JP2006224218A - Multi-articulated robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a multi-articulated robot capable of effectively performing planar work with two articulated arms. <P>SOLUTION: In the multi-articulated robot, a first articulated arm 1 and a second articulated arm 3 are connected, and the work on the working area surface A is performed. The first articulated arm 1 has a first rotary shaft 2 at the one end 1a composed in the vertical direction on the working area surface A to rotate the first articulated arm 1 in the horizontal direction on the working area surface A. The second articulated arm 3 is disposed further on the working area surface A side than the first articulated arm 1 through a second rotary shaft 4 composed in the vertical direction on the working area A to rotate the second articulated arm 3 in the horizontal direction on the working area surface A. The multi-articulated robot is equipped with a holding means 5 rotatably holding the first rotary shaft 2 on the working area surface A. The rotation moving radius R<SB>2</SB>of the second articulated arm 3 is made to be the same length as the rotation moving radius R<SB>1</SB>of the first articulated arm 1. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an articulated robot capable of effectively performing planar work with a minimum number of joint arms.

  A conventional articulated robot has a work area space three-dimensionally by using a large number of joint arms, and can perform work at any location (see, for example, Patent Document 1).

JP 2004-216535 A

  Since the conventional articulated robot is configured as described above, it can work effectively three-dimensionally, but there is a problem that many articulated arms are required and the cost is high.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an articulated robot capable of effectively performing planar work with two joint arms.

  The present invention relates to a multi-joint robot that performs work on a work area surface by connecting a first joint arm and a second joint arm, and the first joint arm has a first joint arm at one end and the work area surface. Having a first rotation axis in the vertical direction on the work area surface for rotating in the horizontal direction, and the second joint arm working to rotate the second joint arm in the horizontal direction on the work area surface A holding means that is disposed closer to the work area surface side than the first joint arm via a second rotation axis that is perpendicular to the area surface, and that holds the first rotation axis rotatably on the work area surface. And the rotational movement radius of the second joint arm is configured to be the same as or longer than the rotational movement radius of the first joint arm.

  The multi-joint robot according to the present invention is a multi-joint robot in which a first joint arm and a second joint arm are connected to perform work on a work area surface. The first joint arm has a first joint arm at one end. Has a first rotation axis formed in the vertical direction on the work area surface, and the second joint arm rotates the second joint arm in the horizontal direction on the work area surface. For this purpose, it is arranged on the work area surface side from the first joint arm via a second rotation axis that is vertical in the work area surface, and the first rotation shaft is rotatably held on the work area surface. Since the rotational movement radius of the second joint arm is the same as or longer than the rotational movement radius of the first joint arm, planar work can be effectively performed.

Embodiment 1 FIG.
Embodiments of the present invention will be described below. 1 is a sectional view showing details of an internal structure of an arm portion of an articulated robot according to Embodiment 1 of the present invention, FIG. 2 is a side view showing an entire configuration of the articulated robot shown in FIG. 1, and FIG. 4 is a perspective view for explaining the operation of the articulated robot shown in FIG. 1, FIG. 4 is a diagram showing the operation state of the articulated robot shown in FIG. 1, and FIG. 5 is a diagram of the control means of the articulated robot shown in FIG. FIG. 6 is a block diagram showing the configuration, and FIG. 6 is a diagram showing another installation example of the articulated robot according to Embodiment 1 of the present invention.

  In the figure, it is a multi-joint robot that performs work on a work area plane A by connecting a first joint arm 1 and a second joint arm 3 together. The work area surface A is provided on the work table 7. The first joint arm 1 has, at one end 1a, a first rotating shaft 2 that is formed in the vertical direction in the work area surface A in order to rotate the first joint arm 1 in the horizontal direction in the work area surface A. Yes. The second joint arm 3 has, at one end 3a, a second rotating shaft 4 configured in the vertical direction in the work area plane A in order to rotate the second joint arm 3 in the work area plane A in the horizontal direction. The other end 1b of the work area surface A side from the first joint arm 1 is connected and disposed below the first joint arm 1 here.

The rotational movement radius R ₂ of the _second joint arm 3 is configured to have the same length as the rotational movement radius R ₁ of the first joint arm 1. Thus, rotational movement of the first joint arm 1 and the second joint arm 3 rotating movement until the tip was connected to the radius R ₃ is the first rotation movement radius R ₁ and the second joint arm 3 of the articulated arm 1 made at the combined length of the radius R _2. Then, the first working area surface to the center position C ₂ of the second rotation shaft 4 from the center position B ₂ of the rotary shaft 2 in the second joint arm 3 one end 3a of the first end 1a of the articulated arm 1 Inclined by α angle from the horizontal direction with respect to A. Also, from the horizontal to the second to the center position C ₃ is the work area surface A direction from the center position C ₂ of the rotary shaft 4 and the other end 3b of the second joint arm 3 in the second joint arm 3 at one end 3a Inclined by α angle.

  The holding means 5 is configured to extend from the work area surface A to the work area surface A, and allows the first rotary shaft 2 to rotate on the work area surface A at one end 1a of the first joint arm 1. Hold it. Further, the first rotating portion 8 having the first rotating shaft 2 of the first joint arm 1 drives the first gear portion 10 by the first motor 9 and uses this rotational force as the first bearing portion. The first joint arm 1 is rotated by being transmitted to the first rotating shaft 2 via 11. This rotation is controlled by the first rotary encoder 12. A first rotation sensor 24 for monitoring a rotation of 360 ° or more in the rotation is formed in the first rotating portion 8 of the first joint arm 1. Further, the second rotating portion 13 having the second rotating shaft 4 of the second joint arm 3 drives the second gear portion 15 by the second motor 14 and uses this rotational force as the second bearing portion. The second joint arm 3 is rotated by being transmitted to the second rotating shaft 4 via 16. This rotation is controlled by the second rotary encoder 17. The second rotation unit 13 of the second joint arm 3 is formed with a second rotation sensor 25 for monitoring rotation of 360 ° or more in the rotation.

  A working means 6 is provided on the other end 3 b side of the second joint arm 3. The working means 6 includes a rotating motor 18 for rotating the tip 6a that performs the work around the vertical shaft 26, and a pulley 20 that is driven by the rotation via the timing belt 19. Furthermore, the motor 21 for raising / lowering and the pulley 23 which drives this raising / lowering via the timing belt 22 are provided, and the front-end | tip part 6a is comprised so that raising / lowering is possible with respect to the work area surface A surface.

  Next, the configuration of the control means 70 that controls the electrical system of the articulated robot will be described with reference to FIG. A switch 707 for instructing start and stop, a control unit 700 for controlling each part, a motor driving unit 701 for instructing each motor based on the control of the control unit 700, and supplying power to the control unit 700 and the emergency stop unit 706 Absolute position conversion for converting the rotation obtained from the power supply unit 708, the rotational position (coordinate) control data storage unit 702 storing position data, and the first and second rotary encoders 12 and 17 into absolute angle values Unit 703, control value comparison unit 704 for converting the absolute angle data into numerical values that can be controlled by control unit 700, and the first and second rotation sensors 24 and 25 transmitted from first and second rotation sensors 24 and 25. The rotation abnormality control unit 705 receives the rotation abnormality signal of the joint arms 1 and 3 and transmits it to the control unit 700.

  Next, the operation of the articulated robot of the first embodiment configured as described above will be described. First, the operation of the first and second rotating units 8 and 13 will be described. The first and second motors 9 and 14 are, for example, pulse motors, and rotate with a predetermined drive pulse. If it is set to rotate 360 ° with 3600 pulses, rotation of 0.1 ° can be obtained with one pulse. The rotational force drives the first and second gear portions 10 and 15, and the first and second rotating portions 8 and 13 around the first and second rotating shafts 2 and 4 by the rotational force. Each drive. Further, the first and second rotating parts 8 and 13 can operate simultaneously or separately. A reference example in a state where the first and second rotating parts 8 and 13 are separately operated and moved is shown in a perspective view, a top view, a side view, and a front view of FIG.

  In this rotational drive control, the first and second motors 9 and 14 are rotated by applying pulses, but the first and second joint arms 1 and 3 are accurately driven with respect to a predetermined pulse, respectively. This is detected by the first and second rotary encoders 12 and 17. The rotation is read by the first and second rotary encoders 12 and 17, and the operation is performed by comparing the signals obtained from these rotations with the number of pulses for driving the first and second motors 9 and 14. It can be controlled and confirmed accurately. Further, the first and second rotation sensors 24 and 25 detect the rotation of the first and second joint arms 1 and 3 by 360 ° or more to monitor excessive rotation.

  Next, the raising / lowering operation | movement of the working means 6 is demonstrated. First, the lifting / lowering operation of the working means 6 can be performed by driving and rotating the vertical shaft 26 via the pulleys 20 and 23 and the timing belts 19 and 22 using the lifting motor 21 and the rotating motor 21.

