JPS59187489A - Arm of robot - Google Patents
Arm of robotInfo
- Publication number
- JPS59187489A JPS59187489A JP5862183A JP5862183A JPS59187489A JP S59187489 A JPS59187489 A JP S59187489A JP 5862183 A JP5862183 A JP 5862183A JP 5862183 A JP5862183 A JP 5862183A JP S59187489 A JPS59187489 A JP S59187489A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- robot
- waist
- arrow
- attached
- 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
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】 この発明は、ロボットの腕に関するものである。[Detailed description of the invention] This invention relates to a robot arm.
近年、特に製造加工業の分野においては、組立。In recent years, especially in the field of manufacturing and processing industry, assembly.
検査、溶接等の作業の自動化を図るために各種の産業用
ロボットが開発されている。Various industrial robots have been developed to automate tasks such as inspection and welding.
ところで、ロボットによって部品の組立作業を行なう場
合には、ロボットを部品供給台とワーク搬送用コンベア
との間に配置し、ロボットが部品供給台から部品をとっ
てコンベア上のワークに組付けるようにした形態を採る
ことが多い。By the way, when assembling parts using a robot, the robot is placed between the parts supply table and the work conveyor, and the robot picks up the parts from the parts supply table and assembles them onto the work on the conveyor. It often takes the form of
従来、このようにして組立作業を行なうロボットとして
、例えば第１図及び第２図に示すようなものがある。Conventionally, there are robots shown in FIGS. 1 and 2, for example, as robots that perform assembly work in this manner.
このロボットは、固定部１に矢示Ａ方向に回動自在に装
着した腰部２の片側面に腕ろを旋回自在に装着し、この
腕３の先端部にメカニカルハンド４を装着して構成され
ている。This robot consists of a waist part 2 which is attached to a fixed part 1 so as to be rotatable in the direction of arrow A, an arm holder which is rotatably attached to one side of the waist part 2, and a mechanical hand 4 which is attached to the tip of this arm 3. ing.
この腕３は、基部である腰部２に軸５で矢示Ｂ方向に旋
回自在に装着した第１腕６と、この第１腕６の第１旋回
軸である軸５と平行な第２旋回軸である軸７で第１腕６
に矢示Ｃ方向に旋回自在に装着した第２腕８とを具備し
ている。This arm 3 has a first arm 6 attached to the waist 2, which is the base, so as to be pivotable in the direction of arrow B about an axis 5, and a second arm 6 that is pivotable in parallel to the axis 5, which is the first pivot axis of the first arm 6. The first arm 6 at the axis 7
The second arm 8 is equipped with a second arm 8 which is rotatably mounted in the direction of arrow C.
そして、広い作業エリアを得るために、第１腕６と第２
腕８とはほぼ等しい長さに構成されている。In order to obtain a wide working area, the first arm 6 and the second arm
It is configured to have approximately the same length as the arm 8.
また、こ４）腕６は第１図に示すように、その第２腕８
が腰部２の第１旋回軸を取付ける部分２ａを含んで第１
腕６と平行に延在する空間内に位置するため、第２腕８
は仮想線図示のように先端のメカニカルハンド４が腰部
２の取付は部２ａと干渉するために、腰部２の側方を横
切って旋回することができない構成になっていた。4) The arm 6 has a second arm 8 as shown in FIG.
includes the part 2a to which the first pivot shaft of the waist part 2 is attached.
Since it is located in a space extending parallel to the arm 6, the second arm 8
As shown in the phantom line, the mechanical hand 4 at the tip interferes with the mounting portion 2a of the waist portion 2, so that it cannot swing across the side of the waist portion 2.
そこで、第２図に示すように、このロボットによって部
品供給台Ｐ上の部品をメカニカルハンド４で把持してコ
ンベアＱ上のワークに組付ける組立作業を行なう場合に
は、腕３の第１腕６及び第２腕８を上方で旋回して一旦
実線図示の状態の旋回過程を経ることし；よって、また
は腰部２を矢示Ａ方向に回動することによって、腕３を
一点鎖線図示の状態から二点鎖線図示の状態にするよう
にしていた。As shown in FIG. 6 and the second arm 8 upward to undergo the turning process shown by the solid line; or by rotating the waist 2 in the direction of arrow A, the arm 3 is brought into the state shown by the dashed-dotted line. From then on, the state was set as shown by the two-dot chain line.
