JPH0623437Y2 - Industrial robot work arm - Google Patents
Industrial robot work armInfo
- Publication number
- JPH0623437Y2 JPH0623437Y2 JP1988133817U JP13381788U JPH0623437Y2 JP H0623437 Y2 JPH0623437 Y2 JP H0623437Y2 JP 1988133817 U JP1988133817 U JP 1988133817U JP 13381788 U JP13381788 U JP 13381788U JP H0623437 Y2 JPH0623437 Y2 JP H0623437Y2
- Authority
- JP
- Japan
- Prior art keywords
- joint
- shafts
- shaft
- industrial robot
- work
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
Description
【考案の詳細な説明】 （産業上の利用分野） この考案は、工業用ロボットの作業アームの改良に関す
る。DETAILED DESCRIPTION OF THE INVENTION (Industrial application field) The present invention relates to improvement of a working arm of an industrial robot.
（従来の技術） 従来から、工業用ロボットには、複数個の作業アームを
枢軸により連結して、３次元方向の自由度を工業ロボッ
トに与え、各枢軸回りに各作業用アームを回動させて、
工作工具を工作対象物の工作対象箇所近傍の３次元作業
位置に接近させるものがある。(Prior Art) Conventionally, a plurality of working arms are connected to an industrial robot by a pivot to give a degree of freedom in three dimensions to the industrial robot, and each working arm is rotated around each pivot. hand,
There is a method in which a machine tool is brought close to a three-dimensional work position in the vicinity of a work target location of a work target.
（考案が解決しようとする課題） しかしながら、この従来の工業用ロボットでは、作業の
際に複雑な動きが要求される工作対象物に対しては、自
由度が足りないという面があり、この自由度を高めるた
めに、作業アームの個数を増加させるものとすると、各
作業アームの構造、形状をそれぞれ特殊な形状、構造と
しなければならず、形状、構造が個々に異なることとな
って、その自由度を増大させるのに限度がある。(Problems to be solved by the invention) However, in this conventional industrial robot, there is an insufficient degree of freedom with respect to a workpiece to which complicated movement is required at the time of work. In order to increase the number of working arms in order to increase the number of working arms, the structure and shape of each working arm must be made into a special shape and structure, respectively, which means that the shape and structure differ from each other. There is a limit to increasing the degree of freedom.
（目的） この考案は、上記従来の工業用ロボットが有する問題点
に鑑みて為されたもので、その目的とするところは、形
状、構造が大略同一の作業アームを連結するのみで、工
業用ロボットの自由度を増加させることのできる工業用
ロボットの作業アームを提供することにある。(Purpose) This invention was made in view of the problems of the above-mentioned conventional industrial robots, and the purpose thereof is to connect work arms having substantially the same shape and structure to each other. An object is to provide a work arm of an industrial robot that can increase the degree of freedom of the robot.
（課題を解決するための手段） この考案は、上記目的を達成するために、アーム部材と
該アーム部材の少なくとも一端側に関節を介して接続さ
れた関節プレートとを有し、作業具とベースとの間に介
在して前記作業具を可動させる工業用ロボットの作業用
アームであって、 前記関節は、 前記アーム部材の一端側の端面に非直線状となるように
並設されて軸方向に延びた３つの第１，第２，第３軸
と、 これら第１，第２，第３軸の先端部と対向する前記関節
プレートの位置にそれぞれ設けられた第１，第２，第３
連結部と、 前記第３軸の先端部と前記第３連結部とを接続したボー
ルジョイントと、 前記第１，第２軸の先端部と第１，第２連結部との間に
介在された第１，第２継手手段とを備え、 この第１，第２継手手段は、一端側に設けられ第１，第
２軸の先端部に接続した第１ボールジョイントと、他端
側に設けられ第１，第２連結部を接続した第２ボールジ
ョイントとを有し、 前記第３軸の後部を前記端面に固定し、前記第１，第２
軸を軸方向に沿って進退可能に設けたことを特徴とす
る。(Means for Solving the Problems) In order to achieve the above object, the present invention has an arm member and a joint plate connected to at least one end side of the arm member via a joint, and a work tool and a base. A work arm of an industrial robot that moves the work tool by interposing a joint between the joint and the arm member so as to be non-linear in an end face on one end side of the arm member in the axial direction. Three first, second, and third shafts extending in the direction of the first, second, and third shafts respectively provided at the positions of the joint plates facing the tips of the first, second, and third shafts.
A connecting portion, a ball joint connecting the tip end portion of the third shaft and the third connecting portion, and a ball joint interposed between the tip end portions of the first and second shafts and the first and second connecting portions. First and second joint means are provided, and the first and second joint means are provided on one end side and provided on the other end side with a first ball joint connected to the tip portions of the first and second shafts, respectively. A second ball joint connecting first and second connecting portions, wherein the rear portion of the third shaft is fixed to the end surface, and the first and second
It is characterized in that the shaft is provided so as to be movable back and forth along the axial direction.
（作用） 上記構成により、第１軸および第２軸の進退で関節プレ
ートを第３軸の先端に接続したボールジョイントを中心
にあらゆる方向に傾動できる。また、第３軸の後部をア
ーム部材の端面に固定し、第３軸の先端を関節プレート
の連結部にボールジョイントで接続したものであるか
ら、関節プレートはふらつくことなく傾動した方向に固
定される。(Operation) With the above configuration, the joint plate can be tilted in any direction around the ball joint connecting the joint plate to the tip of the third shaft by advancing and retracting the first shaft and the second shaft. Further, since the rear portion of the third shaft is fixed to the end surface of the arm member and the tip of the third shaft is connected to the joint portion of the joint plate by the ball joint, the joint plate is fixed in the tilted direction without wobbling. It
（実施例） 以下、この考案に係る工業用ロボットの作業アームの実
施例を図面を参照しつつ説明する。(Embodiment) An embodiment of the working arm of the industrial robot according to the present invention will be described below with reference to the drawings.
第３図はこの考案に係る工業用ロボットを車体Ｗの生産
ラインのスポット溶接作業に適用した一例を示すもの
で、第３図において、１は工業用ロボット、２はこの工
業用ロボットを制御するコントローラ、３はスポット溶
接用トランスである。FIG. 3 shows an example in which the industrial robot according to the present invention is applied to spot welding work on a production line of a vehicle body W. In FIG. 3, 1 is an industrial robot and 2 is an industrial robot. The controller 3 is a spot welding transformer.
工業用ロボット１は、基台（ベース）４と作業アーム
５、６、７とから大略構成され、作業アーム７の先端に
はスポット溶接ガン（作業具）８が取付けられている。
スポット溶接ガン８には、スポット溶接トランス３から
作業アーム５、６、７に沿って引き出された溶接ケーブ
ル９が接続されている。The industrial robot 1 is roughly composed of a base 4 and work arms 5, 6, and 7. A spot welding gun (work implement) 8 is attached to the tip of the work arm 7.
The spot welding gun 8 is connected with a welding cable 9 drawn out from the spot welding transformer 3 along the work arms 5, 6, and 7.
この工業用ロボット１は作業アーム５、６、７を変位さ
せることによってスポット溶接ガン８の３次元作業位置
を定め、生産ライン上の車体Ｗの所要箇所のスポット溶
接作業を行なう。各作業アーム５、６、７は大略同一形
状、同一構造であり、この各作業アーム５、６、７の構
造を、以下第１図を参照しつつ詳細に説明する。The industrial robot 1 determines the three-dimensional work position of the spot welding gun 8 by displacing the work arms 5, 6 and 7, and performs spot welding work on a required portion of the vehicle body W on the production line. The work arms 5, 6, 7 have substantially the same shape and the same structure. The structure of the work arms 5, 6, 7 will be described in detail below with reference to FIG.
以下に、アーム部材５の構造を第１図および第２図によ
って説明するが、前述のように、アーム部材６，７の構
造も同様である。The structure of the arm member 5 will be described below with reference to FIGS. 1 and 2, but the structure of the arm members 6 and 7 is also the same as described above.
アーム部材５は、略円筒状に形成された外筒２１と、そ
の両側に設けられた端板３８，３９とを有し、端板３８
には、非直線状となるように並設されて軸方向に延びる
第１，第２進退軸（第１，第２軸）３４ａ，３４ｂと固
定軸（第３軸）３４ｃとが設けられ、端板３９には同様
に、非直線状となるように並設されて軸方向に延びる第
１，第２進退軸（第１，第２軸）３５ａ，３５ｂと固定
軸（第３軸）３５ｃとが設けられている。これら軸３４
ａ〜３４ｃは、第２図に示すように、固定軸３４ｃを頂
点とする２等辺三角形状に配置されている。軸３５ａ〜
３５ｃも同様である。The arm member 5 has an outer cylinder 21 formed in a substantially cylindrical shape, and end plates 38 and 39 provided on both sides of the outer cylinder 21.
Is provided with first and second advancing / retreating shafts (first and second shafts) 34a and 34b and a fixed shaft (third shaft) 34c that are arranged in parallel so as to be non-linear and extend in the axial direction. Similarly, on the end plate 39, first and second advancing / retreating shafts (first and second shafts) 35a and 35b and a fixed shaft (third shaft) 35c that are arranged in parallel so as to be non-linear and extend in the axial direction. And are provided. These axes 34
As shown in FIG. 2, a to 34c are arranged in an isosceles triangle shape with the fixed shaft 34c as the apex. Axis 35a-
The same applies to 35c.
進退軸３４ａ，３４ｂ，３５ａ，３５ｂは円筒形に形成
され、その一端側の内周面に雌ネジＳ１〜Ｓ４が形成さ
れており、これら進退軸３４ａ，３４ｂ，３５ａ，３５
ｂが軸方向に沿って進退可能となっている。また、固定
軸３４ｃ，３５ｃはその端板３８，３９に固定されてい
るものである。Reciprocating shaft 34a, 34b, 35a, 35b has a cylindrical shape, its inner peripheral surface at one end a female screw S 1 to S 4 are formed, these retractable shaft 34a, 34b, 35a, 35
b can move back and forth along the axial direction. The fixed shafts 34c and 35c are fixed to the end plates 38 and 39, respectively.
関節プレート１６には、各軸３４ａ〜３４ｃの先端部と
対向する位置に、連結部（第１，第２，第３連結部）１
６ａ，１６ｂ，１６ｃがそれぞれ設けられている。そし
て、これら連結部１６ａ，１６ｂと軸３４ａ，３４ｂの
先端部とが継手部材（第１，第２継手手段）５０，５１
で接続され連結部１６ｃと固定軸３４ｃの先端部とがボ
ールジョイント５２で接続されている。The joint plate 16 has a connecting portion (first, second, third connecting portion) 1 at a position facing the tip portions of the shafts 34a to 34c.
6a, 16b and 16c are provided respectively. The connecting portions 16a, 16b and the tip end portions of the shafts 34a, 34b are joint members (first and second joint means) 50, 51.
And the connecting portion 16c and the tip of the fixed shaft 34c are connected by a ball joint 52.
上記継手部材５０，５１は、軸３４ａ，３４ｂの先端部
と接続した第１ボールジョイント５３，５４と、連結部
１６ａ，１６ｂと接続した第２ボールジョイント５５，
５６とを有している 関節プレート１７と軸３５ａ〜３５ｃとは上記と同様に
接続されているので、その説明は省略する。The joint members 50 and 51 include first ball joints 53 and 54 connected to the tip ends of the shafts 34a and 34b, and second ball joints 55 connected to the connecting portions 16a and 16b.
Since the joint plate 17 and the shafts 35a to 35c are connected in the same manner as above, the description thereof will be omitted.
ところで、外筒２１内に軸３４ａ，３４ｂ，３５ａ，３
５ｂを進退させる進退機構６０が設けられている。By the way, the shafts 34a, 34b, 35a, 3 are provided in the outer cylinder 21.
An advancing / retreating mechanism 60 for advancing / retreating the 5b is provided.
この進退機構６０は、軸方向に延びて回転自在に、上下
側（第１図において）に設置された二つの回転軸６１，
６２と、この回転軸６１，６２を回転させる駆動モータ
６３，６４と、この駆動モータ６３，６４の駆動力を回
転軸６１，６２に伝達する伝達ギヤ列６５，６６とから
構成されている。The advancing / retreating mechanism 60 includes two rotating shafts 61, which extend in the axial direction and are rotatably installed on the upper and lower sides (in FIG. 1).
62, drive motors 63 and 64 that rotate the rotary shafts 61 and 62, and transmission gear trains 65 and 66 that transmit the driving force of the drive motors 63 and 64 to the rotary shafts 61 and 62.
上記回転軸６１には両側に互いに逆向きの雄ネジ６１
ａ，６１ｂが形成され、同様に回転軸６２には互いに逆
向きの雄ネジ６２ａ，６２ｂが形成され、それぞれ雄ネ
ジが進退軸３４ａ，３４ｂ，３５ａ，３５ｂの雌ネジＳ
１〜Ｓ４に螺合し、回転軸６１，６２の回転により軸３
４ａ，３４ｂ，３５ａ，３５ｂが進退するようになって
いる。この進退は、例えば、回転軸６１，６２が右回転
すると進退軸３４ａ，３４ｂ，３５ａ，３５ｂが前進
し、回転軸６１，６２が左回転すると進退軸３４ａ，３
４ｂ，３５ａ，３５ｂが後退するようになっている。そ
して、これら進退軸３４ａ，３４ｂ，３５ａ，３５ｂの
進退によって関節プレート１６，１７を自由な方向に傾
動させるものである。The rotary shaft 61 has male screws 61 on opposite sides opposite to each other.
a and 61b are formed, and similarly, the rotating shaft 62 is formed with male screws 62a and 62b in mutually opposite directions, and the male screws are respectively the female screws S of the advancing and retracting shafts 34a, 34b, 35a and 35b.
1 to S 4 are screwed together, and the shaft 3 is rotated by the rotation of the rotary shafts 61 and 62.
4a, 34b, 35a and 35b move forward and backward. For example, when the rotary shafts 61 and 62 rotate right, the forward and backward shafts 34a, 34b, 35a and 35b move forward, and when the rotary shafts 61 and 62 rotate left, the forward and backward shafts 34a and 3b move.
4b, 35a and 35b are set back. Then, the joint plates 16 and 17 are tilted in a free direction by advancing and retracting the advancing and retracting shafts 34a, 34b, 35a and 35b.
次に、関節プレート１６の傾動について説明する。Next, tilting of the joint plate 16 will be described.
いま、例えば、進退軸３４ａ，３４ｂを同じ長さだけ進
退させれば、関節プレート１６は、第２図に示すよう
に、３４ｃを支点にして紙面と直交する方向に回動す
る。進退軸３４ａのみを進退させると、第２図の３４ｂ
と３４ｃとを結ぶ軸線Ｋを支点にしてプレート１６が回
動し、進退軸３４ｂのみを進退させると、第２図の３４
ａと３４ｃとを結ぶ軸線Ｍを支点にしてプレート１６が
回動する。また、進退軸３４ａと進退軸３４ｂとを逆方
向に進退させると、第２図の３４ｃを通る軸線Ｌを支点
にしてプレート１６が回転する。したがって、進退軸３
４ａ，３４ｂの進退によってプレート１６を自由な方向
に傾動させることができる。しかも、固定軸３４ｃが端
板３８に固定され、固定軸３４ｃの先端部がボールジョ
イント５２によりプレート１６の連結部１６ｃに接続さ
れているので、進退軸３４ａ，３４ｂが進退しない限り
プレート１６は傾動した方向に固定される。Now, for example, if the advancing / retreating shafts 34a and 34b are advanced and retracted by the same length, the joint plate 16 rotates in a direction orthogonal to the paper surface with 34c as a fulcrum, as shown in FIG. When only the advancing / retreating shaft 34a is moved back and forth, 34b in FIG.
2 and 34c, the plate 16 rotates about the axis K as a fulcrum, and only the advancing / retreating shaft 34b advances and retracts.
The plate 16 rotates about an axis M connecting a and 34c as a fulcrum. When the advancing / retreating shaft 34a and the advancing / retreating shaft 34b are moved back and forth in the opposite directions, the plate 16 rotates about the axis L passing through 34c in FIG. 2 as a fulcrum. Therefore, the forward / backward axis 3
The plate 16 can be tilted in any direction by moving the 4a and 34b forward and backward. Moreover, since the fixed shaft 34c is fixed to the end plate 38 and the tip end of the fixed shaft 34c is connected to the connecting portion 16c of the plate 16 by the ball joint 52, the plate 16 tilts unless the advancing / retreating shafts 34a, 34b move forward / backward. It will be fixed in the direction you did.
したがって、このアーム部材５を複数個互いに接続すれ
ば、スポット溶接ガン８を任意の方向に向けることがで
きるとともに、その向きに固定することができる。Therefore, if a plurality of arm members 5 are connected to each other, the spot welding gun 8 can be oriented in any direction and can be fixed in that direction.
（効果） この考案は、以上説明したように、構成されているか
ら、この作業アームを互いに連結すれば、連結個数に応
じて工業用ロボットの自由度が増大し、また、形状、構
造が同一のものを連結して自由度を増大させるものであ
るから、その連結、分解作業、管理も容易であるという
効果を奏する。また、第３軸の後部をアーム部材の端面
に固定し、第３軸の先端を関節プレートの連結部にボー
ルジョイントで接続したものであるから、関節プレート
はふらつくことなく傾動した方向に固定される状態とな
る。このため、簡単な構成で関節プレートをあらゆる方
向に向けることができるとともにその向きに固定するこ
とができる。(Effect) Since the present invention is configured as described above, if the work arms are connected to each other, the degree of freedom of the industrial robot increases according to the number of connections, and the shape and structure are the same. Since the objects are connected to increase the degree of freedom, there is an effect that the connection, disassembly work, and management are easy. Further, since the rear portion of the third shaft is fixed to the end surface of the arm member and the tip of the third shaft is connected to the joint portion of the joint plate by the ball joint, the joint plate is fixed in the tilted direction without wobbling. It will be in a state of being. Therefore, the joint plate can be oriented in any direction and can be fixed in that direction with a simple configuration.
第１図はこの考案に係るアーム部材の断面図、第２図は
関節プレートの傾動を示すための説明図、第３図は自動
車の車体の生産ラインにおける使用状況説明図である。 ５……アーム部材、 １６，１７……関節プレート、 ３４ａ，３５ａ……進退軸（第１軸） ３４ｂ，３５ｂ……進退軸（第２軸） ３４ｃ，３５ｃ……固定軸（第３軸） ５０，５１……第１，第２継手部材（継手手段） ５２……ボールジョイント ５３，５４……第１ボールジョイント ５５，５６……第２ボールジョイントFIG. 1 is a cross-sectional view of an arm member according to the present invention, FIG. 2 is an explanatory view for showing the tilting of a joint plate, and FIG. 3 is an explanatory view of a usage state in a production line of an automobile body. 5 ... Arm member, 16, 17 ... Joint plate, 34a, 35a ... Forward / backward axis (first axis) 34b, 35b ... Forward / backward axis (second axis) 34c, 35c ... Fixed axis (third axis) 50, 51 ... First and second joint members (joint means) 52 ... Ball joint 53, 54 ... First ball joint 55, 56 ... Second ball joint
Claims (1)
端側に関節を介して接続された関節プレートとを有し、
作業具とベースとの間に介在して前記作業具を可動させ
る工業用ロボットの作業用アームであって、 前記関節は、 前記アーム部材の一端側の端面に非直線状となるように
並設されて軸方向に延びた３つの第１，第２，第３軸
と、 これら第１，第２，第３軸の先端部と対向する前記関節
プレートの位置にそれぞれ設けられた第１，第２，第３
連結部と、 前記第３軸の先端部と前記第３連結部とを接続したボー
ルジョイントと、 前記第１，第２軸の先端部と第１，第２連結部との間に
介在された第１，第２継手手段とを備え、 この第１，第２継手手段は、一端側に設けられ第１，第
２軸の先端部に接続した第１ボールジョイントと、他端
側に設けられ第１，第２連結部を接続した第２ボールジ
ョイントとを有し、 前記第３軸の後部を前記端面に固定し、前記第１，第２
軸を軸方向に沿って進退可能に設けたことを特徴とする
工業用ロボットの作業アーム。1. An arm member and a joint plate connected to at least one end side of the arm member via a joint,
A work arm of an industrial robot that moves the work tool by interposing it between a work tool and a base, wherein the joints are juxtaposed so as to be non-linear on an end face on one end side of the arm member. Three first, second, and third shafts that are axially extended and provided in positions of the joint plates that face the tip ends of the first, second, and third shafts, respectively. Second and third
A connecting portion, a ball joint connecting the tip portion of the third shaft and the third connecting portion, and a ball joint interposed between the tip portion of the first and second shafts and the first and second connecting portions. First and second joint means are provided, and the first and second joint means are provided on one end side and provided on the other end side with a first ball joint connected to the tip end portions of the first and second shafts. A second ball joint connecting first and second connecting portions, wherein the rear portion of the third shaft is fixed to the end surface, and the first and second
A work arm for an industrial robot, characterized in that the shaft is provided so as to be movable back and forth along the axial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988133817U JPH0623437Y2 (en) | 1988-10-13 | 1988-10-13 | Industrial robot work arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988133817U JPH0623437Y2 (en) | 1988-10-13 | 1988-10-13 | Industrial robot work arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0253389U JPH0253389U (en) | 1990-04-17 |
| JPH0623437Y2 true JPH0623437Y2 (en) | 1994-06-22 |
Family
ID=31392033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1988133817U Expired - Lifetime JPH0623437Y2 (en) | 1988-10-13 | 1988-10-13 | Industrial robot work arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0623437Y2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE508890C2 (en) * | 1996-03-14 | 1998-11-16 | Asea Brown Boveri | Manipulator |
| JP4984280B2 (en) * | 2006-03-27 | 2012-07-25 | 千春 石井 | Drive mechanism |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5548596A (en) * | 1978-10-02 | 1980-04-07 | Hitachi Ltd | Arm mechanism of robot |
| JPS61236493A (en) * | 1985-04-12 | 1986-10-21 | 三菱重工業株式会社 | Multi-joint robot arm |
-
1988
- 1988-10-13 JP JP1988133817U patent/JPH0623437Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0253389U (en) | 1990-04-17 |
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