Next, the work area surface A of the articulated robot will be described. As shown in FIG. 3, when the working point C with the vertical shaft 26 lowered vertically is moved and the first rotating shaft 2 is rotated 360 °, the rotational radius R _{3 of} the first rotating shaft 2, that is, the first rotating shaft 2 is rotated. to obtain a working point trajectory a circumferential indicated by a thick solid line made by the total length of the rotational movement radius R ₂ of the rotational movement radius R ₁ and the second joint arm 3 of the articulated arm 1, the original Return to work point C. The area surrounded by the operating point locus a is the same area as the work area plane A. Therefore, the center of the first central axis 2 held by the holding means 5 is the same as the center of the work area surface A.

At this time, the center point B of the second rotating shaft 4 obtains a center point locus b indicated by a thin solid line of the rotational movement radius R ₁ of the first joint arm 1. Next, when the second rotating shaft 4 is rotated 360 °, a work point locus c indicated by a dotted line of the rotational movement radius R ₂ of the second rotating shaft 4 is obtained, and the original working point C is returned. Therefore, such a work point locus c can be obtained in the entire range of the center point locus b of the center point B of the second rotating shaft 4. From this, it is possible to set work points at all arbitrary coordinate points in the work area plane A.

  Further, the distal end portion 6a of the working means 6 is configured to be movable by a height h by the lifting operation described above. Therefore, by adding the lifting / lowering operation of the working means 6, it is possible to set a work point at an arbitrary coordinate point in the three-dimensional area having the height h of the previous work area surface A.

  Next, electrical control of the articulated robot according to Embodiment 1 configured as described above will be described. First, in response to a start instruction of the switch 707, the control unit 700 reads position data in the rotational position (coordinate) control data storage unit 702 and drives the first motor 9 of the first joint arm 1. The rotation data transmitted from the first and second rotary encoders 12 and 17 by this driving is transmitted to the control unit 700 via the absolute position conversion unit 703 and the control value comparison unit 704. Then, the control unit 700 compares the data of the control value comparison unit 704 with the data of the rotational position (coordinate) control data storage unit 702, and performs correction if necessary.

  Further, the rotation abnormality control unit 705 receives rotation abnormality signals of the first joint arm 1 and the second joint arm 3 from the first rotation sensor 24 and the second rotation sensor 25. Then, the control unit 700 reads a signal from the rotation abnormality control unit 705 and performs a predetermined stop control or correction control when there is an abnormality. Further, the emergency stop unit 706 is pressed during an emergency stop. Then, the power supply unit 708 is controlled in a timely manner, and the control unit 700 controls the control to the safe side.

  The multi-joint robot according to the first embodiment configured as described above can set work points at all coordinate points in the work area plane with only a simple configuration of two joints. Further, since each joint arm is inclined from the horizontal direction of the work area surface, a desired height distance can be secured from the work area surface, and each joint arm can be easily moved. In addition, since the work means is provided, various work is possible, and the coordinate point in the height direction on the work area surface can be set as the work point by the raising and lowering operation of the work means.

  In the first embodiment, the example in which the rotational movement radius of the second joint arm and the rotational movement radius of the first joint arm are formed with the same length is shown, but the present invention is not limited to this. Even if the rotational movement radius of the two joint arms is formed longer than the rotational movement radius of the first joint arm, the length obtained by adding the rotational movement radius of the first joint arm and the rotational movement radius of the second joint arm Work within a work area plane having a radius of can be performed similarly. This is because if the rotational movement radius of the second joint arm is shorter than the rotational movement radius of the first joint arm, an area where work cannot be performed occurs at the stop position in the work area plane.

  In the first embodiment, the horizontal direction from the center position of the first rotation shaft at one end of the first joint arm to the center position of the second rotation shaft at one end of the second joint arm is the horizontal direction in the work area plane direction. An example in which the center position of the second rotation axis at one end of the second joint arm to the center position of the other end of the second joint arm is inclined in the working area plane direction from the horizontal direction. Although shown, it is not restricted to this, You may install each joint arm in the horizontal direction in a work area surface. In that case, it is difficult to ensure the distance between the work area surface and the tip of the second joint arm, but on the other hand, the rotational movement radius of each joint arm is the same as the length of each joint arm, and a wide range. The work area can be secured.

  In the first embodiment, the holding means is configured to extend from the work area surface to the work area surface. However, the present invention is not limited to this. For example, as shown in FIG. The means 50 may be installed on the ceiling surface 27 on the work area surface to hold the first joint arm and the second joint arm. Needless to say, it may be installed on a wall surface existing on the work area surface.

  In the first embodiment, the example in which the tip of the working means is disposed perpendicular to the work area surface has been shown. You may comprise so that it can hold | maintain at arbitrary inclination angles.

  In the first embodiment, the example in which the work area surface is set in the horizontal direction is shown. However, the present invention is not limited to this, and if the positional relationship between the work area surface and each joint arm is set similarly, It goes without saying that the work area surface may be in any direction.

  In the first embodiment, only the working means is shown to move up and down. However, the present invention is not limited to this. For example, the first joint arm portion may be moved up and down. . Further, both the first joint arm and the working means may be configured to move up and down.

  Further, although the working example of the working means is not particularly shown in the first embodiment, for example, a gripping means that moves within the surface of the work area across an arbitrary article, a welding means, an irradiation means such as a laser, It is possible to install means for performing various operations such as driving means, pulling means, tightening means, inspection means having a photographing part at the tip, and the like. Moreover, although the example provided with one working means was shown in the said Embodiment 1, it is not restricted to this, For example, it is also possible to install several working means.

  Although not particularly shown in the first embodiment, as a teaching method for the work process, the first and second joint arms are driven free and the operator holds the tip of the working means to move. It is possible to employ a method of teaching a work process directly or a teaching method of instructing a work process with a teaching pendant.

It is sectional drawing which shows the detail of the internal structure of the arm part of the articulated robot of Embodiment 1 of this invention. It is a side view which shows the whole structure of the articulated robot shown in FIG. It is a perspective view for demonstrating operation | movement of the articulated robot shown in FIG. It is a figure which shows the operation state of the articulated robot shown in FIG. It is a block diagram which shows the structure of the electric control part of the articulated robot shown in FIG. It is the figure which showed the other example of installation of the articulated robot of Embodiment 1 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 1st joint arm, 1a, 3a one end, 1b, 3b other end, 2 1st rotating shaft,
3 second joint arm, 4 second rotating shaft, 5, 50 holding means, 6 working means,
6a tip part, 7 work table, 8 first rotating part, 9 first motor,
10 1st gear part, 11 1st bearing part, 12 1st rotary encoder,
13 second rotating part, 14 second motor, 15 second gear part,
16 2nd bearing part, 17 2nd rotary encoder, 18 motor for rotation,
19,22 Timing belt, 20,23 Pulley 21 Lifting motor,
24 1st rotation sensor, 25 2nd rotation sensor, 26 vertical axis, 27 ceiling surface,
70 control means, 700 control unit, 701 motor drive unit,
702 rotational position (coordinate) control data storage unit, 703 absolute position conversion unit,
704 control value comparison unit, 705 rotation abnormality control unit, 706 emergency stop unit,
707 switch, 708 power supply, A work area surface, a, c operating point trajectory,
B center point, B ₂ , C ₂ , C ₃ center position, b center point locus, C working point, h height,
R ₁ , R ₂ , R ₃ rotation radius.

Claims (7)

In the multi-joint robot that performs work on the work area surface by connecting the first joint arm and the second joint arm, the first joint arm has the first joint arm at one end on the work area surface. In order to rotate in the horizontal direction, the work area surface has a first rotation axis formed in a vertical direction, and the second joint arm rotates the second joint arm in the horizontal direction on the work area surface. For this purpose, it is arranged on the work area surface side from the first joint arm via a second rotation axis in the vertical direction on the work area surface, and the first rotation axis is arranged on the work area surface. An articulated robot comprising holding means for rotatably holding, wherein the rotational movement radius of the second joint arm is configured to be the same as or longer than the rotational movement radius of the first joint arm. The center position of the first rotation shaft at one end of the first joint arm to the center position of the second rotation shaft at one end of the second joint arm is inclined from the horizontal direction on the work area surface. The center position of the second rotation shaft at one end of the second joint arm to the center position of the other end of the second joint arm is inclined from the horizontal direction on the work area surface. The articulated robot according to claim 1. The holding means is configured to extend from outside the work area surface to the work area surface, or to be installed on a wall surface or ceiling surface on the work area surface. The articulated robot according to claim 1 or 2. The articulated robot according to any one of claims 1 to 3, further comprising a working means on the other end side of the second joint arm. The articulated robot according to claim 4, wherein the working means holds the tip of the working means at an arbitrary inclination angle with respect to the work area surface. 6. The articulated robot according to claim 4, wherein the working means is configured to be movable up and down with respect to the work area surface. The multi-joint robot according to any one of claims 1 to 6, wherein the first joint arm is configured to be movable up and down with respect to the work area surface.

Images