しかしながら、腕３を上方に旋回して実線図示の過程を
経る場合には、旋回に要する空間が広くなってロボット
上方空間の利用効率が悪くなる。However, when the arm 3 is rotated upward to undergo the process shown by the solid line, the space required for the rotation becomes large, and the efficiency of utilization of the space above the robot deteriorates.
また、腰部２を回動して腕６を矢示Ａ方向に旋回する場
合にも、旋回に要する空間が広くなってロボットの側方
空間の利用効率が悪くなると共に、腕部３が大きく振ら
れるため、安全性の面からも好ましくないという問題が
あった。Furthermore, when rotating the waist section 2 and turning the arm 6 in the direction of arrow A, the space required for turning becomes large, resulting in poor utilization of the lateral space of the robot, and the arm section 3 swings greatly. This poses a problem in that it is not desirable from a safety point of view.
加えて、従来のロボットの構造は、腕部３を腰部２の片
側面にて支持しているため、腕部６及び被搬送物の荷重
による曲げモーメントがすべて軸５の軸受部に加わるこ
とから、可搬重量を十分に大きくすることができないと
いう問題があった。In addition, in the conventional robot structure, the arm section 3 is supported on one side of the waist section 2, so that the bending moment due to the load of the arm section 6 and the transported object is all applied to the bearing section of the shaft 5. However, there was a problem in that the payload capacity could not be increased sufficiently.
この発明は上記の問題点に鑑みてなされたものであり、
ロボットの腕の旋回範囲の狭小化を図って空間の利用効
率を向上すると共に、可搬重量を十分大きくできるよう
にすることを目的とする。This invention was made in view of the above problems,
The purpose is to improve space utilization efficiency by narrowing the rotation range of a robot's arm, and to increase the payload sufficiently.
そのため、この発明によるロボツＩ−の腕は、基部に設
けた主支持部とは別にこの主支持部より軸線方向の厚さ
が薄い副支持部を設けて腕部を支持し、その第１腕に第
２腕を基部の副支持部側に第２旋回軸の軸線方向に基部
の副支持部と間隔を有するように位置をずらして旋回自
在に装着したものである。Therefore, in the arm of the robot I- according to the present invention, in addition to the main support part provided at the base, a sub-support part is provided which is thinner in the axial direction than the main support part to support the arm part, and the first arm The second arm is rotatably mounted on the side of the sub-support part of the base at a position shifted from the sub-support part of the base in the axial direction of the second pivot axis so as to be spaced apart from the sub-support part of the base.
以下、この発明の実施例を添付図面の第６図以降を参照
して説明する。Embodiments of the present invention will be described below with reference to FIG. 6 and subsequent figures of the accompanying drawings.
第６図及び第４図は、この発明の一実施例を示すロボッ
トの腕の正面図及びその動作形態の異なる右側面図であ
る。FIGS. 6 and 4 are a front view and a right side view of a robot arm showing an embodiment of the present invention and showing different operating modes thereof.
両図において、このロボットの腕は、固定部１１に矢示
Ａ方向に回転自在に装着した基部である腰部１２と、こ
の腰部１２に第１旋回軸１３で矢示Ｂ方向に旋回自在に
装着した第１腕１４と、この第１腕１４に第２旋回軸１
５で矢示Ｃ方向に装着した第２腕１６と、この第２腕１
６に装着した矢示り、Ｆ方向に回転自在で矢示Ｅ方向に
旋回自在な３つの可動部からなる手首１７及びこの手首
１７に装着したメカニカルハンド１８等によって６軸構
成されている。In both figures, the arms of this robot include a waist part 12, which is a base, which is attached to a fixed part 11 so as to be rotatable in the direction of arrow A, and a waist part 12, which is a base, is attached to the waist part 12 so as to be rotatable in the direction of arrow B about a first pivot axis 13. a first arm 14 which is
5, the second arm 16 attached in the direction of arrow C, and this second arm 1
6, a wrist 17 consisting of three movable parts that is rotatable in the F direction and pivotable in the E direction, and a mechanical hand 18 attached to the wrist 17.
その腰部１２は、第６図に示すように、第１腕１４の第
１旋回軸１３の両端部を、主支持部２０及びこの主支持
部２０よりも軸線方向の厚さが薄い副支持部２１によっ
て回転自在に支持している。As shown in FIG. 6, the waist portion 12 connects both ends of the first pivot shaft 13 of the first arm 14 to a main support portion 20 and a sub-support portion that is thinner in the axial direction than the main support portion 20. It is rotatably supported by 21.
詳細は後述する。Details will be described later.
そして、第２腕１６を第１腕１４の腰部１２の副支持部
２１側に、この副支持部２１より若干軸線方向の厚さが
厚いスペーサ部１６ａを介して第２旋回軸１５で第１腕
１４に旋回自在に装着して、第２腕１６を腰部１２の副
支持部２１側に第２旋回軸１５の軸線方向に腰部１２の
副支持部２１と間隔を有するように位置をずらして第１
腕１４に装着している。Then, the second arm 16 is attached to the sub-support part 21 side of the waist part 12 of the first arm 14, and the second pivot shaft 15 is connected to the first The second arm 16 is attached to the arm 14 so as to be pivotable, and the second arm 16 is shifted to the side of the sub-support part 21 of the waist part 12 in the axial direction of the second pivot shaft 15 so as to have a distance from the sub-support part 21 of the waist part 12. 1st
It is attached to arm 14.
また、このロボットの腕は、腰部１２の主支持部２０内
に、腰部１２を矢示Ａ方向に回転させるための駆動モー
タ、エンコーダ、ポテンショメータ及び歯車減速機等か
らなる駆動源ユニット２３を内蔵し、第１腕１４内に、
第１腕１４を矢示Ｂ方向に、第２腕１６を矢示Ｃ方向に
夫々旋回させる駆動源ユニット２４．２５を内蔵し、第
２腕１６内に１手首１７を矢示り方向に回転、矢示Ｅ方
向に旋回、矢示Ｆ方向に回転させる駆動源ユニット２Ｇ
、２７．２８を内蔵している。Further, the arm of this robot has a built-in drive source unit 23 in the main support part 20 of the waist part 12, which consists of a drive motor, an encoder, a potentiometer, a gear reducer, etc., for rotating the waist part 12 in the direction of arrow A. , within the first arm 14;
Built-in drive source units 24 and 25 that rotate the first arm 14 in the direction of arrow B and the second arm 16 in the direction of arrow C, and rotate one wrist 17 in the second arm 16 in the direction of the arrow. , a drive source unit 2G that rotates in the direction of arrow E and rotates in the direction of arrow F.
, 27.28 are built in.
それ等の駆動源ユニット２４．２５は、第１旋回軸１３
を中心にして第２腕１６を装着する側と反対側に、駆動
源ユニット２６．２７は、第２旋回軸１５を中心にして
手首１７を装着する側と反対側に、夫々配置して、第１
旋回軸１３を中心にして第１腕１４が略バランスし、第
２旋回＠１５を中心にして第２腕１６が略バランスする
ようにしている。Those drive source units 24 , 25 are connected to the first pivot shaft 13 .
The drive source units 26 and 27 are respectively arranged on the side opposite to the side on which the second arm 16 is worn, centering on , and the drive source units 26 and 27 are placed on the side opposite to the side on which the wrist 17 is worn, centering on the second pivot axis 15. 1st
The first arm 14 is approximately balanced around the pivot axis 13, and the second arm 16 is approximately balanced around the second rotation @15.
第５図は、第３図の第１旋回軸１３周りの要部断面図で
ある。FIG. 5 is a sectional view of a main part around the first pivot shaft 13 in FIG. 3.
同図において、第１腕１４を装着した第１旋回軸１３は
、その一端部を腰部１２の主支持部２０を構成するフレ
ーム３１に間隔を置いて嵌着した２個のアンギュラベア
リング３２．３３によって回転自在に支持され、その他
端部を腰部１２の副支持部２１詮構成するフレーム３４
に嵌着した１個のボールベアリング３５によって回転自
在に支持されている。In the same figure, the first pivot shaft 13 to which the first arm 14 is attached has two angular bearings 32 and 33 fitted at one end to the frame 31 that constitutes the main support section 20 of the waist section 12 at a distance. A frame 34 is supported rotatably by
It is rotatably supported by one ball bearing 35 fitted into the.
そして、腰部１２の主支持部２０のフレーム３１に固着
したベベルギヤ３６と、第１腕１４に固着した駆動モー
タ３７．ハーモニック減速機３８等とからなる駆動源ユ
ニット２４で回転駆動されるベベルギヤろ９とを噛合せ
て、駆動源ユニット２４でベベルギヤ３Ｂを回転させる
ことによって、第１腕１４が旋回するようにしている。A bevel gear 36 is fixed to the frame 31 of the main support portion 20 of the waist portion 12, and a drive motor 37 is fixed to the first arm 14. The first arm 14 is rotated by meshing with a bevel gear roller 9 which is rotatably driven by a drive source unit 24 including a harmonic reducer 38 and the like, and by rotating the bevel gear 3B by the drive source unit 24. .
次に、このように構成した実施例の作用について説明す
る。Next, the operation of the embodiment configured as described above will be explained.
まず、この実施例のロボットの腕は、第６図に示すよう
に、第２腕１６は先端に取付けた手首１７及びメカニカ
ルハンド１８が腰部２と干渉しないので、腰部２の側方
を横切って旋回することができる。First, as shown in FIG. 6, the second arm 16 of the robot in this embodiment crosses the side of the waist 2 because the wrist 17 and mechanical hand 18 attached to the tip do not interfere with the waist 2. Can be rotated.
したがって、第４図に示すように、腕を実線図示の状態
から仮想線図示の状態にするには、第１腕１４を矢示Ｂ
方向に旋回しつつ第２腕１６を矢示Ｃ方向に旋回して、
腕を第３図に示す状態の旋回過程を経るように旋回すれ
ばよい。Therefore, as shown in FIG. 4, in order to change the arm from the state shown by the solid line to the state shown by the phantom line, the first arm 14 is moved in the direction indicated by the arrow B.
while rotating the second arm 16 in the direction of arrow C,
The arm may be rotated through the rotation process shown in FIG. 3.
この場合、腕の旋回に要するロボットの上方空間は、最
大第６図図示の範囲であればよく、またロボットの側方
空間は第１腕１４及び第２腕１６の旋回軸方向の幅に腰
部１２の副支持部２１の軸方向の幅を加えた範囲であれ
ばよいので、腕の旋回範囲は狭小になる。In this case, the upper space of the robot required for the rotation of the arms may be within the maximum range shown in FIG. Since it is sufficient that the range is the sum of the axial widths of the twelve sub-support parts 21, the rotation range of the arm becomes narrow.
また、このロボットの腕の基部である腰部１２は、主支
持部２０及びこの主支持部２０より軸線方向の厚さが薄
い副支持部２１によって第１腕１４の第１旋回軸１３を
支持するようにしているので、可搬重量を十分大きくで
きる。Further, the waist portion 12, which is the base of the arm of this robot, supports the first pivot shaft 13 of the first arm 14 by the main support portion 20 and the sub-support portion 21, which is thinner in the axial direction than the main support portion 20. This allows the payload to be sufficiently increased.
以上説明したように、この発明によれば、ロボットの第
１旋回軸を支持する支持部を両持ち構造にすると共に一
方の支持部の軸線方向の厚さを薄くして、この薄い支持
部側に第２腕を装着することによって、ロボットの上方
、側方の空間の利用効率が向上し、また可搬重量を十分
大きくできるという効果がある。As explained above, according to the present invention, the support part that supports the first rotation axis of the robot has a double-sided structure, and the thickness of one support part in the axial direction is made thin, so that the thin support part side By attaching the second arm to the robot, the efficiency of using the space above and to the sides of the robot is improved, and the payload capacity can be increased sufficiently.
第１図及び第２図は、従来のロボットの腕の一例を示す
正面図及びその左側面図、
第３図及び第４図は、この発明の一実施例を示すロボッ
トの腕の正面図及びその動作形態の異なる右側面図、
第５図は、第６図の第１旋回軸周りの要部断面図である
。
１１・・固定部 １２・・・腰部（基部）１３・
・・第１旋回軸 １４・・・第１腕１５・・・第２旋
回軸 １６・・第２腕１７・・・手首 １８
・・・メカニカルハンド２０・・主支持部 ２１・
・・副支持部第１図
第２図
第 ３ 図1 and 2 are a front view and a left side view of an example of a conventional robot arm, and FIGS. 3 and 4 are a front view and a left side view of a robot arm according to an embodiment of the present invention. FIG. 5 is a sectional view of the main part around the first pivot axis in FIG. 6. 11... Fixed part 12... Waist part (base) 13.
...First pivot axis 14...First arm 15...Second pivot axis 16...Second arm 17...Wrist 18
...Mechanical hand 20...Main support part 21.
