JPS6025672A - Industrial robot - 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 industrial robot, and more particularly to an improvement in a device for supporting a link thereof.

Conventionally, there have been devices of this type as shown in FIGS. 1 to 3. In the figure, 1 is a first link having a radial protrusion IC at its lower end, 2 is a second link whose intermediate portion is rotatably supported on a fulcrum 1a at one end of the first link, and 3 is a first link.
a pedestal that rotatably supports a fulcrum 1b at one end of the link 1;
A third link 4 has one end rotatably supported coaxially with the fulcrum 1b of the first link 1, and has a protrusion 4b. 5
has one end as the fulcrum 4a of the third link 4, and the other end as the fulcrum 4a of the second link 2.
Fourth links 6 each rotatably connected to the fulcrum 2a of the
7 is a first box body rotatably supported at one end of the second link 2; 7 is a first box body 6 rotatably supported on an axis perpendicular to the rotation axis of the first box body 6; 8 is an output shaft rotatably supported on the second box 7 coaxially with the second link 2; 9 is a transmission means built into the second link 2 (Fig. (not shown), 10 is a second servo mode that also drives the second box 7, and 11 also drives the output shaft 8. The third servo mode 12 connects the first servo mode 9 to the second servo mode.
A bracket 13 is fixed to the other end of the link 2, 13 is a bracket that also fixes the second servo model 10, 14 is a bracket that also fixes the third servo model 11, and 15 is a fourth servo mode to be described later. This is a ball screw consisting of a ball screw shaft 1.5a that rotates by a ball screw shaft 17, cylindrical telescopic covers 15b and 15c surrounding the ball screw shaft 1.5a, and a nut 15b that moves up and down by the rotation of the ball screw shaft 158, which will be described later. The first link 1 is rotated via the joint 23. 16 is a housing that supports the ball screw 15a, 25
．． 30 is the cover 15b; 15. c to housing 16
17 is a fourth servo model that drives the ball screw 15; 18 is a detector such as a potentiometer that detects the rotational position of the fourth servo model 17; 19 is a joint 24 to be described later. A ball screw shaft 19a that rotates the second link 2 with the third link 4 and the fourth link 5 via the telescopic covers 19b and 19c.
and ner, l- (not shown). 20 is a housing that supports the ball screw 19, and includes a cover 19b,
19c is fixed to the housing 20 by a bracket (not shown) like 15c. 21+; t, +?- is the fifth servo mode that drives the screw shaft 198; Fifth servo mode 21
Detection of potentiometers, etc. that detect the rotational position of
23 is a joint that is integrally connected to the first link 1 and connected to the ball screw 15 at a putt 15b and a fulcrum 23a so as to be relatively rotatable;
a joint that connects 9a and the third link 4 in a relatively rotatable manner;
26 is a bracket that rotatably supports the ball screw 15.19 and the fourth and fifth servo models 17.21 on the pedestal 3; 27 is a bracket that rotates the pedestal 3 via a suitable speed reduction means (not shown); The sixth servo motor 1-28 is the frame 3.
29 is a floor surface, 30 is a microswitch that is attached to the pedestal 3 and is opened and closed by the protrusion IC of the first link 1, and when opened and closed, the first link 1 is moved to, for example, the origin position. is being detected. 3rd construction is the above mount 3
1 and is opened and closed by the protrusion 4b of the third link 4.
For example, the origin position is detected. 32 is a shaft that supports the first link 1 and the third link 4.

Next, the operation will be explained. The rotation of the first to third servo models 9 to 11 is transmitted to the first box 6, the second box 7, and the output shaft through a transmission means (not shown) built in the second link 2. 8 independently rotate, and the industrial robot performs wrist motions with so-called three degrees of freedom. Furthermore, the rotation of the fourth servo model 17 is transmitted to the ball screw shaft 158, and the nut 1 attached to the ball screw shaft 15a is rotated.
5d1 and thus the joint 23 moves up and down along the ball screw shaft 15a, and the first link 1 integrated with the joint 23
rotates. On the other hand, the rotation of the fifth servo model 21 similarly causes the joint 24 attached to the ball screw shaft 19a to move up and down along the ball screw shaft 19a.
The second link 2 rotates via the link 4 and the fourth link 5. At this time, cover 15b% 15c and 19b,
19c also moves up and down according to the joints 23 and 24 to prevent dust from adhering to the ball sockets 15a and 19. Further, the rotation of the sixth servo mode 27 causes the pedestal 3 to pivot via a suitable speed reduction means (not shown).

