JPH06182653A - Robot hand - Google Patents
Robot handInfo
- Publication number
- JPH06182653A JPH06182653A JP33647492A JP33647492A JPH06182653A JP H06182653 A JPH06182653 A JP H06182653A JP 33647492 A JP33647492 A JP 33647492A JP 33647492 A JP33647492 A JP 33647492A JP H06182653 A JPH06182653 A JP H06182653A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- motor
- tool
- arm
- robot
- 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.)
- Pending
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はロボットの手に関し、ロ
ボットの手に対する工具の取付角度等に改良を加えたも
のである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand, and is an improvement in the attachment angle of a tool to the robot hand.
【０００２】[0002]
【従来の技術】従来のロボットの手としては、図５に示
す構成のものがある。第１軸〜第３軸の部分が省略され
たロボットのアーム３１の先端に第４軸（イ）を中心と
して回動自在にアーム３２が設けられ、アーム３２には
第５軸（ロ）を中心として回動自在に手首３３が設けら
れ、手首３３には第６軸（ハ）を中心として回動自在に
手３４が設けられ、手３４には砥石２ａを有するグライ
ンダ２が取り付けられる。2. Description of the Related Art As a conventional robot hand, there is the one shown in FIG. An arm 32 is provided at the tip of an arm 31 of the robot in which the first to third axes are omitted so as to be rotatable around a fourth axis (a), and the arm 32 is provided with a fifth axis (b). A wrist 33 is rotatably provided around the center, and a hand 34 is provided on the wrist 33 rotatably about a sixth axis (C), and the grinder 2 having the grindstone 2a is attached to the hand 34.
【０００３】ワークを加工する場合は第４軸〜第６軸を
中心として各部を回動させることによりワークに対する
砥石２ａの角度を設定してから加工を開始する。When a workpiece is machined, each part is rotated about the fourth to sixth axes to set the angle of the grindstone 2a with respect to the workpiece and then the machining is started.
【０００４】[0004]
【発明が解決しようとする課題】ところが、例えばロボ
ットのアーム３２に対する手首３３の取付角度を設定す
るための第５軸（ロ）と工具の作用点Ｐとの間に距離Ｒ
があるために、工具の作用点Ｐでワークから工具に反力
Ｆが加わると、工具の取付角度を変えるためのモータに
はＦＲの反力モーメントＭが加わり、反力モーメントＭ
の加わった位置ではモータが回されて工具の取付角度が
変動する。また、工具の取付角度を変えるためのモータ
にはこの反力モーメントＭに打ち勝つだけの大きなトル
クが必要になる。そこで本発明は、かかる課題を解決し
たロボットの手を提供することを目的とする。However, for example, a distance R is set between the fifth axis (b) for setting the attachment angle of the wrist 33 with respect to the arm 32 of the robot and the working point P of the tool.
Therefore, when a reaction force F is applied from the workpiece to the tool at the action point P of the tool, a reaction force moment M of FR is applied to the motor for changing the mounting angle of the tool, and a reaction force moment M
At the position where is added, the motor is rotated and the mounting angle of the tool changes. Further, the motor for changing the attachment angle of the tool needs a large torque to overcome the reaction force moment M. Therefore, an object of the present invention is to provide a robot hand that solves such a problem.
【０００５】[0005]
【課題を解決するための手段】かかる目的を達成するた
めの本発明の構成は、ベースに第１軸を中心として回動
自在な第１アームの基端部を取り付けると共に第１アー
ムの基端部に第１駆動手段を連動連結し、第１アームの
先端部に第２軸を中心として回動自在な第２アームの基
端部を取り付けると共に第２アームの基端部に第２駆動
手段を連動連結し、第２アームの先端部に第３軸を中心
として回動自在な工具を取り付けると共に当該工具に第
３駆動手段を連動連結し、前記の第１軸，第２軸，第３
軸が、いずれもワークと工具との接触点である加工点を
通るようにしたことを特徴とする。The structure of the present invention for achieving the above object is to mount a base end portion of a first arm that is rotatable around a first shaft on a base and to attach the base end of the first arm. The first drive means is interlockedly connected to the portion, the base end portion of the second arm rotatable about the second shaft is attached to the tip end portion of the first arm, and the second drive means is attached to the base end portion of the second arm. Is connected in an interlocking manner, a tool rotatable about the third axis is attached to the tip end portion of the second arm, and a third driving means is interlockingly connected to the tool, and the first axis, the second axis, and the third axis are connected.
