JP2562623Y2 - Spherical work robot device - Google Patents
Spherical work robot deviceInfo
- Publication number
- JP2562623Y2 JP2562623Y2 JP944992U JP944992U JP2562623Y2 JP 2562623 Y2 JP2562623 Y2 JP 2562623Y2 JP 944992 U JP944992 U JP 944992U JP 944992 U JP944992 U JP 944992U JP 2562623 Y2 JP2562623 Y2 JP 2562623Y2
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- axis
- rotating shaft
- arm
- tip
- 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.)
- Expired - Fee Related
Links
Description
【０００１】[0001]
【産業上の利用分野】本考案は、ベ−スに設置した回転
自在な第１回転軸に第１ア−ムを取り付け、その第１ア
−ムに回転自在で、かつその軸線が前記第１回転軸の軸
線と直交するよう第２回転軸を取り付け、その第２回転
軸に取り付けられた第２ア−ムの先端にその軸線が第２
ア−ムの軸線と直交し、かつ第１回転軸の軸線と交わる
よう昇降軸を配置すると共に、前記第１回転軸及び第２
回転軸に各々回転駆動源を配置した球面作業ロボット装
置に関するものである。BACKGROUND OF THE INVENTION In the present invention, a first arm is mounted on a rotatable first rotating shaft installed on a base, and the first arm is rotatable and its axis is the first axis. A second rotating shaft is mounted so as to be orthogonal to the axis of one rotating shaft, and the second rotating shaft is mounted at the tip of a second arm mounted on the second rotating shaft.
An elevating shaft is arranged so as to be orthogonal to the axis of the arm and intersect with the axis of the first rotating shaft.
The present invention relates to a spherical work robot device in which a rotation drive source is arranged on a rotation shaft.
【０００２】[0002]
【従来の技術】本願出願人は、先に球面もしくは曲面状
の作業に適したロボットとして図５に示す「球面作業ロ
ボット」を提案した（特開平２−２９２１８９号）。2. Description of the Related Art The applicant of the present invention has previously proposed a "spherical work robot" shown in FIG. 5 as a robot suitable for work on a spherical surface or a curved surface (Japanese Patent Laid-Open No. 2-292189).
【０００３】ベ−ス１０１に設置した回転自在な第１回
転軸１０２に第１ア−ム１０３を取り付け、その第１ア
−ム１０３に回転自在で、かつその軸線が前記第１回転
軸１０２の軸線と直交するよう第２回転軸１０４を取り
付け、その第２回転軸１０４に取り付けられた第２ア−
ム１０５の先端にその軸線が第２ア−ム１０５の軸線と
直交し、かつ第１回転軸１０２の軸線と交わるよう昇降
軸１０６が配置されていて、その昇降軸１０６には切削
などを行う作業工具（ツ−ル）１０７が取り付けられて
いる。A first arm 103 is attached to a rotatable first rotating shaft 102 installed on a base 101, and the first arm 103 is rotatable and its axis is the first rotating shaft 102. The second rotation shaft 104 is attached so as to be orthogonal to the axis of the second rotation shaft.
An elevating shaft 106 is disposed at the tip of the arm 105 so that its axis is orthogonal to the axis of the second arm 105 and intersects with the axis of the first rotating shaft 102. The elevating shaft 106 performs cutting or the like. A work tool (tool) 107 is attached.
【０００４】又、前記第１回転軸１０２及び第２回転軸
１０４には各々回転駆動源が配置されている。そして、
その第１回転軸１０２の中心孔には支持棒１０８が昇降
自在で、かつ回転可能に配置されている。又、その支持
棒１０８の頂部にはベ−スに対して平行にＸ方向及びＹ
方向に移動可能なワ−ク保持機構１０９が取り付けられ
ている。A rotation drive source is disposed on each of the first rotating shaft 102 and the second rotating shaft 104. And
A support rod 108 is arranged in the center hole of the first rotation shaft 102 so as to be able to move up and down and rotate. The top of the support rod 108 is parallel to the base in the X direction and the Y direction.
A work holding mechanism 109 that can move in the direction is attached.