In this way, the industrial robot performs motions with six degrees of freedom due to the wrist movement with three degrees of freedom, the rotation of the first link 1 and the second link 2, and the rotation of the pedestal 3.

By the way, the origin position of the first link 1 is determined by the position of the protrusion 1c and the microswitch, and when adjusting this origin position, the work is done in a narrow space below the first link 1. Even when adjusting the origin position of the link 4, the work has to be done in a narrow space below the first link, which has the disadvantage that the adjustment work is troublesome.

This invention was made to solve the above-mentioned drawbacks.The first link is provided with a cylindrical shaft that is rotatably supported on the pedestal, and the second link is provided with a cylindrical shaft that rotates around the inner periphery of the cylindrical shaft. A freely supported support shaft is disposed, and a position detection means for detecting the rotational position of the cylindrical shaft or the support shaft is provided between the cylindrical shaft and one or both ends of the cylindrical shaft and the support shaft and the mount. It is an object of the present invention to provide an industrial robot that facilitates the adjustment work of position detecting means such as the origin position by arranging the robot.

An embodiment of the present invention will be described below with reference to FIG.

In the figure, 33 and 34 are a pair of cylindrical shafts connected to both sides of the lower end of the first link 1 via bolts 35, and 36 are a pair of cylindrical shafts each supporting the pair of cylindrical shafts 34 and 35. 37 is a shaft sealing member, 38 is a cylindrical joint connected to one of the cylindrical shafts 34, 39 is a plate-shaped position detection unit connected to this joint 38, 40 is connected to the frame 3, 2. A position detecting section made of an electromagnet that can face the plate 39; 41 is a bearing fitted to the inner periphery of the pair of cylindrical shafts 34 and 35; 42 is a support shaft supported by the bearing 41; , the ends of the third link 4 are joined to the center. 43 is a shaft sealing member, 44 is a position detecting portion coupled to the end of the support shaft 42, and a boss portion 4 fitted to the support shaft 42;
4a, and a plate 44b connected to the boss portion 44a with bolts 45. Reference numeral 46 denotes a position detecting section made of an electromagnet which is coupled to the pedestal 3 and can face the plate 44b; 47 is a position detecting section coupled to the other end of the support shaft 42, and a boss section fitted into the support shaft 42; 47a and
A plate 47b is connected to the boss portion 47a via a bolt 48. Reference numeral 49 denotes a position detecting section made of an electromagnet that is coupled to the end of the joint 38 and can face the plate 47b.The leg 49b of the magnet section 49a is attached to the joint 38 with a bolt 50. 51 and 52 are lids connected to both ends of the pedestal 3.

”In the second day, I was made up like myself: yo, the fourth
When the servo mode 17 rotates, this rotation is transmitted to the ball screw shaft 15a, and the nut 15d attached to the ball screw shaft 5a, and thus the joint 23, move up and down along the ball screw shaft 15a. , and the first link 1, which is integral with the joint 23, rotates. On the other hand, when the fifth servo model 21 rotates, this rotation causes the joint 24 similarly attached to the ball screw shaft 19a to move up and down along the ball screw shaft 198, causing the third link 4 to rotate. become. Here, when the first link 1 rotates, the cylindrical shaft 34 rotates together with the first link 1, and this rotation causes the position detection section 39 to rotate via the joint 38. For this reason, the position detection unit 4 coupled to the pedestal 3
0, the position detecting section 39 approaches and separates from the position detecting section 40, and a signal is output from the position detecting section 40.
The origin position of link 1 will be detected. Next, when the third link 4 rotates, the support shaft 42 rotates, the plate 44b rotates via the boss portion 44a, and similarly comes into contact with and separates from the position detection section 46, and an origin position signal is output from the position detection section 46. will be done. Further, the rotation of the support shaft 42 also rotates the position detection section 47, and the rotation of the cylindrical shaft 35 also rotates the position detection section 49, so that the position detection section 47 and the position detection section 49 rotate relative to each other. , the cylindrical shaft 35 and the support shaft 42, that is, the first link 1 and the third link 4
The mutual position with the is detected. As a result, the first link 1
Interference between the third link 4 and the third link 4 is prevented. That is, the fourth servo mode 17 and the fifth servo mode 21 are controlled by the signal from the position detection section 49, and interference between the first link 1 and the third link 4 is prevented. Become.

By the way, each position detection unit 39.40.43.46.47
．． When adjusting tTJl at position 49, adjust lid 51.52.
When the first link 1 is removed from the frame 3, each position detection section is exposed, so that adjustment work can be performed at a position spaced apart from the lower part of the first link 1.

