JPH04354691A - Articulated robot - Google Patents
Articulated robotInfo
- Publication number
- JPH04354691A JPH04354691A JP12757891A JP12757891A JPH04354691A JP H04354691 A JPH04354691 A JP H04354691A JP 12757891 A JP12757891 A JP 12757891A JP 12757891 A JP12757891 A JP 12757891A JP H04354691 A JPH04354691 A JP H04354691A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- arm
- wrist member
- joint element
- base
- 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.)
- Granted
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 33
- 231100000136 action limit Toxicity 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
Landscapes
- Manipulator (AREA)
Abstract
Description
【0001】0001
【産業上の利用分野】本発明は,各関節要素に関して予
め設定された基準位置に基づいて制御される多関節形ロ
ボットに係り,詳しくは,上記基準位置を簡便に設定す
ることのできる機能を備えた多関節形ロボットに関する
ものである。[Field of Industrial Application] The present invention relates to an articulated robot that is controlled based on preset reference positions for each joint element, and more specifically, the present invention relates to an articulated robot that is controlled based on reference positions set in advance for each joint element. The present invention relates to an articulated robot equipped with the following functions.
【0002】0002
【従来の技術】一般に,この種のロボットとしては,例
えば図5に示すようなものが知られている。同図に示す
ロボット1では,ベース2に基台3が旋回可能に配備さ
れており,該基台3には,垂直アーム4が揺動可能に配
備されている。上記垂直アーム4の自由端側には,水平
アーム5が揺動可能に配備されており,該水平アーム5
の自由端側には,手首部材6が配備されている。上記手
首部材6は,上記水平アーム5の軸芯α上で旋回可能な
関節要素と,上記軸芯αと所定角度で交差する軸芯β上
で旋回可能な関節要素と,上記軸芯βに対して所定角度
で交差する軸芯γ上で旋回可能な関節要素とを具備して
構成されている。上記のようなロボット1において,そ
の基準位置を設定する場合には,以下に示すような手順
にて作業が実施される。先ず,基台3に関しては,該基
台3と上記ベース2とにそれぞれ予め刻設された基準マ
ーク2a ,3a を整合させることによりその位置決
めがなされる。引き続き,上記垂直アーム4及び水平ア
ーム5に関しては,それぞれの基準面に治具7,8及び
水準器9,10を取付け,これらの水準器9,10によ
り水平状態が示されるように該垂直アーム4及び水平ア
ーム5を適宜揺動させることによりその基準位置の設定
が行われる。上記のようにして基台3,垂直アーム4及
び水平アーム5に関してそれぞれの基準位置が設定され
た後,上記手首部材6に関しては,上記したような3軸
の関節要素を一括して位置決めし得るように,モータを
OFFしてブレーキ解除の状態で,該手首部材6の各要
素に設けられた位置決めピン11,12,13を同時に
係合し得るような位置決め治具14を該位置決めピン1
1,12,13に取付ける。なおこの場合,上記手首部
材6上の上記治具8に設けられた水準器15にてその水
平状態が維持されていることを前提として上記の作業が
なされる。このようにして上記ロボット1における各関
節要素に関して基準位置が設定される。そして,この後
,各関節要素のサーボ軸系に設けられた検出器の値が所
定値に設定される。なお,同図中の16は,ベース2及
び基台3の水平状態を確認するための水準器である。2. Description of the Related Art In general, as this type of robot, one shown in FIG. 5, for example, is known. In the robot 1 shown in the figure, a base 3 is rotatably disposed on a base 2, and a vertical arm 4 is swingably disposed on the base 3. A horizontal arm 5 is swingably disposed on the free end side of the vertical arm 4.
A wrist member 6 is disposed on the free end side of. The wrist member 6 includes a joint element that is rotatable on the axis α of the horizontal arm 5, a joint element that is rotatable on the axis β that intersects the axis α at a predetermined angle, and a joint element that is rotatable on the axis β that intersects the axis α at a predetermined angle. The joint element is configured to include a joint element that is rotatable on an axis γ that intersects at a predetermined angle. When setting the reference position of the robot 1 as described above, the following steps are performed. First, the base 3 is positioned by aligning reference marks 2a and 3a engraved in advance on the base 3 and the base 2, respectively. Subsequently, regarding the vertical arm 4 and the horizontal arm 5, jigs 7 and 8 and levels 9 and 10 are attached to the respective reference planes, and the vertical arms are adjusted so that the levels are indicated by the levels 9 and 10. The reference position is set by appropriately swinging the horizontal arm 4 and the horizontal arm 5. After the respective reference positions for the base 3, vertical arm 4, and horizontal arm 5 are set as described above, the three-axis joint elements as described above can be collectively positioned for the wrist member 6. When the motor is turned off and the brake is released, a positioning jig 14 that can simultaneously engage the positioning pins 11, 12, and 13 provided on each element of the wrist member 6 is attached to the positioning pin 1.
Attach to 1, 12, and 13. In this case, the above-described work is performed on the premise that the jig 8 on the wrist member 6 is maintained in a horizontal state by the level 15 provided on the jig 8. In this way, reference positions are set for each joint element in the robot 1. Then, after this, the value of the detector provided in the servo axis system of each joint element is set to a predetermined value. In addition, 16 in the figure is a level for checking the horizontal state of the base 2 and the base 3.
【0003】0003
【発明が解決しようとする課題】ところが,上記ロボッ
ト1において,その各関節要素に関して基準位置を設定
しようとする場合,前述の如く,各水準器を用いて各ア
ームを揺動させたり,位置決め治具14を手首部材6に
直接取付けたりしなければならず,その作業が極めて煩
雑で煩わしいという問題点があった。そこで,本発明の
目的とするところは,極めて簡単な操作にて各関節要素
に関してその基準位置を設定することのできる機能を備
えた多関節形ロボットを提供することである。However, when trying to set the reference position for each joint element in the robot 1, it is necessary to swing each arm using a spirit level or use a positioning tool, as described above. The tool 14 must be attached directly to the wrist member 6, which is a problem in that the work is extremely complicated and troublesome. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an articulated robot having a function that allows setting the reference position of each joint element with an extremely simple operation.
【0004】0004
【課題を解決するための手段】上記目的を達成するため
に,本発明が採用する主たる手段は,その要旨とすると
ころが,基台に揺動可能に設けられた第1アームの先端
部に,手首部材を備えて揺動可能な第2アームを具備し
,各関節要素に関して予め設定された基準位置に基づい
て制御される多関節形ロボットにおいて,上記手首部材
の所定部位を当接させることにより上記各関節要素の基
準位置が設定され得るような位置決め治具を,上記第2
アームを動作限界位置へ揺動させた状態で上記第1アー
ムを揺動させた際の上記手首部材の上記所定部位の揺動
軌跡上の当該ロボット本体部分に設けた点に係る多関節
形ロボットである。[Means for Solving the Problems] In order to achieve the above object, the main means adopted by the present invention is that the tip of the first arm swingably provided on the base is In an articulated robot that is equipped with a swingable second arm that includes a wrist member and is controlled based on preset reference positions for each joint element, by bringing a predetermined portion of the wrist member into contact with the The second positioning jig is used to set the reference position of each joint element.
An articulated robot according to a point provided on the robot main body portion on the rocking locus of the predetermined portion of the wrist member when the first arm is rocked with the arm rocking to the operating limit position. It is.
【0005】[0005]
【作用】本発明に係る多関節形ロボットにおいては,第
2アームを動作限界位置へ揺動させた状態で第1アーム
を揺動させ,手首部材の所定部位を位置決め治具に当接
させることにより,各関節要素の基準位置が設定される
。[Operation] In the articulated robot according to the present invention, the first arm is swung while the second arm is swung to the operating limit position, and a predetermined portion of the wrist member is brought into contact with the positioning jig. The reference position of each joint element is set by this.
【0006】[0006]
【実施例】以下添付図面を参照して,本発明を具体化し
た実施例につき説明し,本発明の理解に供する。尚,以
下の実施例は,本発明を具体化した一例であって,本発
明の技術的範囲を限定する性格のものではない。ここに
,図1は本発明の一実施例に係る多関節形ロボットの側
面図,図2は図1におけるA矢視部平面図,図3は上記
多関節形ロボットの各関節要素に関してその基準位置を
設定する際の動作を示す説明図,図4は上記ロボットの
各関節要素の基準位置を設定する際の操作手順を示すフ
ローチャートである。この実施例に係る多関節形のロボ
ット17では,図1〜図3に示す如く,ベース18上に
基台19が旋回可能に配備されており,該基台19上に
は,垂直アーム20(第1アーム)が揺動可能に配備さ
れている。上記垂直アーム20の自由端側には,水平ア
ーム21(第2アーム)が揺動可能に配備されており,
該水平アーム21の先端部には,手首部材22が設けら
れている。上記手首部材22では,上記水平アーム21
の軸芯α上で旋回可能な関節要素と,上記軸芯αに対し
て所定の角度で交差する軸芯β上で旋回可能な関節要素
と,上記軸芯βに対して所定の角度で交差する軸芯γ上
で旋回可能な関節要素とを具備している。そして,上記
各関節要素に対応する当該手首部材22の両側部には,
それぞれ位置決めピン23,24,25が着脱可能に装
着されている。上記基台19の側方には,上記手首部材
22の位置決めピン23,24,25を当接させること
により当該ロボット17の各関節要素の基準位置が設定
される位置決め治具26が着脱可能に装着される。
上記位置決め治具26の装着位置は,上記水平アーム2
1を前屈させて動作限界位置へ揺動させた状態で上記垂
直アーム20を揺動させた際に上記手首部材22の上記
位置決めピン23が取り得る揺動軌跡上である。引き続
き,図4に基づいて,上記ロボット17における各関節
要素の基準位置を設定する場合の手順について説明する
。DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention. Here, FIG. 1 is a side view of an articulated robot according to an embodiment of the present invention, FIG. 2 is a plan view taken in the direction of arrow A in FIG. 1, and FIG. 3 is a reference for each joint element of the articulated robot. FIG. 4 is an explanatory diagram showing the operation when setting the position. FIG. 4 is a flowchart showing the operating procedure when setting the reference position of each joint element of the robot. In the articulated robot 17 according to this embodiment, as shown in FIGS. 1 to 3, a base 19 is rotatably disposed on a base 18, and a vertical arm 20 ( The first arm) is swingably arranged. A horizontal arm 21 (second arm) is swingably provided on the free end side of the vertical arm 20.
A wrist member 22 is provided at the tip of the horizontal arm 21. In the wrist member 22, the horizontal arm 21
A joint element that can pivot on an axis α, a joint element that can pivot on an axis β that intersects at a predetermined angle with the axis α, and a joint element that intersects at a predetermined angle with the axis β. The joint element is rotatable on the axis γ. On both sides of the wrist member 22 corresponding to each joint element,
Positioning pins 23, 24, and 25 are removably attached to each of them. A positioning jig 26 is removably attached to the side of the base 19, and the reference position of each joint element of the robot 17 is set by abutting the positioning pins 23, 24, 25 of the wrist member 22. It will be installed. The mounting position of the positioning jig 26 is the horizontal arm 2.
This is on the rocking trajectory that the positioning pin 23 of the wrist member 22 can take when the vertical arm 20 is rocked with the wrist member 1 bent forward and rocked to the operating limit position. Subsequently, based on FIG. 4, the procedure for setting the reference position of each joint element in the robot 17 will be described.
【0007】なお,同図中,S1,S2,…は各動作ス
テップを示す。先ず,上記ロボット17の各モータをオ
ンした状態で,基台19をその旋回範囲の中心付近まで
,垂直アーム20を後方エンド付近まで,更には水平ア
ーム21を下方エンド付近までそれぞれ揺動駆動させて
図1に示すような所定の姿勢へ当該ロボット17を揺動
する(S1)。なおこの場合,位置決めピン23が水平
方向に指向するように,手首部材22が軸芯α周りに旋
回駆動される。引き続き,各モータの電源がオフされた
後,上記基台19に上記位置決め治具26が取付けられ
て該位置決め治具26の蓋27が開放される(S2)。
その後,モータをオンして垂直アーム20を前方へ向け
て揺動させ(S3),手首部材22の位置決めピン23
が上記蓋27を開放することにより形成される上記位置
決め治具26上の溝28内に嵌入されたとき上記モータ
をオフし,上記蓋27を閉鎖する。引き続き,クラッチ
を解除することにより(S4),上記ロボット17はそ
の自重にて上記垂直アーム20,水平アーム21が前方
へ向けて上記溝28内で位置決めピン23が係合する位
置まで移動する(図参照)。このとき,上記垂直アーム
20,水平アーム21及び手首部材22の軸芯α周りに
関する各関節要素の位置決めがなされる。この状態で,
オペレータが上記手首部材22のピン24,25の一方
側を支持して当該手首部材22をその正面視で時計方向
へ旋回させ,他方側の位置決めピン24,25と上記位
置決め治具26の上面側とを係合させることにより,上
記手首部材22の軸芯β,γ軸周りに関する関節要素の
基準位置の位置決めがなされる(S5)。同時に,ベー
ス18に設けられた基準マーク18a と基台19に設
けられた基準マーク19a とを整合させることにより
,上記基台19の関節要素に関する位置決めがなされる
。上記したような手順にてロボット17を操作すること
により,当該ロボット17の各関節要素に関する基準位
置が極めて簡便に設定される。なお,上記のようなロボ
ット17においては,上記位置決め治具26をベース1
8の側部に取り付けるようにすると共に,上記位置決め
治具26には図2中の2点鎖線で示すような係合溝29
を刻設し,更には上記手首部材22の下面側に位置決め
ピン30を装着するようにし,当該ロボット17の上記
のような操作に際して上記位置決めピン30を上記係合
溝29内を通過させて係合するようにすることにより,
上記基準マーク18a ,19a を省略して一連の動
作にてベース18に対する基台19の基準位置の設定を
も同時に行うことができる。[0007] In the figure, S1, S2, . . . indicate each operation step. First, with each motor of the robot 17 turned on, the base 19 is oscillated to the vicinity of the center of its rotation range, the vertical arm 20 is oscillated to the vicinity of the rear end, and the horizontal arm 21 is oscillated to the vicinity of the lower end. Then, the robot 17 is swung to a predetermined posture as shown in FIG. 1 (S1). In this case, the wrist member 22 is rotated around the axis α so that the positioning pin 23 is oriented in the horizontal direction. Subsequently, after the power to each motor is turned off, the positioning jig 26 is attached to the base 19, and the lid 27 of the positioning jig 26 is opened (S2). After that, the motor is turned on to swing the vertical arm 20 forward (S3), and the positioning pin 23 of the wrist member 22
When the positioning jig 26 is fitted into the groove 28 on the positioning jig 26 formed by opening the lid 27, the motor is turned off and the lid 27 is closed. Subsequently, by releasing the clutch (S4), the robot 17 uses its own weight to move the vertical arm 20 and horizontal arm 21 forward to a position where the positioning pin 23 engages within the groove 28 ( (see figure). At this time, each joint element is positioned around the axis α of the vertical arm 20, horizontal arm 21, and wrist member 22. In this state,
An operator supports one side of the pins 24 and 25 of the wrist member 22 and rotates the wrist member 22 clockwise when viewed from the front, and the positioning pins 24 and 25 on the other side and the upper surface side of the positioning jig 26 are By engaging these, the reference position of the joint element around the axes β and γ axes of the wrist member 22 is determined (S5). At the same time, by aligning the reference mark 18a provided on the base 18 and the reference mark 19a provided on the base 19, the base 19 is positioned with respect to the joint element. By operating the robot 17 according to the procedure described above, the reference positions for each joint element of the robot 17 can be set extremely easily. In addition, in the robot 17 as described above, the positioning jig 26 is attached to the base 1.
In addition, the positioning jig 26 is provided with an engagement groove 29 as shown by the two-dot chain line in FIG.
Further, a positioning pin 30 is attached to the lower surface side of the wrist member 22, and when the robot 17 is operated as described above, the positioning pin 30 is passed through the engagement groove 29 and engaged. By making sure that
By omitting the reference marks 18a and 19a, the reference position of the base 19 relative to the base 18 can be set at the same time by a series of operations.
【0008】[0008]
【発明の効果】本発明は,上記したように,基台に揺動
可能に設けられた第1アームの先端部に,手首部材を備
えて揺動可能な第2アームを具備し,各関節要素に関し
て予め設定された基準位置に基づいて制御される多関節
形ロボットにおいて,上記手首部材の所定部位を当接さ
せることにより上記各関節要素の基準位置が設定され得
るような位置決め治具を,上記第2アームを動作限界位
置へ揺動させた状態で上記第1アームを揺動させた際の
上記手首部材の上記所定部位の揺動軌跡上の当該ロボッ
ト本体部分に設けたことを特徴とする多関節形ロボット
であるから,極めて簡単な操作にて各関節要素に関して
その基準位置を設定することができる。[Effects of the Invention] As described above, the present invention includes a second arm that is swingable and includes a wrist member at the tip of the first arm that is swingably provided on the base. In an articulated robot that is controlled based on reference positions set in advance for the elements, a positioning jig is provided that allows the reference position of each joint element to be set by bringing a predetermined part of the wrist member into contact with the robot. The robot body is provided on a swing locus of the predetermined portion of the wrist member when the first arm swings with the second arm swinging to the operating limit position. Since it is an articulated robot, it is possible to set the reference position for each joint element with an extremely simple operation.
【図1】 本発明の一実施例に係る多関節形ロボット
の側面図。FIG. 1 is a side view of an articulated robot according to an embodiment of the present invention.
【図2】 図1におけるA矢視部平面図。FIG. 2 is a plan view of the section viewed from arrow A in FIG. 1.
【図3】 上記多関節形ロボットの各関節要素に関し
てその基準位置を設定する際の動作を示す説明図。FIG. 3 is an explanatory diagram showing an operation when setting a reference position for each joint element of the multi-joint robot.
【図4】 上記ロボットの各関節要素の基準位置を設
定する際の操作手順を示すフローチャート。FIG. 4 is a flowchart showing the operating procedure for setting the reference position of each joint element of the robot.
【図5】 従来の多関節形ロボットの側面図。FIG. 5 is a side view of a conventional articulated robot.
17…ロボット
18…ベース
18a ,19a …基準マーク
19…基台
20…垂直アーム(第1アーム)
21…水平アーム(第2アーム)
22…手首部材
23,24,25,30…位置決めピン26…位置決め
治具
29…係合溝
α,β,γ…軸芯
S1〜S5…動作ステップ17...Robot 18...Base 18a, 19a...Reference mark 19...Base 20...Vertical arm (first arm) 21...Horizontal arm (second arm) 22...Wrist member 23, 24, 25, 30...Positioning pin 26... Positioning jig 29...Engagement grooves α, β, γ...Axis S1 to S5...Operation steps
Claims (1)
ムの先端部に,手首部材を備えて揺動可能な第2アーム
を具備し,各関節要素に関して予め設定された基準位置
に基づいて制御される多関節形ロボットにおいて,上記
手首部材の所定部位を当接させることにより上記各関節
要素の基準位置が設定され得るような位置決め治具を,
上記第2アームを動作限界位置へ揺動させた状態で上記
第1アームを揺動させた際の上記手首部材の上記所定部
位の揺動軌跡上の当該ロボット本体部分に設けたことを
特徴とする多関節形ロボット。Claim 1: A swingable second arm is provided with a wrist member at the distal end of a first arm swingably provided on a base, and the swingable second arm is mounted at a preset reference position with respect to each joint element. In the articulated robot controlled based on the above, a positioning jig is provided that can set the reference position of each of the joint elements by bringing a predetermined part of the wrist member into contact with the robot.
The robot body is provided on a swing locus of the predetermined portion of the wrist member when the first arm swings with the second arm swinging to the operating limit position. An articulated robot.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3127578A JP2718841B2 (en) | 1991-05-30 | 1991-05-30 | Articulated robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3127578A JP2718841B2 (en) | 1991-05-30 | 1991-05-30 | Articulated robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH04354691A true JPH04354691A (en) | 1992-12-09 |
JP2718841B2 JP2718841B2 (en) | 1998-02-25 |
Family
ID=14963528
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP3127578A Expired - Fee Related JP2718841B2 (en) | 1991-05-30 | 1991-05-30 | Articulated robot |
Country Status (1)
Country | Link |
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JP (1) | JP2718841B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07205064A (en) * | 1993-12-17 | 1995-08-08 | Como Spa | Industrial robot |
JPH07205065A (en) * | 1993-12-17 | 1995-08-08 | Como Spa | Industrial robot |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5986458B2 (en) * | 2012-08-31 | 2016-09-06 | 日本電産サンキョー株式会社 | Reference positioning method for vertical articulated robot |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6451288A (en) * | 1987-08-24 | 1989-02-27 | Fanuc Ltd | Calibrating apparatus for industrial robot |
-
1991
- 1991-05-30 JP JP3127578A patent/JP2718841B2/en not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6451288A (en) * | 1987-08-24 | 1989-02-27 | Fanuc Ltd | Calibrating apparatus for industrial robot |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07205064A (en) * | 1993-12-17 | 1995-08-08 | Como Spa | Industrial robot |
JPH07205065A (en) * | 1993-12-17 | 1995-08-08 | Como Spa | Industrial robot |
Also Published As
Publication number | Publication date |
---|---|
JP2718841B2 (en) | 1998-02-25 |
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