【０００５】[0005]
【考案が解決しようとする課題】しかしながら上記従来
技術においては、球面もしくは曲面状にワ−クを加工す
る際には優れているものの、ベ−スに対して平行にＸ方
向及びＹ方向に移動可能なワ−ク保持機構を支持棒の頂
部に取り付けることはそのワ−ク保持機構の大きさ、重
量の面で困難であり、又、大きなワ−ク保持機構を支持
棒に取り付けてしまうとア−ムやツ−ル軸、作業工具が
干渉してしまい、作業範囲が狭まってしまうものであ
り、又、干渉させないようにア−ムを長くしたり、又、
支持棒を長くしたりすることも考えられるが、ア−ムを
長くすると剛性が低くなるばかりでなく、装置全体が大
きくなってしまい、又、比較的重量のある作業工具をア
−ム先端に取り付けているので、停止した際の慣性によ
り作業軸先端が振動してしまい加工精度上問題があっ
た。However, in the above-mentioned prior art, although it is excellent in processing a work into a spherical surface or a curved surface, it moves in the X and Y directions parallel to the base. It is difficult to attach a possible work holding mechanism to the top of the support rod in terms of the size and weight of the work holding mechanism, and if a large work holding mechanism is attached to the support rod. Arms, tool shafts, and work tools interfere with each other, reducing the working range.In addition, the arm can be lengthened to prevent interference,
It is conceivable to lengthen the support rod, but if the arm is lengthened, not only does the rigidity decrease, but also the entire device becomes larger, and a relatively heavy work tool is attached to the arm tip. Because of the mounting, the tip of the working shaft vibrates due to inertia at the time of stopping, and there is a problem in machining accuracy.
【０００６】[0006]
【課題を解決するための手段】本考案は上記問題点を解
決することを目的とし、ベースに設置した回転自在な第
１回転軸にＬ形の第１アームを取り付け、その第１アー
ムに回転自在で、かつその軸線が前記第１回転軸の軸線
と直交するよう第２回転軸を取り付け、その第２回転軸
に取り付けられたＬ形の第２アームの先端に第２アーム
の軸線と直交し、かつ第１回転軸の軸線と交わるよう昇
降軸を配置し、その昇降軸先端にワークを把持する支持
装置を取り付けると共に、前記第１回転軸及び第２回転
軸に各々回転駆動源を配置した球面作業ロボット装置に
おいて、前記第１回転軸の中心部に上下動可能な支持棒
を回転自在に配置し、その支持棒の先端にＬ形ブラケッ
トを取り付け、そのＬ形ブラケットの上方部に支持棒に
対して傾斜し、先端が常に支持棒の回転軸線上に向くよ
うにツール軸を回転自在に取り付けると共に、そのツー
ル軸の先端が常に前記第１回転軸の軸線上に向くよう取
り付けたことを要旨とするものである。SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and attach an L-shaped first arm to a rotatable first rotating shaft installed on a base, and rotate the first arm to the first arm. A second rotating shaft is freely mounted and its axis is orthogonal to the axis of the first rotating shaft, and a tip of an L-shaped second arm attached to the second rotating shaft is orthogonal to the axis of the second arm. And an elevating shaft is disposed so as to intersect with the axis of the first rotating shaft, and a support for gripping a workpiece at the end of the elevating shaft
In a spherical working robot device in which a device is mounted and a rotation drive source is arranged on each of the first rotation shaft and the second rotation shaft, a vertically movable support rod is rotatably arranged at the center of the first rotation shaft. An L-shaped bracket is attached to the tip of the support rod, and a tool shaft is rotatably attached to the upper part of the L-shaped bracket so as to be inclined with respect to the support rod so that the tip always faces the rotation axis of the support rod. The gist of the invention is that the tool shaft is mounted such that the tip of the tool shaft always faces the axis of the first rotation shaft.
【０００７】[0007]
【実施例】図１は本願考案における実施例を示すもので
あり、ベ−ス１に設置した回転自在な第１回転軸２には
Ｌ形状の第１ア−ム３が取り付けられている。又、Ｌ形
の第１ア−ム３の先端近傍にはその第１ア−ム３に回転
自在で、かつその軸線が前記第１回転軸２の軸線と直交
するよう第２回転軸４が取り付けられている。そしてそ
の第２回転軸４には第２回転軸４に直交するＬ形状の第
２ア−ム５が回転自在に取り付けられている。そのＬ形
の第２ア−ム５の先端にはその軸線が第２ア−ム５の軸
線と直交し、かつ第１回転軸２の軸線と交わるよう昇降
軸６が摺動可能に配置されている。そして、その昇降軸
６にはワ−クＷを把持するチャック装置７が回転自在に
取り付けられている。FIG. 1 shows an embodiment of the present invention. An L-shaped first arm 3 is attached to a rotatable first rotating shaft 2 installed on a base 1. A second rotating shaft 4 is provided near the tip of the L-shaped first arm 3 such that the second rotating shaft 4 is rotatable about the first arm 3 and its axis is orthogonal to the axis of the first rotating shaft 2. Installed. An L-shaped second arm 5 orthogonal to the second rotating shaft 4 is rotatably attached to the second rotating shaft 4. An elevating shaft 6 is slidably disposed at the end of the L-shaped second arm 5 so that its axis is orthogonal to the axis of the second arm 5 and crosses the axis of the first rotating shaft 2. ing. A chuck device 7 for gripping the work W is rotatably attached to the elevating shaft 6.
