JPS6044286A - Hydraulically controlled robot with balancer - 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 includes a fluid pressure operated actuator that drives an arm rotatable around a horizontal axis, and a fluid pressure operated actuator for a balancer that urges the arm upward against gravity. The present invention provides a fluid pressure control robot with a balancer.

Hereinafter, one embodiment of the present invention will be explained based on the attached illustrative drawings. In FIGS. A first arm 8.6 is a second arm that connects the intermediate member 5 and the tip member 7. The rotary table 4 is rotatably supported. The first arm 4 is made up of a pair of front and rear parallel swing links 8a and 5b, and is configured to move the intermediate member 5 in the front and back direction with respect to the rotary table 2 while holding the intermediate member 5 in a constant posture. Is it a pair of upper and lower parallel I constantly moving links? a and 9b, and is configured to move the tip member 7 in the vertical direction relative to the intermediate member 5 while holding the tip member 7 in a constant posture. Although not shown, the robot hand is attached to the tip end +4'7 via a suitable actuator. 1 (A pneumatically actuated actuator that rotates the rotating table 2 within a predetermined range with respect to the base 1,
It is attached to the base 1. 11 is placed on the turntable 2 (t
This is a pneumatically actuated actuator for driving the first arm, which swings the link 8a within a predetermined range of 1ζ via the drive shaft 12 on the rotary table 2 side. 15 is a pneumatic actuator for driving the second arm attached to the intermediate member 5, and is a link? b is swung within a predetermined range via the drive shaft 14 on the intermediate member 5 side. Further, 15 is a pneumatically actuated actuator for a balancer that acts on the second near irregularity, and is a pneumatically actuated actuator 15 for driving the second arm.
It is attached to the intermediate member 5 on the opposite side to the side with
No. Near Muro link? b is urged upward via the drive shaft 14. 16 is a pulse encoder that is linked to the rotation of the rotary table 2. Reference numeral 17 denotes a pulse encoder that is interlocked with the swinging of the first arm 4, and is interlocked with the link drive shaft 12. Reference numeral 18 denotes a pulse encoder that is linked to the swinging of the near-deflector, and is connected to the link drive shaft 14.
is linked to.

Each actuator, according to the above pneumatically controlled robot.

The motors 10, 11, and 1i5 are pneumatically actuated to rotate the rotary table 2 with respect to the base 1, to swing the first arm 4 in the front-rear direction with respect to the rotary table 2, and to vertically swing the second near end relative to the intermediate member 5. The tip member 7 performs a predetermined motion consisting of a combination of motions.
By doing this, it is possible to move the robot 17) hand attached to the tip member 7 along a preset movement trajectory and perform the desired work.Next, each pneumatic pressure Operation actuator control system 4r
-Explain.

Figure 3 shows the pneumatic actuator 1 for driving the second arm.
3 and the pneumatic control system of the balancer pneumatic actuator 15, in which 19 to 21 are electromagnetic switching valves, 22 to 24 are pressure regulating valves, 125 and 26 are check valves,
27-60 are variable throttle valves, and 51-65 are silencers.

According to this pneumatic control system, the pressure air that has been kept at a constant pressure by the pressure regulating valve 22 is supplied to the primary side of the electromagnetic switch and 1F19.20 via the check valve 25. Pressure air is supplied to n:I actuator 16.
By selectively switching the electromagnetic switching valves 19 and 20 to supply the current to
Due to the rotation of
Or move downward. When the near-deflection reaches the set position, the electromagnetic switching valves 19 and 20 are switched to supply pressurized air to both the forward rotation drive side port and the reverse rotation drive side port of the actuator 13, and the second near-deflection is set. With this near position positioned, turn this near
A brake means (not shown) is actuated to lock the second near stop at the set position.

The other actuators, namely the pneumatically actuated actuator 10 for driving the rotary table and the pneumatically actuated actuator 11 for driving the first arm, are also pneumatically driven by the same control system as the actuator 15, and when the rotary table 2 and the rotary table have reached the set position, The first arm 4 is fixed by braking means as described above.