Next, another embodiment of the present invention will be described with reference to FIG. This figure is a front view of the position detection parts 44 and 46, and in the figure, a long hole 44c is formed in the plate 44b in a substantially circumferential direction. 53 is a leg that connects the position detection unit 46 to the pedestal 3 via a bolt 54, and has an elongated hole 538 in the approximate direction.
is formed.

With this configuration, it is possible to adjust the position of the position detection part 44.46 within the range of the elongated holes 44c and 5(a).In other words, by removing the lid 51 from the pedestal 3, the bolts 45.54 are exposed. The position can be easily changed. In this figure, 55 is a plate-shaped position detection unit connected to the boss portion 448 with a bolt 56, and 57 is a position detection unit that connects and separates from this position detection unit 55 and outputs a position signal. Position detection unit 5 consisting of an electromagnet, 58
7 to the frame 3, and is fixed via bolts 59. Note that 55a and 58a are elongated holes, and within this range, the position detection portions 55 and 57 can be displaced in the circumferential direction. Further, the position detecting sections 55 and 57 are for detecting an over-rotation position.

Next, still another embodiment of the present invention will be described with reference to FIG. In the figure, 44d is an arcuate portion formed in an arc to match the circumference of the boss portion 44a, and 44e is an elongated arcuate portion into which the bolt 45 is inserted. With this configuration, when displacing the plate 44b, the outer periphery of the boss portion 44a can be used as a guide, so adjustment is easy and the plate 44b can be prevented from tilting by the outer periphery of the boss portion 44a.

Next, an embodiment of the present invention will be described with reference to FIGS. 7 and 8. In the figure, 6o is a pair of protrusions formed on the pedestal, and three openings 61, 62, and 63 are formed in parallel with each other. 64 is a pair of guide shafts inserted into the opening 6'l and 62; 65 is a retaining ring for positioning the guide shaft 64; 66 is a screw rod rotatably inserted into the opening 63; It is formed into a hexagon. 67 is a retaining ring for positioning this threaded rod 66; 68 is a foot screwed onto the threaded rod 66 and slidably inserted into the pair of guide shafts 64; 69 is a position connected to this foot 68. This is the detection part.

In configuration B, the position detection section 69 can be easily moved via the legs 68 by rotating the head of the threaded rod 66 with a spanner or the like.

Next, still another embodiment will be described with reference to FIGS. 9 and 10. In the figure, 70 is a plate connected to both ends of the pedestal 30 via bolts 71, and an arrow 72 is provided on the plate. 73
is a disc connected to the end of the joint 38 with a bolt 74, and a scale 75 is provided on the circumference. A disk 76 is connected to the support shaft 42 with a bolt 77, and like the disk 73, it is provided with a scale (not shown).

In the configuration as described above, the rotation of the cylindrical shaft 35 rotates the disc 73 via the joint 38, and the arrow 7
2 and the scale 75, the rotation angle can be visually observed. Further, the rotation of the support shaft 42 causes the disk 76 to rotate, and the i-turn angle can be visually observed in the same way.

Note that by removing the disks 73, 76, the position detection units 39, 40, 43. ．． Since the positions of 46, 47, and 49 can be adjusted, they also function as a cover for the pedestal 3 of the discs 73, 76. By the way, during the teaching work before work, the worker must use the teaching pendant (
(not shown) and, for example, positions a welding jig (not shown) and a workpiece (not shown) to be welded. in this case,
The range of movement of the output part of the device is generally performed while checking with a control box, but there is a disc 73.
76 was used. In this case, the operator can easily see the moving position of the output section of the device, making the teaching work easier.

By the way, in the above explanation, the position detection section 40, 46, 49 was explained using an electromagnet, but it is also possible to use a contact type such as a micro switch, or a non-contact type using a proximity switch such as a magnetic switch. The formula also has a similar effect.

As described above, in the present invention, the first link is provided with a cylindrical shaft that is rotatably supported on a frame, and the second link is provided with a support shaft that is rotatably supported on the inner periphery of the cylindrical shaft. However, since a position detection means for detecting the rotational position of the cylindrical shaft or the support shaft is disposed between one or both ends of the cylindrical shaft and the support shaft and the mount, The position detection means can be adjusted from a remote location, which not only makes the work easier (but also makes maintenance easier).

Further, when the position detection section is configured to be displaced by a feed screw, there is an effect that the position adjustment of the position detection section becomes extremely easy.

