis of the rotating member 11a.

It is sometimes combined with lie.

In the conventional wrist mechanism having the above-described structure, the rotating member iia is rotated by rotationally driving the drive motor 3a.
The rotating member 1 is rotated by driving the drive motor 3b.
1b is rotated, and the drive motor 3C is driven to rotate, whereby the rotating member 11C and the mounting surface portion 19'tm are rotated. However, in such a conventional technique, when the drive motor 3b #3C is stopped, Drive Tanabata 3a I!A
When the rotating member 11a is rotated, the bevel gear 13j
The rotating members 11b and 15 are stationary in order to rotate the bevel gears 12 and 14 like planetary gears.
The rotating member iib rotates as the casing rotating member 11a rotates.

11c is driven to rotate @-10,000 drive momo 3a.

3C is stopped and the drive motor 3b is driven to rotate the rotating member iib, the bevel gear 17 is rotated to the bevel gear 1.
6 like a planetary vehicle, the rotary member 11c rotates. As the rotary member 11b rotates, the rotary member 11C rotates as a result. In this case, the rotary member 11 aH is in a stationary state. ◎In the end, in the conventional technology shown in Figs. 1 and 2, when the relatively outer rotating member rotates, the inner rotating member rotates as a result, and the wrist mechanism of the robot does not work. The reason for this is that the wrist mechanism satisfies this requirement, even though the essential point is that the rotating parts q11a, iib, and llc rotate independently without being influenced by each other. That's because you can't. Therefore, in order to position the hand section, the rotating members 1
1b and llc in this order, and each rotating member 11
All the operations of a, 11b, and llc had to be performed alternately and with repeated subtle changes.

Therefore, the third rotary member can rotate independently.
In the conventionally developed mechanism as shown in FIGS. 1 and 4, the mechanism shown in FIG. , the housing of the reducer 20 is fixed to the mounting surface portion 22 which is rotated by the drive motor 23 via the reducer 23;
Further, the housing of the reducer 23 is fixed to a mounting surface portion 25 which is rotated by a drive motor 27 via a reducer 26. - The one shown in FIG. 4 is a position detector 28 that detects the rotational position of the rotational member 11c, but a position detector 29 that detects the rotational position of the rotational member 11b. In the prior art shown in FIGS. 3 and 4, the driven rotation of the rotating members 11c and Ilb is corrected based on the first detection of the robot arm 4. The wrist part (the rotating member, the mounting surface part, etc. (the four-pointed part)) becomes larger, and it becomes necessary to route wiring, etc., which causes problems such as interference with the object being worked by the robot.

In view of the above-mentioned prior art, it is possible to provide an operating device that allows independent positioning operations without mutual influence of the operations of rotating members. Focusing on the fact that when the outer rotating blade rotates, the inner rotating member rotates drivenly, and when rotating the - rotation @ fc rotation ζ and the 1' rotation member connected to it, this Calculate the amount of rotation and the amount of driven rotation of the rotating member - in order to prevent the rotating member whose inner pressure is higher than that of the rotating member - from being rotated as a result of the rotation of the rotating member -. The provision of a compensating device that controls the drive device based on the result and imparts driven rotation and reverse @ rotation to a rotary member located inside the first rotary member is hereinafter referred to as implementation of the present invention. Explain example based on drawing @Review #I 6
2. Parts that are the same as those in the prior art are given the same numbers and redundant explanations will be omitted.

The fifth factor represents an embodiment of the present invention. As shown in the figure, in this embodiment, a compensation device A is composed of operation command units ia, xb, and 1c, a correction amount calculation unit 30.31, and an adder 32.33. When the command a is issued from the operation command section 1a, the servo control section 2a operates, and thereafter the rotating member 11a rotates in the same manner as in the prior art.
When a command C is issued from the operation command section 1c, the servo control section 2h operates, and the rotating member 11b rotates.0 Furthermore, when a command C is issued from the operation command section 1c, the servo control section 2C operates, and the rotating member 11b rotates.
1c rotates.

Unless command a is issued, this command a is corrected by adder 3.
2 to the servo control section 2b. At the same time, the command a' is sent to the servo control section 2 via the correction amount calculation section 31.
cK input port therefore servo 1" decorative parts 2a, 2
7'L commands a, a, and a are inputted to b and 2c, respectively, and rotational force is applied to the rotating members 11a, llb, and llc. In this case the corrected quantity performance JA, part 30.31
calculates the amount of rotation of the rotating part Uli a and the driven rotation of the rotating part controls lb and IIc to obtain the command a.

The af output, rotation control 11b, 1ie is given a driven rotation 2 bad rotation. Therefore, the rotating part controls lb, IIc remain still and the rotating part 111a 4 rotates.

When the command is issued, the command brJ is inputted to the servo control unit 2c through the stop/raiser 33. Therefore, commands 7 and b are input to the servo control units 2b and 2G, respectively, and rotational force is applied to the rotating units iib and iic. Section 31 is
Rotation amount of rotation 4IA part iib and rotating member 1 due to this
Calculate the driven rotation of 1c, issue a command, and rotate the rotating part 11.
It is designed to give all 6 simultaneous rotations opposite to cVct dynamic rotation◎
Therefore, the rotary member 11C remains stationary, and only the rotary portion iib rotates.Thus, in this embodiment, the rotary member 11b.

The trough rotation part 11 is no longer rotated by the driven rotation.
1a, llb, llc's mutual #buttocks are gone, and teacher is in control and can freely perform the movement of the valley rotation part. Note that Sode 1 Yasou Keihachi can also be executed by computer.

As specifically explained in conjunction with the examples above, unexploded E14
According to , it is small and has one rotating part that rotates once independently of each other, which makes it possible to realize a simple operation device.Therefore, when applied to a robot, the hand part of the platform is made equal to the Kf value of the object. That's a big deal.

And, this YLF5 light can be used for general positioning and manufacturing, such as robots for millet, etc. Examples include spot bath robots, arc injection robots, assembly robots, rotary robots, and material handling robots. etc. are listed.
do.

[Brief explanation of drawings]

Figures 1 to 4 are block diagrams showing lohosoto + head swinging according to the conventional technique, and Figure 5 is a block diagram showing an embodiment of the present invention. 2a, 2b, 2c are "J-Bo decoration parts; 3a, 3b, 3c are drive motors; 5a #5
b, 5c are rotating shafts, iia, iib, tic are rotating members, 12.1
3, 14, 15, 16, 17 Hakasa National Army, 30.31 is correction amount '0 Shiko Ishibe (1 other person)

Claims (1)

[Claims] A plurality of rotating shafts that are individually rotated by a drive device are arranged concentrically, and a housing-like rotating member 't-@ is connected to the tip of the outermost rotating shaft. A plurality of rotating members whose bulk is successively smaller than this are contained inside, and the inner rotating member is supported by a relatively outer rotating member so that the inner rotating member can rotate at the same time, and V3 is smaller than the outermost rotating shaft. In an operating device in which the tips of the respective rotating shafts on the sides and the respective rotating members contained in the outermost rotating member are connected to each other via gears, with the outermost rotating members corresponding to each other and the innermost rotating members corresponding to each other, When the rotating shaft of - is rotated and the rotating part of - connected to it is rotated, the rotating member located inside the rotating member of - rotates as a result of the rotation of the rotating member of -. By increasing the rotation amount and driven rotation amount of the - rotation member and controlling the drive device based on the increase results, the rotation member located inside the first rotation member is driven (B). An operating device having interference compensation, characterized in that it is provided with a compensation device for imparting rotation and rotation in the opposite direction.