On the other hand, the pressure air adjusted to a constant pressure by the 6:1 pressure adjustment valve 22 is further adjusted to a low pressure by the pressure adjustment valves 26 and 24 and is supplied to the primary side of the electromagnetic switching valve 21, By switching the electromagnetic switching valve 21, the high pressure air regulated by the pressure m regulating valve 25 or the low pressure air regulated by the pressure regulating valve 24 is supplied to the pneumatic actuator 15 for the 0:1 balancer. The actuator 15
The unevenness is urged upward against the intermediate member 5 by a strong or weak urging force, and the downward rotational force M acting on this near unevenness, ie, M=W-β- r bowl θ・
Since W (W is the vertical load acting on the tip of the nearer unevenness, r is the radius of rotation at the tip of the nearer unevenness) changes in a sine curve shape as the nearer unevenness moves up and down, this rotational force M
When there is a near unevenness within the angular range R1 in which the rotational force M The angle range R that is less than or equal to the value
2, when there is a near unevenness in the pressure regulating valve 2.
By fully automatically switching the electromagnetic switching valve 21 so that the upward urging force of the weakening heel by the low-pressure air adjusted by step 4 is applied to the nearer Muro, an appropriate balance force is always applied to the Nearer Muro. I can do it.

This equilibrium force is applied to the electromagnetic switching valve 19.20 regardless of whether the robot hand attached to the tip member 7 is holding a workpiece of a predetermined weight or not.
When both systems are opened to the atmosphere as shown in the diagram and the second arm drive pneumatic actuator 15 is in a free state where it can freely rotate, the near-near irregularity is within the angular range R1, R.
In either region of 2, the size is set so that the nearer roller can be stopped at any angle in cooperation with the frictional force of each rotary joint of the nearer roller.

The pulses of each of the pulse encoders 16 to 18 (No. 8 is
It is used by a conventionally well-known method to detect the current positions of the rotary table 2, the first arm 4, and the near rotor, and when the detected current position value becomes the set value, each of the electromagnetic switching valves 19 to 21 is automatically switched.

Although the balancer that acts on the first arm 4 is not shown, the balancer pneumatic actuation 7 -1-
A balancer utilizing a pneumatically actuated actuator similar to the Yuator 15 or any other suitable balancer may be used in conjunction with the balancer.

The fluid pressure control system of the present invention, as in the above embodiment, is equipped with an arm that is driven around a horizontal axis by a fluid pressure operated actuator. A fluid pressure operated actuator for the balancer is added which urges upward, and the fluid pressure supplied to this fluid pressure operated actuator for the balancer is
Since the device is provided with means for gradually changing the strength corresponding to the magnitude of the downward rotational force that changes as the arm rotates, the balancer fluid pressure actuator causes the arm to adjust to the angle. A corresponding balance force of -1J can be automatically applied. Therefore,
The rotation of the arm by the hydraulic actuator can be controlled easily and with high precision.

In addition, conventional teaching work is performed by manually operating the control panel to drive the arm so that the robot hand moves along the desired path. There was a risk of personal injury due to sudden movement outside.

According to the configuration of the present invention, the balancer fluid pressure actuator is provided separately from the fluid pressure actuator that drives the arm, so during teaching, the arm drive actuator is in a free state where it can rotate freely. By supplying operating pressure fluid only to the actuator for the balancer and turning on a circuit that detects the position of the arm and stores it in the controller 10, a balance force is applied. 〇Teaching work can be performed while manually moving the arm, which is light and can be easily moved, completely eliminating personal accidents caused by sudden movements of the arm as in the past. I can do two.

In the embodiment, the fluid pressure supplied to the balancer fluid pressure operated actuator is configured to be switched between high and low levels in two stages, but the number of stages can also be three or more stages.

[Brief explanation of the drawing]

Figure 1 is a side view showing the entire robot, Figure 2 is a rear view of the same, Figure 3 is an explanatory diagram showing a part of the control system of the pneumatic actuator, and Figure 4 is the robot shown in Figure 1. FIG. 6 is a diagram illustrating the magnitude of downward rotational force acting on the second arm. 1... Base, 2... Rotating table, 4... First arm,
5... Intermediate member, 6... Second arm, 7... Tip member, 8a, 8b, 9a, 9b... Link, 10...
・Pneumatically actuated actuator for rotating table drive, 11...1st Arno・Pneumatically actuated actuator for drive, 1st...
・Pneumatic actuator for driving the second arm, 16-1
8...Pulse encoder, 19-21...Solenoid switching valve, 22-24...Pressure regulating valve. Figure 4

Claims (1)

[Claims] In a robot equipped with an arm driven around a horizontal axis by a fluid-pressure-operated actuator, a fluid-pressure-operated actuator for a balancer is added that urges the arm upward against the downward rotational force of gravity, and this The fluid pressure supplied to the fluid pressure operated actuator for the balancer is
A fluid pressure controlled robot with a balancer, comprising means for gradually changing the strength of the downward rotational force corresponding to the magnitude of the downward rotational force that changes as the arm rotates.