Further, in the case where the support shaft or the cylindrical shaft is provided with an instruction plate, the rotation angle can be visually observed, which not only facilitates the teaching operation but also has the effect that the instruction plate can also be used as a cover.

[Brief explanation of the drawing]

Figure 1 is a front view of the conventional device, Figure 2 is a side view of Figure 1,
Fig. 3 is a side view showing an outline of the main parts of the conventional device, Fig. 4 is a sectional view of the main parts showing an embodiment of the invention of Party B, Fig. 8 is a sectional view thereof, and Fig. 9 is a sectional view of the main part of the invention of Party B. FIG. 10 is a sectional view of a main part showing still another embodiment, and FIG. 10 is a side view of FIG. 9. In the figure,
1 is a first link, 3 is a frame, 4 is a third link, 8 is an output shaft, 28 is a pedestal, 33.34 is a cylindrical shaft, 42 is a support shaft, 39.40.43.46.47. 49 is a position detection unit;
60 is a protrusion, 64 is a guide shaft, 66 is a spring bar, 70 is a plate, and 73.76 is a disc. The same reference numerals in each figure represent the same or equivalent parts.
Masu Oiwa j1t Engraving of drawings (changed to contents ζ-L) Figure 1 Figure 2 Figure 3 Figure 5 Figure 6 Figure 7 Figure 8 Figure 1 Oshi 1 Procedure Sleeve correct 1! z (Method) 1. Indication of the case Japanese Patent Application No. 188924/1982 2. Benefits of the invention Industrial robot 3. Representative of the person making the amendment Kata Yuhito 4. Agent 6 Drawing subject to the amendment 7. Amendment Contents F1 Zuno T! r' Engraving of Figure 10 (no changes to the contents)

Claims (5)

[Claims] (1) A bed, a turning table rotatably disposed on the bed, a pedestal mounted on the swivel table, and a group of links that are directed to the pedestal and cause the output part Ie to deviate with multiple degrees of freedom, and this link The first link and the second link of the group are coaxially arranged above. In the industrial robot rotatably supported on a pedestal, the first link is provided with a cylindrical shaft rotatably supported on the pedestal, and the second link is provided with a cylindrical shaft rotatably supported on the cylindrical shaft. A supported support shaft is disposed, and a position detection means for detecting a rotational position of the cylindrical shaft or the support shaft is disposed between one or both ends of the cylindrical shaft and the support shaft and the mount. An industrial robot that is characterized by its unique features. (2) The position detection means includes a first position detection unit coupled to the cylindrical shaft or the support shaft, and a second position detection unit coupled to the pedestal.
The first position detecting section is configured to vary the coupling position with respect to the cylindrical shaft or the support shaft, and the second position detecting section is configured to vary the coupling position with respect to the pedestal. The industrial robot according to claim 1, characterized in that B is made variable. (3) The industrial robot according to claim 2, wherein the first position detection section is capable of displacing a coupling position along the outer periphery of the cylindrical shaft or the support shaft. (4) A bed, a turning table rotatably disposed on the bed, a pedestal mounted on the swivel table, and a group of links for displacing the output part in multiple degrees of freedom in accordance with instructions from the pedestal, the link group The first link and the second
In an industrial robot, SOTO, in which a link is rotatably supported on the mount on a coaxial line, a cylindrical shaft for rotatably supporting the first link on the mount, and a cylindrical shaft arranged concentrically on the inner periphery of the cylindrical shaft. a support shaft for rotatably supporting the second second link on the cylindrical shaft; a first position detection section coupled to the cylindrical shaft or the support shaft; a support section provided on the pedestal; A shaft attached to the support, a feed screw screwed to the support in parallel with the shaft, and slidably supported by the shaft and moved on the shaft in response to rotation of the feed screw. An industrial robot further comprising: a second position detecting section capable of outputting a rotational position signal of the cylindrical shaft or the support shaft in cooperation with the first position detecting section. (5) A bed, a turning table disposed on the bed so as to be able to turn freely, a pedestal mounted on the swivel table, and a group of links that displace the output part in multiple degrees of freedom according to instructions from the pedestal B, and this link The first link and the second link in the group
In an industrial robot in which a link is rotatably supported on the pedestal on a coaxial line, a cylindrical shaft rotatably supports the first link on the pedestal; A support shaft for rotatably supporting the second link of No. 2 on the cylindrical shaft, and an instruction plate provided at the end of the support shaft of No. 2 or the cylindrical shaft for indicating the rotational position with respect to the mount. Industrial robots.