All of the axes are characterized in that they pass through a machining point which is a contact point between the work and the tool.
【０００６】[0006]
【作用】第１軸と第２軸と第３軸とが、いずれも工具と
ワークとの接触する点である加工点を通ることから、ワ
ークの加工中に工具がワークから反力を受けても第１，
２，３軸から加工点までの距離がゼロであるため、第１
〜第３の駆動手段には反力モーメントが全く加わらな
い。このため、駆動手段として容量の小さいものでも足
りる。Since the first axis, the second axis and the third axis all pass through the machining point where the tool and the workpiece come into contact with each other, the tool receives a reaction force from the workpiece during machining of the workpiece. Also the first
Since the distance from the 2nd and 3rd axes to the machining point is zero, the first
~ No reaction force moment is applied to the third drive means. For this reason, a driving means having a small capacity is sufficient.
【０００７】[0007]
【実施例】以下、本発明を図面に示す実施例に基づいて
詳細に説明する。なお、本実施例は従来のロボットの手
の一部を改良したものなので、従来と同一部分には同一
符号を付して説明を省略し、異なる部分のみを説明す
る。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in the drawings. Since the present embodiment is an improvement of a part of the conventional robot hand, the same parts as those of the conventional robot are designated by the same reference numerals, and the description thereof will be omitted. Only different parts will be described.
【０００８】本発明によるロボットの手を用いたロボッ
ト装置の実施例１，２の構成を図３，図４に示す。図３
に示すものは、ロボットの手に取り付けたグラインダ２
が略円柱形の作動範囲の内部で動けるようにしたもので
あり、べース３には図示しない駆動手段により昇降可能
（１軸）な昇降台４が設けられ、昇降台４には駆動手段
５により旋回可能（２軸）なアーム６が設けられ、アー
ム６の先端には駆動手段７により旋回可能（３軸）なア
ーム８が設けられ、アーム８の先端の下部にはロボット
の手１が取り付けられる。図４に示すものは、ロボット
の手に取り付けたグラインダ２が略直方体の作動範囲の
内部で動けるようにしたものであり、べース９にはコの
字形の一対の枠体１０ａ，１０ｂが取り付けられてお
り、一対の枠体１０ａ，１０ｂを橋渡しするようにして
設けられた移動台１１が図示しない駆動手段により水平
方向（１軸）へ移動可能に設けられ、移動台１１には図
示しない駆動手段により移動台１１の移動方向と直角な
水平方向（２軸）へ移動可能な移動台１２が設けられ、
移動台１２には図示しない駆動手段により鉛直方向（３
軸）へ昇降可能な昇降台１３が設けられ、昇降台１３の
下部にはロボットの手１が取り付けられる。なお、この
ほか、垂直多関節型ロボット装置に本発明にかかるロボ
ットの手を用いることもできる。The constructions of Embodiments 1 and 2 of a robot apparatus using a robot hand according to the present invention are shown in FIGS. Figure 3
Shown in is the grinder 2 attached to the robot's hand.
Is movable within a substantially cylindrical operating range. The base 3 is provided with a lift table 4 that can be lifted (1 axis) by a driving means (not shown), and the lift table 4 is driven by a driving means. An arm 6 that can be swung (two axes) by 5 is provided, an arm 8 that can be swung (three axes) by drive means 7 is provided at the tip of arm 6, and a robot hand 1 is provided below the tip of arm 8. Is attached. In FIG. 4, the grinder 2 attached to the hand of the robot is designed to move within the operating range of a substantially rectangular parallelepiped, and the base 9 has a pair of U-shaped frames 10a and 10b. A movable table 11 that is attached and provided so as to bridge the pair of frames 10a and 10b is provided so as to be movable in the horizontal direction (one axis) by a driving unit (not shown), and the movable table 11 is not shown. A moving table 12 is provided which is movable by a driving means in a horizontal direction (two axes) perpendicular to the moving direction of the moving table 11.
A vertical direction (3
An elevating table 13 that can be moved up and down is provided, and a robot hand 1 is attached to the lower part of the elevating table 13. In addition, the hand of the robot according to the present invention can be used for a vertical articulated robot apparatus.
【０００９】図３，図４のロボット装置や垂直多関節型
ロボット装置に用いられるロボットの手として実施例
１，実施例２のものがある。The hands of the robot used in the robot apparatus shown in FIGS. 3 and 4 and the vertical articulated robot apparatus include those of the first and second embodiments.
【００１０】（ａ）実施例１ 本発明によるのロボットの手の実施例１の構成を、図１
（ａ）に示す。ロボットの手１は、ベースとしての取り
付け部２０と、取り付け部２０に取り付けられた減速機
付きモータ２１と、減速機付きモータ２１の駆動軸２１
ａに取り付けられたレバー２２と、レバー２２の先端に
取り付けられた減速機付きモータ２３と、減速機付きモ
ータ２３の駆動軸２３ａに取り付けられたレバー２４
と、レバー２４の先端に取り付けられた減速機付きモー
タ２５と、減速機付きモータ２５の駆動軸２５ａに取り
付けられた支持部２６とで構成される。そして、支持部
２６の下に砥石２ａを有するグラインダー２が取り付け
られる。ここで、駆動軸２１ａ，２３ａのなす角度と、
駆動軸２３ａ，２５ａのなす角度と、駆動軸２５ａ，砥
石２ａのなす角度とはいずれも４５度である。(A) Embodiment 1 The configuration of Embodiment 1 of a robot hand according to the present invention is shown in FIG.
It shows in (a). The hand 1 of the robot includes a mounting portion 20 as a base, a motor 21 with a reduction gear attached to the mounting portion 20, and a drive shaft 21 of the motor 21 with a reduction gear.
a, a lever 22 attached to a, a motor 23 with a reducer attached to the tip of the lever 22, and a lever 24 attached to a drive shaft 23a of the motor 23 with a reducer.
And a motor 25 with a reducer attached to the tip of the lever 24, and a support portion 26 attached to a drive shaft 25a of the motor 25 with a reducer. Then, the grinder 2 having the grindstone 2a is attached below the support portion 26. Here, the angle formed by the drive shafts 21a and 23a,
The angle formed by the drive shafts 23a and 25a and the angle formed by the drive shaft 25a and the grindstone 2a are both 45 degrees.
【００１１】次に、かかるのロボットの手の作用を説明
する。図１（ａ）に示すように駆動軸２１ａの軸芯であ
る第４軸と駆動軸２３ａの軸芯である第５軸と駆動軸２
５ａの軸芯である第６軸とが、いずれも砥石２ａと図示
しないワークとの接触する点である加工点Ｐを通ること
から、ワークの加工中に砥石２ａがワークから反力を受
けても第４，５，６軸から加工点までの距離Ｒがゼロで
あるため、減速機付きモータ２１，２３，２５には反力
モーメントが全く加わらない。このため、減速機付きモ
ータとして容量の小さいものでも足りる。また、負荷イ
ナーシャも小さいため、駆動軸４，５，６の加速，減速
が速い。Next, the operation of the robot hand will be described. As shown in FIG. 1A, a fourth shaft that is the shaft center of the drive shaft 21a, a fifth shaft that is the shaft core of the drive shaft 23a, and the drive shaft 2
Since the sixth axis, which is the axis of 5a, passes through the processing point P, which is the point at which the grindstone 2a and the workpiece (not shown) come into contact with each other, the grindstone 2a receives a reaction force from the workpiece during machining of the workpiece. However, since the distance R from the 4th, 5th and 6th axes to the machining point is zero, no reaction moment is applied to the motors 21, 23 and 25 with reduction gears. Therefore, a motor with a reduction gear having a small capacity is sufficient. Further, since the load inertia is small, the drive shafts 4, 5, 6 are accelerated and decelerated quickly.
【００１２】次に、砥石２ａの動作範囲を、図１（ｂ）
に基づいて説明する。図のように、第４軸と第５軸とが
４５°をなし、第５軸と第６軸とが４５°をなし、第６
軸と砥石２ａの面とが４５°をなすことから、図１
（ｂ）に示すように砥石２ａが図中の第４軸より右側へ
１３５°の位置にきたときが最大となり、左側もあるこ
とから砥石２ａは最大で２７０°の範囲を動くことがで
きる。Next, the operating range of the grindstone 2a is shown in FIG.
It will be described based on. As shown, the fourth axis and the fifth axis form 45 °, the fifth axis and the sixth axis form 45 °, and the sixth axis
Since the axis and the surface of the grindstone 2a form 45 °,
As shown in (b), the maximum occurs when the grindstone 2a comes to the position of 135 ° to the right from the fourth axis in the figure, and the grindstone 2a can also move within the range of 270 ° at the maximum because there is also the left side.
【００１３】（ａ）実施例２ 本発明によるのロボットの手の実施例２の構成を、図２
（ａ）に示す。この実施例の構成部材は実施例１の構成
部材と同じであるが、次の点が異なる。即ち、駆動軸２
１ａ，２３ａのなす角度と、駆動軸２３ａ，２５ａのな
す角度と、駆動軸２５ａ，砥石２ａのなす角度とがいず
れも６０度である。(A) Embodiment 2 The configuration of Embodiment 2 of a robot hand according to the present invention is shown in FIG.
It shows in (a). The constituent members of this embodiment are the same as those of the first embodiment, except for the following points. That is, drive shaft 2
The angle formed by 1a and 23a, the angle formed by the drive shafts 23a and 25a, and the angle formed by the drive shaft 25a and the grindstone 2a are all 60 degrees.
【００１４】次に、かかるのロボットの手の作用を説明
する。ロボットの手の動作範囲を図２（ｂ）にもとずい
て説明すると、図のように第４軸と第５軸とが６０°を
なし、第５軸と第６軸とが６０°をなし、第６軸と砥石
２ａの面とが６０°をなすことから、図２（ｂ）に示す
ように砥石２ａが図中の第４軸より右側へ１８０°の位
置にきたときが最大となり、左側もあることから砥石２
ａは最大で３６０°の範囲を動くことができる。このよ
うに、第４軸と第５軸とのなす角度を大きくすることに
よって、砥石２ａの動作可能な範囲を広くすることが可
能であるが、この角度を余り大きくするとロボットの手
がワークにぶつかって干渉する可能性が大きくなる。Next, the operation of the robot hand will be described. The movement range of the robot hand will be described with reference to FIG. 2 (b). As shown in the figure, the fourth axis and the fifth axis form 60 °, and the fifth axis and the sixth axis form 60 °. None, since the 6th axis and the surface of the grindstone 2a form 60 °, it becomes the maximum when the grindstone 2a is positioned 180 ° to the right of the 4th axis in the figure as shown in FIG. 2 (b). , There is also a left side, so whetstone 2
a can move up to 360 °. By increasing the angle formed by the fourth axis and the fifth axis in this way, it is possible to widen the range in which the grindstone 2a can move. However, if this angle is too large, the robot's hand will touch the workpiece. The chances of collision and interference increase.
【００１５】[0015]
【発明の効果】以上の説明からわかるように、本発明に
よるロボットの手によれば、第１軸，第２軸，第３軸が
いずれもワークと工具との接触点である加工点を通るよ
うにしたので、ワークの加工中に工具がワークから反力
を受けても第１軸，第２軸，第３軸から加工点までの距
離がゼロであるため、各軸での駆動手段には反力モーメ
ントが全く加わらず、反力によりロボットの手に対する
工具の取付角度が変動することはない。このため、駆動
手段は容量の小さいものでも足りる。As can be seen from the above description, with the robot hand according to the present invention, the first axis, the second axis, and the third axis all pass through the machining point which is the contact point between the workpiece and the tool. As a result, even if the tool receives a reaction force from the workpiece during machining of the workpiece, the distance from the first axis, second axis, and third axis to the machining point is zero. No reaction force moment is applied, and the attachment angle of the tool with respect to the robot's hand does not change due to the reaction force. For this reason, the driving means having a small capacity is sufficient.
【図１】本発明によるロボットの手の実施例１にかか
り、図１（ａ）は構成図、図１軸（ｂ）は作用説明図。1A and 1B relate to a first embodiment of a robot hand according to the present invention, FIG. 1A is a configuration diagram, and FIG. 1A is an operation explanatory diagram.
