JPH089149B2 - Articulated arm of industrial robot - Google Patents
Articulated arm of industrial robotInfo
- Publication number
- JPH089149B2 JPH089149B2 JP63005829A JP582988A JPH089149B2 JP H089149 B2 JPH089149 B2 JP H089149B2 JP 63005829 A JP63005829 A JP 63005829A JP 582988 A JP582988 A JP 582988A JP H089149 B2 JPH089149 B2 JP H089149B2
- Authority
- JP
- Japan
- Prior art keywords
- link
- industrial robot
- work
- wrist
- articulated arm
- 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 - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/005—Arms having a curved shape
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明はアーク溶接とかシーリングとかの作業を行な
う産業用ロボットの多関節型アームに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an articulated arm for an industrial robot that performs operations such as arc welding and sealing.
従来の技術 多関節型ロボットのリンクを直線から変形させること
で、ロボットの動作可能空間を増大させることができる
場合がある。この例として、垂直多関節型の場合、第３
図に示すように、全体を旋回させる第１番目の軸の回転
中心からオフセットした位置に、前後運動をするリンク
を取り付けるものが挙げられる。１が変形しているリン
クである。こうすることで、平面的作業空間は大きくな
る。2. Description of the Related Art In some cases, the operable space of the robot can be increased by deforming the link of the articulated robot from a straight line. As an example of this, in the case of the vertical articulated type, the third
As shown in the figure, one in which a link that makes a back-and-forth motion is attached at a position offset from the center of rotation of the first shaft that rotates the whole is given. 1 is a deformed link. By doing so, the planar work space becomes large.
発明が解決しようとする課題 しかしながら、上記構造のアームを含めて、現在の構
造は次の問題点を含む。即ち垂直多関節ロボットの場合
動作範囲の標準を考えれば、第２のリンクは鉛直軸を中
心にして前後に倒れる姿勢にある。従ってロボットから
離れた位置にある作業点に対し、第２のリンク自身がワ
ークに干渉する。これを第４図に示す。２が第２のリン
ク、３がワーク、４はアーク溶接に応用した例でエンド
エフェクタとしては溶接トーチを図示している。However, the present structure including the arm of the above structure includes the following problems. That is, in the case of the vertical articulated robot, considering the standard of the operation range, the second link is in a posture of tilting back and forth about the vertical axis. Therefore, the second link itself interferes with the work at the work point located away from the robot. This is shown in FIG. 2 is a second link, 3 is a work, and 4 is an example applied to arc welding, and a welding torch is shown as an end effector.
次に、第３のリンクは水平姿勢から上下に動き、標準
作業の場合手首は下向きの為、アーク溶接，シーリング
等の場合、エンドエフェクタにつながっているケーブル
が第３のリンクと干渉する。この為、手首の回転範囲を
拡大しても実際上は動けないことが多い。この様子を、
第４図と同様にアーク溶接ロボットを例として第５図に
示す。５が第３のリンク、６がケーブルである。Next, the third link moves up and down from the horizontal posture, and since the wrist is facing downward in the standard work, in the case of arc welding, sealing, etc., the cable connected to the end effector interferes with the third link. For this reason, even if the rotation range of the wrist is expanded, the wrist often cannot move in practice. This state,
Similar to FIG. 4, FIG. 5 shows an arc welding robot as an example. 5 is a third link and 6 is a cable.
課題を解決するための手段 そこで本発明は、第２番目のリンクを、その中央から
ほぼ直角に曲げて、第２番目のリンクの曲がった先の半
分と第３番目のリンクの姿勢を、動作範囲の中央でそれ
ぞれほぼ水平とほぼ鉛直にしたものである。Means for Solving the Problems Therefore, according to the present invention, the second link is bent substantially at a right angle from the center thereof, and the bent half of the second link and the attitudes of the third link are moved. In the center of the range, they are almost horizontal and almost vertical respectively.