・・Sub-support part Fig. 1 Fig. 2 Fig. 3
Claims (1)
装着した第１腕と、該第１腕の第１旋回軸と平行な第２
旋回軸で前記第１腕に旋回自在に装着した第２腕とを具
備するロボットの腕において、前記基部に前記第１旋回
軸の一端部を支持する主支持部及び前記第１旋回軸の他
端部を支持する前記主支持部より軸線方向の厚さが薄い
副支持部を設けると共に、前記第２腕を前記基部の副支
持部側に前記第２旋回軸の軸線方向に基部の副支持部と
間隔を有するように位置をずらして前記第１腕に装着し
てなることを特徴とするロボットの腕。1 A first arm rotatably attached to a fixed or rotatable base with a first pivot axis, and a second arm parallel to the first pivot axis of the first arm.
A robot arm comprising: a second arm rotatably attached to the first arm with a pivot shaft; a main support portion supporting one end of the first pivot shaft on the base; A sub-support part that is thinner in the axial direction than the main support part that supports the end part is provided, and the second arm is placed on the side of the sub-support part of the base part in the axial direction of the second pivot axis. An arm of a robot, characterized in that the arm is attached to the first arm at a shifted position so as to have a gap between the arm and the arm of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5862183A JPS59187489A (en) | 1983-04-05 | 1983-04-05 | Arm of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5862183A JPS59187489A (en) | 1983-04-05 | 1983-04-05 | Arm of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59187489A true JPS59187489A (en) | 1984-10-24 |
Family
ID=13089636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5862183A Pending JPS59187489A (en) | 1983-04-05 | 1983-04-05 | Arm of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59187489A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61142086A (en) * | 1984-12-13 | 1986-06-28 | メドマン株式会社 | Multi-joint type learning robot |
| JPS61249287A (en) * | 1985-04-27 | 1986-11-06 | 日産自動車株式会社 | Joint type industrial robot |
| JPS6235790U (en) * | 1985-08-19 | 1987-03-03 | ||
| JPH02145985U (en) * | 1989-05-10 | 1990-12-11 | ||
| JPH0451310B2 (en) * | 1985-08-19 | 1992-08-18 | Mitsubishi Electric Corp | |
| JPH06320448A (en) * | 1994-04-25 | 1994-11-22 | Nissan Motor Co Ltd | Articulated industrial robot |
| WO2018199035A1 (en) * | 2017-04-26 | 2018-11-01 | 日本電産株式会社 | Multi-joint robot and multi-joint robot system |
| JP2019093489A (en) * | 2017-11-24 | 2019-06-20 | ファナック株式会社 | Structure of robot |
-
1983
- 1983-04-05 JP JP5862183A patent/JPS59187489A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61142086A (en) * | 1984-12-13 | 1986-06-28 | メドマン株式会社 | Multi-joint type learning robot |
| JPS61249287A (en) * | 1985-04-27 | 1986-11-06 | 日産自動車株式会社 | Joint type industrial robot |
| JPS6235790U (en) * | 1985-08-19 | 1987-03-03 | ||
| JPH0451310B2 (en) * | 1985-08-19 | 1992-08-18 | Mitsubishi Electric Corp | |
| JPH02145985U (en) * | 1989-05-10 | 1990-12-11 | ||
| JPH06320448A (en) * | 1994-04-25 | 1994-11-22 | Nissan Motor Co Ltd | Articulated industrial robot |
| WO2018199035A1 (en) * | 2017-04-26 | 2018-11-01 | 日本電産株式会社 | Multi-joint robot and multi-joint robot system |
| KR20190122802A (en) * | 2017-04-26 | 2019-10-30 | 니혼 덴산 가부시키가이샤 | Articulated Robot and Articulated Robot System |
| CN110545965A (en) * | 2017-04-26 | 2019-12-06 | 日本电产株式会社 | Articulated robot and articulated robot system |
| JPWO2018199035A1 (en) * | 2017-04-26 | 2020-03-12 | 日本電産株式会社 | Articulated robot and articulated robot system |
| US11213952B2 (en) | 2017-04-26 | 2022-01-04 | Nidec Corporation | Articulated robot and articulated robot system |
| CN110545965B (en) * | 2017-04-26 | 2023-02-17 | 日本电产株式会社 | Articulated robot and articulated robot system |
| JP2019093489A (en) * | 2017-11-24 | 2019-06-20 | ファナック株式会社 | Structure of robot |
| US10882193B2 (en) | 2017-11-24 | 2021-01-05 | Fanuc Corporation | Robot structure |
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