【図２】本発明によるロボットの手の実施例２軸にかか
り、図２（ａ）は構成図、図２（ｂ）は作用説明図。2A and 2B are schematic views of the robot hand according to the second embodiment of the present invention, and FIG.
【図３】ロボット装置の実施例１を示す構成図。FIG. 3 is a configuration diagram showing a first embodiment of the robot apparatus.
【図４】ロボット装置の実施例２を示す構成図。FIG. 4 is a configuration diagram showing a second embodiment of the robot apparatus.
【図５】従来のロボットの手の構成図。FIG. 5 is a block diagram of a conventional robot hand.
２…グラインダ ２０…取り付け部 ２１，２３，２５…減速機付きモータ ２１ａ，２３ａ，２５ａ…駆動軸 ２２，２４…レバー ２６…支持部 2 ... Grinder 20 ... Mounting part 21, 23, 25 ... Motor with reduction gear 21a, 23a, 25a ... Drive shaft 22, 24 ... Lever 26 ... Support part
Claims (1)
第１アームの基端部を取り付けると共に第１アームの基
端部に第１駆動手段を連動連結し、第１アームの先端部
に第２軸を中心として回動自在な第２アームの基端部を
取り付けると共に第２アームの基端部に第２駆動手段を
連動連結し、第２アームの先端部に第３軸を中心として
回動自在な工具を取り付けると共に当該工具に第３駆動
手段を連動連結し、前記の第１軸，第２軸，第３軸が、
いずれもワークと工具との接触点である加工点を通るよ
うにしたことを特徴とするロボットの手。1. A base end portion of a first arm rotatable about a first shaft is attached to a base, and a first drive means is interlockingly connected to the base end portion of the first arm, and a tip end portion of the first arm. A base end portion of a second arm which is rotatable around a second shaft is attached to the second arm, and a second drive means is interlockingly connected to the base end portion of the second arm, and a third shaft is centered around a tip end portion of the second arm. And a third driving means is interlockingly connected to the tool, and the first shaft, the second shaft, and the third shaft are
The hands of robots are characterized in that they pass through the machining point, which is the point of contact between the workpiece and the tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33647492A JPH06182653A (en) | 1992-12-17 | 1992-12-17 | Robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33647492A JPH06182653A (en) | 1992-12-17 | 1992-12-17 | Robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06182653A true JPH06182653A (en) | 1994-07-05 |
Family
ID=18299513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP33647492A Pending JPH06182653A (en) | 1992-12-17 | 1992-12-17 | Robot hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06182653A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008539963A (en) * | 2005-05-13 | 2008-11-20 | アキュレイ・インコーポレーテッド | Robotic arm for patient positioning assembly |
| US8457279B2 (en) | 2004-04-06 | 2013-06-04 | Accuray Incorporated | Patient positioning assembly |
| JP2017521266A (en) * | 2014-05-20 | 2017-08-03 | フラウンホッファ−ゲゼルシャフト・ツア・フェルダリュング・デア・アンゲヴァンテン・フォルシュング・エーファウ | Joint configuration with at least one driven shaft |
-
1992
- 1992-12-17 JP JP33647492A patent/JPH06182653A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8160205B2 (en) | 2004-04-06 | 2012-04-17 | Accuray Incorporated | Robotic arm for patient positioning assembly |
| US8457279B2 (en) | 2004-04-06 | 2013-06-04 | Accuray Incorporated | Patient positioning assembly |
| US8745789B2 (en) | 2004-04-06 | 2014-06-10 | Accuray Incorporated | Robotic arm for patient positioning assembly |
| US10745253B2 (en) | 2004-04-06 | 2020-08-18 | Accuray Incorporated | Robotic arm for patient positioning assembly |
| JP2008539963A (en) * | 2005-05-13 | 2008-11-20 | アキュレイ・インコーポレーテッド | Robotic arm for patient positioning assembly |
| JP2017521266A (en) * | 2014-05-20 | 2017-08-03 | フラウンホッファ−ゲゼルシャフト・ツア・フェルダリュング・デア・アンゲヴァンテン・フォルシュング・エーファウ | Joint configuration with at least one driven shaft |
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