作用 第２のリンクはワークを迂回するような構造を有し、
また、第３のリンクは標準姿勢が鉛直方向であるために
エンドエフェクタのケーブルとの干渉を起こし難い。Action The second link has a structure that bypasses the work,
Further, since the standard posture of the third link is the vertical direction, it is difficult for the third link to interfere with the cable of the end effector.
実施例 以下本発明についてアーク溶接ロボットを実施例とし
て第１図を用いて説明する。７は旋回部分でその回転軸
は鉛直方向にある。８と９は隣合ったリンクで回転軸は
同一方向であって、回転軸７と直交する。エンドエフェ
クタであるトーチ14に遠いリンク８の形状が直角に曲が
ったものとなっている。EXAMPLES The present invention will be described below with reference to FIG. 1 by using an arc welding robot as an example. Reference numeral 7 denotes a turning portion, the rotation axis of which is in the vertical direction. Reference numerals 8 and 9 are adjacent links, and their axes of rotation are in the same direction and are orthogonal to the axis of rotation 7. The link 8 far from the torch 14, which is an end effector, is bent at a right angle.
リンク９は従来はほぼ水平方向であるが、リンク８が
直角に曲がっている為、本発明の実施例では標準の姿勢
が下向きである。Conventionally, the link 9 is substantially horizontal, but since the link 8 is bent at a right angle, the standard posture is downward in the embodiment of the present invention.
10,11,12は各々第４番目，第５番目，第６番目の回転
軸である。13はトーチ14を手首に取り付けるホルダーで
ある。Reference numerals 10, 11, and 12 are the fourth, fifth, and sixth rotation axes, respectively. 13 is a holder for attaching the torch 14 to the wrist.
第５図と第１図を比べれば判るように、手首先端が回
転して、トーチがロボットの中心に近づいた時、トーチ
ケーブルの干渉は第１図の方がはるかに少ないことは明
らかである。As can be seen by comparing FIG. 5 and FIG. 1, when the wrist tip rotates and the torch approaches the center of the robot, it is clear that the torch cable has much less interference in FIG. .
第２図にワーク先端が作業点がある場合の、本発明の
利点を示す。第４図と比較する為、第２図に破線で従来
構造のアーム16を示す。17はワークを示す。明らかに、
リンク８の場合はワーク17に干渉せずに先端を溶接でき
る。この利点は、関節の接続の方法，順序は従来のまま
とし、リンク８を大きく曲げること、即ちリンク８が少
なくとも30゜以上は曲がっていること、並びにリンク８
とリンク９が同一の運動方向を有することで実現され
る。FIG. 2 shows the advantage of the present invention when the work tip has a working point. For comparison with FIG. 4, an arm 16 of conventional structure is shown in FIG. 2 by a broken line. 17 indicates a work. clearly,
In the case of the link 8, the tip can be welded without interfering with the work 17. The advantage of this is that the linking method and sequence are the same as before, and the link 8 is largely bent, that is, the link 8 is bent at least 30 ° or more, and the link 8 is bent.
And link 9 have the same movement direction.
発明の効果 本発明によれば、ほぼ直角に曲がった第２番目のリン
クと、第３番目のリンクの姿勢をそれぞれほぼ水平とほ
ぼ鉛直にしたので、手首の回転，アームの動きに対して
ケーブルとアーム，ワークとアームの相互干渉が改善さ
れるとともに、同じ大きさの多関節ロボットに比較して
平面的作業空間が大きくなるなどの優れた効果を奏する
ものである。EFFECTS OF THE INVENTION According to the present invention, the postures of the second link and the third link, which are bent at a substantially right angle, are substantially horizontal and vertical, respectively. And the mutual interference between the arm and the work and the arm are improved, and the planar work space becomes larger than that of the articulated robot of the same size.
第１図は本発明の一実施例による産業用ロボットの多関
節型アームの斜視図、第２図は同構成図、第３図，第４
図は従来例の構成図、第５図は従来例の斜視図である。 ７……旋回部分、8,9……リンク。FIG. 1 is a perspective view of an articulated arm of an industrial robot according to an embodiment of the present invention, FIG. 2 is the same configuration diagram, FIG. 3, and FIG.
FIG. 5 is a configuration diagram of a conventional example, and FIG. 5 is a perspective view of the conventional example. 7 ... turning part, 8, 9 ... link.
Claims (1)
とも２軸含み、前記軸に取付けたリンクの内エンドエフ
ェクタが取付く手首に遠い方の第２番目のリンクを、そ
の中央からほぼ直角に曲げて、第２番目のリンクの曲が
った先の半分と手首に近い第３番目のリンクの姿勢を、
動作範囲の中央でそれぞれほぼ水平とほぼ鉛直にした産
業用ロボットの多関節型アーム。1. A second link which includes at least two adjacent rotatable shafts in the same direction and which is farther from the wrist to which the inner end effector of the link attached to said shaft is attached is substantially perpendicular to the center thereof. Bend to the bent half of the second link and the posture of the third link near the wrist,
Multi-jointed arms for industrial robots that are almost horizontal and almost vertical in the center of the operating range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63005829A JPH089149B2 (en) | 1988-01-14 | 1988-01-14 | Articulated arm of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63005829A JPH089149B2 (en) | 1988-01-14 | 1988-01-14 | Articulated arm of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01183392A JPH01183392A (en) | 1989-07-21 |
| JPH089149B2 true JPH089149B2 (en) | 1996-01-31 |
Family
ID=11621937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63005829A Expired - Lifetime JPH089149B2 (en) | 1988-01-14 | 1988-01-14 | Articulated arm of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH089149B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006007332A (en) * | 2004-06-22 | 2006-01-12 | Matsushita Electric Ind Co Ltd | Industrial robot |
| JP5834473B2 (en) * | 2011-04-28 | 2015-12-24 | セイコーエプソン株式会社 | robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59115177A (en) * | 1982-12-20 | 1984-07-03 | 松下電器産業株式会社 | Multi-joint robot |
| JPS61152386A (en) * | 1984-12-26 | 1986-07-11 | 株式会社日立製作所 | Robot arm |
| JPS6257887A (en) * | 1985-09-06 | 1987-03-13 | 株式会社日立製作所 | Wrist mechanism of robot |
-
1988
- 1988-01-14 JP JP63005829A patent/JPH089149B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01183392A (en) | 1989-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4805477A (en) | Multiple joint robot part | |
| EP2832505B1 (en) | Robot | |
| US6332372B1 (en) | Arm structure for man type working robots | |
| US4904148A (en) | Robot arm for an industrial robot | |
| US7421314B2 (en) | Method and device for controlling robot | |
| JPH0438553B2 (en) | ||
| CN110545965B (en) | Articulated robot and articulated robot system | |
| GB2087837A (en) | A flecible arm for a robot | |
| JPH089149B2 (en) | Articulated arm of industrial robot | |
| JP2559807B2 (en) | Cable handling device for joints of industrial robots | |
| JPS62194513A (en) | Controller for arc interpolation posture of robot | |
| Di Gregorio | Analytic determination of workspace and singularities in a parallel pointing system | |
| JPS61109680A (en) | Joint structure of arm, etc. for multi-joint type robot | |
| Yang et al. | A new zero-dimension robot wrist: Design and accessibility analysis | |
| JP2000326280A (en) | Interference check method in scalar type robot | |
| JPS6359161B2 (en) | ||
| JPS60225207A (en) | Joystick | |
| JPS5890481A (en) | Industrial robot | |
| JPS6352982A (en) | Industrial robot | |
| JPS6270913A (en) | Articulated robot device | |
| JPH06226680A (en) | Robot wrist structure | |
| JP2024033339A (en) | Articulated robot, articulated robot control method, robot system, and article manufacturing method | |
| KR200277575Y1 (en) | Robot Motion Teach Method using a 2 Axis Master Mechanism | |
| JP2930544B2 (en) | Segment assembling apparatus and control method thereof | |
| JPS60108908A (en) | Industrial robot device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |