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WO1987006872A1 - Structure articulee pourvue d'un mecanisme detectant la rotation, destinee a etre utilisee dans un robot industriel - Google Patents

Structure articulee pourvue d'un mecanisme detectant la rotation, destinee a etre utilisee dans un robot industriel Download PDF

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Publication number
WO1987006872A1
WO1987006872A1 PCT/JP1987/000286 JP8700286W WO8706872A1 WO 1987006872 A1 WO1987006872 A1 WO 1987006872A1 JP 8700286 W JP8700286 W JP 8700286W WO 8706872 A1 WO8706872 A1 WO 8706872A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotation
robot
elements
relative
joint
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.)
Ceased
Application number
PCT/JP1987/000286
Other languages
English (en)
Japanese (ja)
Inventor
Nobutoshi Torii
Ryo Nihei
Akihiro Terada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of WO1987006872A1 publication Critical patent/WO1987006872A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints

Definitions

  • the present invention relates to an articulated structure of an arm or a list of an industrial robot, in particular, by using a rotation detecting mechanism composed of an optical rotary encoder, from one robot structural element in one mince to another.
  • a rotation detection mechanism in an industrial robot configured to form a coupling element that enables transmission of rotational output to the robot structural elements and to form a mechanism for detecting relative rotation between the robot structural elements is provided. It is related to the provided joint structure.
  • the joint of the robot is provided with a coupling element capable of transmitting a rotational force from one robot structural element to the other robot structural element. That is, the rotation amount as the control target value is transmitted from the rotary drive source via this coupling element to the other port element from one robot element, and the other port element is moved to a desired rotational position.
  • a control method for moving is adopted.
  • the actual rotation amount relative to the rotation amount as the control target value that is, the rotation amount of the transmitted element is generally detected by a rotation detector provided in the drive motor. It is not a mechanism to directly detect the actual amount of rotation of the transmitted element. Therefore, the rotation of the transmitted element Is as amount of rotation of the one hundred mark from the rotational drive source is transmitted correctly, rotation and out of the rotary drive source; is the structure to monitor or detect a force is adopted.
  • the industrial robot Minjiu detects the rotation amount as the control target directly in the transmitted element, detects the difference from the target rotation amount, and accurately converts the transmitted element to the target rotation amount. In many cases, it is preferable to set the movement to the corresponding position.
  • an object of the present invention is to provide a joint structure having a rotation detection mechanism for an industrial robot which has solved the above-mentioned disadvantages and disadvantages.
  • Another object of the present invention is to provide an industrial mouthpiece in which a rotary drive source for a joint can be constituted by a low-cost motor without using a rotary drive motor with a built-in 11-rotation detector.u Nimble.
  • the present invention is directed to an articulated joint that pivotally connects two relatively rotating elements in an industrial robot, wherein the joint internally has an optical rotary that detects a relative rotation between the two relatively rotating elements.
  • the optical rotary encoder includes an encoder, and includes a projection and light receiving means combined with one of the two relative rotation elements, and a relative rotation of the two relative rotation elements.
  • the projection is constituted by a hollow rotary element having a rotation detecting plate to cause light change in the light receiving means, said hollow rotor said: a Sennyo flange pivotally between two relative rotary element
  • Another object of the present invention is to provide an articulated structure provided with a rotation detecting mechanism in an industrial mouth bot, which is characterized by having; BRIEF DESCRIPTION OF THE FIGURES
  • FIG. 2 is a partially enlarged sectional view showing the structure of a joint having a rotation detecting mechanism provided at one end of a horizontal arm of the industrial robot shown in FIG. BEST MODE FOR CARRYING OUT THE INVENTION
  • an industrial robot embodying the present invention has a horizontally extended arm 10 which has a hollow structure.
  • One robot element, one end of which is At the right end of Fig. 1 there is provided an up-and-down moving cylinder of the robot-note or a joint part 12 to be connected to the robot body 8, and at the other end, that is, at the left end of Fig. 2, other arm elements 6
  • It is provided with a wrist joint to which a joint 14 or a robot hand (not shown) connected to 0 is pivoted.
  • the hollow arm 10 constitutes one of two relatively rotating structural elements in the structure of the robot 7.
  • a motor 18 forming a rotary drive source is attached to the right end of the hollow arm 10 via a mounting flange 16 at the right end of the mince part 12.
  • the motor 18 is, for example, a well-known servo motor or the like, and has no built-in rotation detector.
  • the output shaft 18a of the motor 18 has an appropriate coupling structure, for example, wedge attachment, to the small pulley 22 supported by the rotary shaft 20 inside the mounting flange 16 protruding into the arm 10.
  • the pulleys 22 are coupled by a structure to transmit a rotational force to the small pulleys 22.
  • the surface rolling transmitted to the small pulley 22 is then transmitted to the large pulley 26 provided at the left end joint 14 of the arm 10 using the belt 24.
  • the large pulley 26 is connected to a cylindrical rotor 28 described later provided on the joint 14 by an appropriate integral coupling structure such as screw fixing or wedge coupling.
  • Numeral 8 is rotatably held around the center of the rotary bearing 30 at the left end of the hollow arm 10 via the rotary glaze 30 as described later.
  • the cylindrical rotor 28 is formed as a hollow cylindrical structural element having a through hole 28a at the center, and a coupling flange 28b protruding downward from the arm 10 at the lower end.
  • the other arm 60 described above is connected to the connecting flange 28b, or the connecting flange 28b itself constitutes a robot wrist element, and It is intended to be combined with hands and other working elements.
  • the rotational force transmitted to the large pulley 26 is
  • annular joint housing 32 is attached to a lower portion of the joint 14 by mounting bolts 34.
  • the bearing housing 36 has the same structure, and is mounted on the annular flange 32 a of the Minho housing 32 by the mounting bolt 38.
  • the sleeve support 36 holds the rotation bearing 30 described above.
  • the annular flange-32a formed in a part of the joint housing 32 is provided with an optical mouth encoder 40, and the rotation detection incorporated in this section ⁇ 4.
  • a main body 42 of the rotation detecting mechanism is attached to the same sleeve with respect to the center axis of the rotary bearing 30 by an appropriate fixing method such as an adhesive method.
  • the upper jaw 44 has an upper jaw 44 and a lower jaw 46 forming an annular space therein.
  • the upper jaw 44 has a built-in projector 48 a of an optical rotary encoder 40, and the lower jaw 4
  • a light receiver 48b for receiving light from the light emitter 48a is held toward the annular space.
  • An optical rotary encoder 40 fixedly mounted on the outer periphery of the cylindrical rotator 28 interposed between the light emitter 48a, the light receiver 48b, and the two.
  • the slit plate 50 constitutes a rotation detecting mechanism, and detects the rotation amount of the cylindrical rotor 28 having the slit plate 50.
  • the principle of optical rotation detection of the optical mouth encoder 40 which is composed of a detector 48a, a receiver 48b, and a cylindrical rotor having a slit plate 50, is generally used. Although this is no different from the rotary encoder of this type, the configuration incorporated in the joint of the mouth port is a novel structure, and the slit in the optical rotary encoder 40 is also new.
  • a major feature is that the cylindrical rotor 28 having ⁇ 50 forms an output flange element in the joint of the robot.
  • the optical one-time encoder 40 is covered by a cover 52, which is fixed to the joint housing 32 by mounting screws 53, and has a dust-proof seal 54 on its inner periphery. Is attached to prevent dust from entering the encoder.
  • a nut 56 is a holding nut for the rotary bearing 30 that is screwed around the outer periphery of the cylindrical rotor 28.
  • the signal transmission / reception line 58 of the optical mouth encoder 40 described above passes through the cover 52, passes through the internal space of the horizontal hollow arm 10, and passes through the robot body 8 that has been lifted. It is designed to extend outside the robot body.
  • the rotation of the joint of the robot is detected by the optical encoder incorporated in the joint, and the output signal of the joint is obtained from the operation.
  • the accuracy of rotation control of the rotary encoder has been further improved, and the optical rotary encoder has been mass-produced as a sigma-bot component in advance, so that a motor with a built-in rotary encoder can be used as the rotation drive source.
  • the price of robots can be reduced. If the present invention is applied to the joint structure of a dustproof robot that is recently widely used, it is possible to improve the working accuracy of the mouth bot in processing and assembling precision parts using in the manufacturing process of electronic components such as semiconductors. The effect of improving is also obtained.
  • the through hole 28a of the output flange having a hollow structure is provided with another robot element attached to the output flange and further with the other robot element.
  • it can be used as a piping space for arranging a supply pipe for electrical wiring and control pressure to an element provided at the tip of the mouth bot element.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Structure articulée pouvant détecter une rotation et transmettre un signal de sortie, dans laquelle un élément articulé (14) qui couple de manière pivotante deux éléments en rotation l'un par rapport à l'autre est monté à une extrémité d'un bras (10) d'un robot industriel ou sur le poignet du robot et est pourvu d'un codeur optique (40) qui détecte la rotation relative entre les deux éléments du robot en rotation l'un par rapport à l'autre, et un rotor cylindrique creux (28) possédant une plaque fendue (50) du codeur optique (40) est monté sur une extrémité de l'élément et est muni d'un rebord (28b) servant au couplage des deux éléments en rotation l'un par rapport à l'autre.
PCT/JP1987/000286 1986-05-09 1987-05-09 Structure articulee pourvue d'un mecanisme detectant la rotation, destinee a etre utilisee dans un robot industriel Ceased WO1987006872A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP61/104757 1986-05-09
JP10475786A JPS62264887A (ja) 1986-05-09 1986-05-09 ロボツトの回転検出機構

Publications (1)

Publication Number Publication Date
WO1987006872A1 true WO1987006872A1 (fr) 1987-11-19

Family

ID=14389359

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1987/000286 Ceased WO1987006872A1 (fr) 1986-05-09 1987-05-09 Structure articulee pourvue d'un mecanisme detectant la rotation, destinee a etre utilisee dans un robot industriel

Country Status (2)

Country Link
JP (1) JPS62264887A (fr)
WO (1) WO1987006872A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160101526A1 (en) * 2013-07-09 2016-04-14 Kabushiki Kaisha Yaskawa Denki Robot and robot joint mechanism
CN107234637A (zh) * 2016-03-28 2017-10-10 精工爱普生株式会社 机器人以及编码器
CN111482952A (zh) * 2019-01-29 2020-08-04 发那科株式会社 机器人

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105751246A (zh) * 2016-05-06 2016-07-13 广州市精谷智能科技有限公司 一种六关节机器人关节闭环传感器的依托装置
WO2018146596A1 (fr) * 2017-02-08 2018-08-16 University Of Pretoria Robot
CN107553481B (zh) * 2017-10-20 2023-07-18 广东奥马迪机器人有限公司 关节机构及其控制方法、多臂装置和机器人
US10155309B1 (en) * 2017-11-16 2018-12-18 Lam Research Corporation Wafer handling robots with rotational joint encoders
JP7381204B2 (ja) * 2019-01-29 2023-11-15 ファナック株式会社 ロボット

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5410151Y2 (fr) * 1972-08-31 1979-05-11
JPS5894991A (ja) * 1981-12-02 1983-06-06 日産自動車株式会社 ロボツトの関節固定装置
JPS5969283A (ja) * 1982-10-12 1984-04-19 豊田工機株式会社 水平多関節型ロボツト

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5410151Y2 (fr) * 1972-08-31 1979-05-11
JPS5894991A (ja) * 1981-12-02 1983-06-06 日産自動車株式会社 ロボツトの関節固定装置
JPS5969283A (ja) * 1982-10-12 1984-04-19 豊田工機株式会社 水平多関節型ロボツト

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160101526A1 (en) * 2013-07-09 2016-04-14 Kabushiki Kaisha Yaskawa Denki Robot and robot joint mechanism
CN107234637A (zh) * 2016-03-28 2017-10-10 精工爱普生株式会社 机器人以及编码器
CN111482952A (zh) * 2019-01-29 2020-08-04 发那科株式会社 机器人
CN111482952B (zh) * 2019-01-29 2024-01-05 发那科株式会社 机器人

Also Published As

Publication number Publication date
JPS62264887A (ja) 1987-11-17

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