【０００８】なお、前記第１回転軸２及び第２回転軸４
には各々回転駆動源８，９が固定されている。又、前記
回転駆動源８の中心孔１０からは支持棒１１が回転、か
つ上下動可能に配置されている。The first rotation shaft 2 and the second rotation shaft 4
Are respectively fixed with rotary drive sources 8 and 9. A support rod 11 is arranged so as to rotate and move up and down from a center hole 10 of the rotary drive source 8.
【０００９】又、前記支持棒１１の先端部にはＬ形ブラ
ケット１２が固定されており、そのＬ形ブラケット１２
の上方部には支持棒１１の軸に対して角度θ傾けて回転
駆動源１３が固定されており、その回転駆動源１３の出
力軸には、ツ−ル軸１４が回転自在に取り付けられてい
る。又、そのツ−ル軸１４はその先端が常に前記支持棒
１１の回転軸線上に向くように取り付けられている。An L-shaped bracket 12 is fixed to the tip of the support rod 11.
A rotary drive source 13 is fixed to the upper part of the support bar 11 at an angle θ with respect to the axis of the support rod 11, and a tool shaft 14 is rotatably mounted on the output shaft of the rotary drive source 13. I have. The tool shaft 14 is mounted such that its tip always faces the rotation axis of the support rod 11.
【００１０】次に動作について説明する。先ず図２に示
す如く、加工するワ−クＷをチャック装置７に把持させ
る。次いで、支持棒１１並びにツ−ル軸１４を作動させ
ワ−クＷを加工する。又、ワ−クＷのツ−ル軸１４によ
る加工範囲が超えた場合や、ツ−ル軸１４を作動させる
装置とチャック装置７を作動させる装置の双方を作動さ
せた方がその加工が速い場合などにはその双方を同時に
作動させる。Next, the operation will be described. First, as shown in FIG. 2, the work W to be processed is gripped by the chuck device 7. Next, the support rod 11 and the tool shaft 14 are operated to process the work W. Further, when the working range of the tool W by the tool shaft 14 is exceeded, or when both the device for operating the tool shaft 14 and the device for operating the chuck device 7 are operated, the processing is faster. In some cases, both are activated simultaneously.
【００１１】なお、昇降軸６はワ−クＷの加工をし易い
ように昇降自在に取り付けたが、支持棒１１が上下動可
能であるため必ずしも必要ではない。The elevating shaft 6 is mounted so as to be able to move up and down so that the work W can be easily worked. However, it is not always necessary because the support rod 11 can move up and down.
【００１２】[0012]
【考案の効果】本考案は、ベースに設置した回転自在な
第１回転軸にＬ形の第１アームを取り付け、その第１ア
ームに回転自在で、かつその軸線が前記第１回転軸の軸
線と直交するよう第２回転軸を取り付け、その第２回転
軸に取り付けられたＬ形の第２アームの先端に第２アー
ムの軸線と直交し、かつ第１回転軸の軸線と交わるよう
昇降軸を配置し、その昇降軸先端にワークを把持する支
持装置を取り付けると共に、前記第１回転軸及び第２回
転軸に各々回転駆動源を配置した球面作業ロボット装置
において、前記第１回転軸の中心部に上下動可能な支持
棒を回転自在に配置し、その支持棒の先端にＬ形ブラケ
ットを取り付け、そのＬ形ブラケットの上方部に支持棒
に対して傾斜し、先端が常に支持棒の回転軸線上に向く
ようにツール軸を回転自在に取り付けると共に、そのツ
ール軸の先端が常に前記第１回転軸の軸線上に向くよう
取り付けたので、干渉することが少なく、ワークに対し
て広範囲な加工作業ができるばかりでなく、小型の装置
で剛性のある加工精度の優れた球面作業ロボット装置を
提供することができるものである。According to the present invention, an L-shaped first arm is attached to a rotatable first rotating shaft mounted on a base, and the first arm is rotatable and its axis is the axis of the first rotating shaft. A second rotating shaft is attached so as to be perpendicular to the axis of rotation. And a support for gripping the workpiece at the end of the elevating shaft.
In a spherical working robot device in which a holding device is attached and a rotation drive source is disposed on each of the first rotation shaft and the second rotation shaft, a vertically movable support rod is rotatably disposed at the center of the first rotation shaft. Then, an L-shaped bracket is attached to the tip of the support rod, and the tool shaft is rotatably attached to the upper part of the L-shaped bracket such that the tip is always oriented on the rotation axis of the support rod. At the same time, since the tip of the tool shaft is always mounted on the axis of the first rotary shaft, the tool shaft is not interfered with. It is possible to provide a spherical work robot device having a certain processing accuracy.
【図１】本考案の構成を示す概略図である。FIG. 1 is a schematic diagram showing a configuration of the present invention.
【図２】図１のワ−ク保持部の詳細正面図である。FIG. 2 is a detailed front view of a work holding unit in FIG. 1;
【図３】図１のツ−ル軸部詳細正面図である。FIG. 3 is a detailed front view of the tool shaft portion of FIG. 1;
【図４】図１のツ−ル軸の姿勢変更範囲を示す説明図で
ある。FIG. 4 is an explanatory diagram showing a posture change range of the tool axis of FIG. 1;
【図５】従来装置の一部切断正面図である。FIG. 5 is a partially cut front view of a conventional device.
１ ベ−ス ２ 第１回転軸 ３ 第１ア−ム ４ 第２回転軸 ５ 第２ア−ム ６ 昇降軸 ７ チャック装置 ８ 回転駆動源 ９ 回転駆動源 １０ 中心孔 １１ 支持棒 １２ Ｌ形ブラケット １３ 回転駆動源 １４ ツ−ル軸 DESCRIPTION OF SYMBOLS 1 Base 2 1st rotating shaft 3 1st arm 4 2nd rotating shaft 5 2nd arm 6 Elevating shaft 7 Chuck device 8 Rotation drive source 9 Rotation drive source 10 Center hole 11 Support rod 12 L-shaped bracket 13 Rotation drive source 14 Tool shaft
Claims (1)
にＬ形の第１アームを取り付け、その第１アームに回転
自在で、かつその軸線が前記第１回転軸の軸線と直交す
るよう第２回転軸を取り付け、その第２回転軸に取り付
けられたＬ形の第２アームの先端に第２アームの軸線と
直交し、かつ第１回転軸の軸線と交わるよう昇降軸を配
置し、その昇降軸先端にワークを把持する支持装置を取
り付けると共に、前記第１回転軸及び第２回転軸に各々
回転駆動源を配置した球面作業ロボット装置において、
前記第１回転軸の中心部に上下動可能な支持棒を回転自
在に配置し、その支持棒の先端にＬ形ブラケットを取り
付け、そのＬ形ブラケットの上方部に支持棒に対して傾
斜し、先端が常に支持棒の回転軸線上に向くようにツー
ル軸を回転自在に取り付けると共に、そのツール軸の先
端が常に前記第１回転軸の軸線上に向くよう取り付けた
ことを特徴とする球面作業ロボット装置。1. An L-shaped first arm is attached to a rotatable first rotating shaft installed on a base, and is rotatable on the first arm so that its axis is orthogonal to the axis of the first rotating shaft. A second rotating shaft is attached, and an elevating shaft is arranged at a tip of an L-shaped second arm attached to the second rotating shaft so as to be orthogonal to the axis of the second arm and intersect with the axis of the first rotating shaft . At the end of the elevating shaft, attach a support device
And a spherical working robot device in which a rotation drive source is disposed on each of the first rotation axis and the second rotation axis.
A vertically movable support bar is rotatably arranged at the center of the first rotating shaft, and an L-shaped bracket is attached to the tip of the support bar. The upper portion of the L-shaped bracket is inclined with respect to the support bar, A spherical working robot wherein a tool shaft is rotatably mounted such that a tip always faces the rotation axis of the support rod, and a tool shaft is mounted such that the tip of the tool shaft always faces the axis of the first rotation shaft. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP944992U JP2562623Y2 (en) | 1992-01-31 | 1992-01-31 | Spherical work robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP944992U JP2562623Y2 (en) | 1992-01-31 | 1992-01-31 | Spherical work robot device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0563786U JPH0563786U (en) | 1993-08-24 |
| JP2562623Y2 true JP2562623Y2 (en) | 1998-02-16 |
Family
ID=11720605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP944992U Expired - Fee Related JP2562623Y2 (en) | 1992-01-31 | 1992-01-31 | Spherical work robot device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2562623Y2 (en) |
-
1992
- 1992-01-31 JP JP944992U patent/JP2562623Y2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0563786U (en) | 1993-08-24 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |