JPS61136782A - Composite multi-joint type robot - Google Patents
Composite multi-joint type robotInfo
- Publication number
- JPS61136782A JPS61136782A JP25920684A JP25920684A JPS61136782A JP S61136782 A JPS61136782 A JP S61136782A JP 25920684 A JP25920684 A JP 25920684A JP 25920684 A JP25920684 A JP 25920684A JP S61136782 A JPS61136782 A JP S61136782A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- telescopic
- robots
- composite multi
- present
- 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
- 239000002131 composite material Substances 0.000 title claims description 5
- 230000007246 mechanism Effects 0.000 claims description 41
- 230000008602 contraction Effects 0.000 claims description 5
- 210000000707 wrist Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
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】
〔発明の技術分野〕
本発明は、動作性向上のための機＃を改良した多関節型
ロボットに関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an articulated robot with an improved mechanism for improving operability.
゛従来り、−設工場内゛の組立作業や放射線、消防等の
特殊作碗用の櫨々のタイプのロボットが提供されてきた
。例えば、第７図に示すような多関節ロボッ心ある。こ
れらのロボットは、その開発思想より一定の目的の動作
を行なわせるために、自由度を限定したり、ま比制御上
の理由から自由度を限定することが多かった。従来より
提供されている産業用ロボットをその動作形態より分類
すると、円筒座標型ロボット、極座標ｍｃＩポット。Hitherto, rigid type robots have been provided for assembly work in factories and special tasks such as radiation and fire fighting. For example, there is an articulated robot core as shown in FIG. In many cases, these robots have limited degrees of freedom in order to perform a certain purpose operation based on their development concept, or have their degrees of freedom limited for reasons of ratio control. Industrial robots that have been provided to date can be categorized based on their operating modes: cylindrical coordinate robots and polar coordinate mcI pots.
直交座標型ロボット及び多関節塵ロボットに大別される
。これらのロボットは、腕部の機構の組合わせは、各々
、第８図乃至第１１図に示すような形式になっている。They are broadly divided into Cartesian coordinate robots and articulated robots. The combinations of the arm mechanisms of these robots are as shown in FIGS. 8 to 11, respectively.
円筒座標型Ｐボット・・回転−伸縮一伸縮一手首（第８
図に図示）、極座標ｍ＋２ポツト・・回転−せん回−伸
縮−手首（＄９図に図示）、直交座標盤ロボット・・伸
縮−伸縮−伸縮一手首（第１θ図に図示）、多関節ｍｃ
１ボット・・・回転−せん回−せ人口−手首（第１１図
に図示）。Cylindrical coordinate type P-bot...Rotation - Telescopic - Telescopic - Wrist (8th
Polar coordinate m + 2 pots...rotation - twisting - telescopic - wrist (illustrated in Figure 9), Cartesian coordinate robot... telescopic - telescopic - telescopic one wrist (illustrated in Figure 1θ), multi-jointed mc
1 bot...rotation - twist - rotation - wrist (as shown in Figure 11).
しかしながらこれらの各稽ロボットは、一定の限定作業
を行なうのに適したものではありても、広汎に渡る作業
に用いるものではなかった、即ち各種ロボット各々に適
した作業があり、利用者側で作業内容に従って、ロボッ
トを選択して使用せざるを得なかった。However, although these various robots are suitable for performing certain limited tasks, they are not intended for use in a wide range of tasks.In other words, each type of robot has a task that is suitable for each type of work, and the user has no control over the work. They had no choice but to select and use robots according to the work content.
そこで本発明は、動作形態から分類し九各種ロボットの
利点を兼ね備えさせることで、広汎な作業のいずれにも
対応でき、かつ冗長度を利用して、より柔軟な制御が行
なえるロボットを提供することを目的とするものである
。Therefore, the present invention provides a robot that can handle a wide range of tasks by combining the advantages of nine different types of robots, classified based on their operating modes, and that can be controlled more flexibly by utilizing redundancy. The purpose is to
本発明の複合多関節２！！！ロボツトは、第１図に示す
ように伸縮機構１１８回転機構１２．ぜん回機構１３．
伸硝機構１４．せん回機構１５．伸縮機構１６．及び手
首部１７により構成されており、従来のロボットに較ぺ
３自由度多い９自由度で構成さルている。使用にあたっ
ては、９自由度中の６自由度を選択して様々な形態１例
えば円筒座標。Composite multi-joint 2 of the present invention! ! ! As shown in FIG. 1, the robot has a telescopic mechanism 118, a rotation mechanism 12. Whole gyration mechanism 13.
Stretching mechanism 14. Spiral mechanism 15. Telescopic mechanism 16. and a wrist portion 17, and has nine degrees of freedom, three more degrees of freedom than conventional robots. In use, 6 degrees of freedom out of 9 degrees of freedom can be selected to create various configurations such as cylindrical coordinates.
極座標、多関節などの動作が可能であり、また自由度を
限定せず冗長度を利用し九制御も可能であろう
〔発明の効果〕
本発明によれば、作業区域の限定性を越えることができ
、広汎なｌ’ｌ：偵ができろう〔発明の実施例〕
以下本発明の実施例を第１図と共に説明する。It is possible to operate in polar coordinates, multi-joint, etc., and it is also possible to perform nine-way control by utilizing redundancy without limiting degrees of freedom. [Effects of the Invention] According to the present invention, it is possible to overcome the limitations of the work area. [Embodiments of the Invention] Examples of the present invention will be described below with reference to FIG. 1.
Ｑ１軸まわりに回転する回転機構１１上に伸縮機構１２
がもうけてめるつこの伸縮機構は、ポールネジとポール
ナツトの組合わせであり、ポールネジとポールナツトの
いずれかを回転させることによって直線運動が行なえる
ものである。伸縮機構１２の次にぜん回機構１３がもう
けてあり、そこに接続されているアームには、伸縮機構
１１と同様な伸縮機構１４がもうけてあり、アームの長
さが町変になっている。また同様にぜん回機構１５の後
に伸縮機構１１．１４同様の伸縮機構１６がもうけられ
ており、これも前のアームと同様にアームの長さが町変
になっている。本発明のロボットは、上記の機構を用い
て様々な動作形ａｔ−実現でき、また冗長度を利用した
より柔軟な制御も可能である。まず本発明のロボットに
より、円筒座標、極座標、条間節各々の形轢を実現する
例を第２・図。A telescopic mechanism 12 is mounted on a rotating mechanism 11 that rotates around the Q1 axis.
The extension and contraction mechanism created by the melody is a combination of a pole screw and a pole nut, and linear movement can be performed by rotating either the pole screw or the pole nut. A spiral mechanism 13 is provided next to the telescopic mechanism 12, and the arm connected thereto is provided with a telescopic mechanism 14 similar to the telescopic mechanism 11, and the length of the arm is different. . Similarly, a telescoping mechanism 16 similar to the telescoping mechanism 11.14 is provided after the spiral mechanism 15, and the length of this arm is also varied like the previous arm. The robot of the present invention can realize various motion patterns using the above-mentioned mechanism, and can also perform more flexible control using redundancy. First, Figure 2 shows an example of how the robot of the present invention realizes the shapes of cylindrical coordinates, polar coordinates, and interrow nodes.
第３図、第４図を用いて説明する、
第２図は、本発明のロボットを用いて、円筒座標型ロボ
ットを実現した例である。図のようにロボットの９自由
度のうち、７１．７４の伸縮機構。This will be explained using FIGS. 3 and 4. FIG. 2 shows an example in which a cylindrical coordinate robot is realized using the robot of the present invention. As shown in the figure, there are 71.74 of the robot's 9 degrees of freedom.
７２の回転機構、金利用し、７３のぜん回機構は、９０
’のオフセットをつけて固定する。ま＆ ７５．７６の
せん回機構と伸縮機構は固定して使用しない。The rotation mechanism of 72 uses gold, and the whirlpool mechanism of 73 is made of 90
' Add and fix the offset. 75. Do not use the rotating mechanism and expansion/contraction mechanism of 76 in a fixed manner.
また極座標型ロボットを実現するには、第３図のように
８１の伸縮機構８５のぜん回機構、８６の伸縮機構を固
定する。同様に多関節ｍｅ１ポットを実現するには、第
４図に示すように９１．９４゜９６の伸縮機構を固定す
ルばよい。Further, in order to realize a polar coordinate type robot, as shown in FIG. 3, the spiral mechanism 81 of the telescopic mechanism 85 and the telescopic mechanism 86 are fixed. Similarly, in order to realize a multi-jointed me1 pot, it is sufficient to fix the expansion/contraction mechanism at 91.94°96 as shown in FIG.
次にこの動作について、第５図及び第６図を用所である
。この図かられかるように手先を作業台に運ぼうとする
とアームが円筒状の障害物に接触してしまう。そこで本
発明では、ロボットのアームを伸ばすことにより、この
円筒状の障害物に接触せずに、手首を作業台に運ぶ。つ
まり第６図に示すように伸縮機構１１１及び１１２を伸
ばすことにより障害物をさけて手先を作業台に運ぶこと
ができる。Next, regarding this operation, we will refer to FIGS. 5 and 6. As you can see from this diagram, when you try to carry your hand to the workbench, the arm comes into contact with a cylindrical obstacle. Therefore, in the present invention, by extending the arm of the robot, the wrist is brought to the workbench without coming into contact with this cylindrical obstacle. That is, by extending the telescoping mechanisms 111 and 112 as shown in FIG. 6, the hand can be carried to the workbench while avoiding obstacles.
以上に述べ先様に本発明は、従来の産業用ロボットの有
する作業の限定性を越え、広汎な作業に適するものであ
る。As mentioned above, the present invention goes beyond the limited work of conventional industrial robots and is suitable for a wide range of work.
なお本実施例に２いて、伸縮機構にポールネジとポール
ナツトを用いたが、例えばラックピニオンギヤあるいは
油圧制御による伸縮機構で６りても良く、この伸縮機構
を実現するものであれば、本実施例に限定されない。In this embodiment, a pole screw and a pole nut are used as the telescoping mechanism, but the telescoping mechanism may be a rack and pinion gear or a hydraulically controlled telescoping mechanism. Not limited.
第１図は、本発明の改良型複合条間部屋ロボットの概略
図で６９、第２図から４４図は、本発明の複合多量ｍｕ
ロボットを用いて各々の産業用ロボットの形態を実現す
ることを説明する図、第５図及び＠６図は、本発明の複
合条間ｉ型ロボットを用い電動作例を説明する図、第７
図は、従来の一般的な多関節型ロボットの概略図、第８
図から第１１図は、従来の産業用ロボットの骨格図であ
る。
１１・・・回転機構、１２・・・伸縮機構。
１３・・・ぜん回機構、 １４・・・伸縮機構。
１５ せん回機構、１６・・・伸縮機構。
１７ 手首部。
７１、８１．９１．７４．８４．９４．７６、８６．９
６・・・・・・伸縮機構。
？２．８２．９２．・・・・・・・・・・・・・・・・
・−・−・曲・・−曲・・曲・回転機構。
７３．８３．９３．７５．８５．９５・・−四囲・・・
・・・伸縮機構。
代理人 弁理士 則 近 憲 佑
（ほか１名）
第１図
第２図
第５図
第７図
第８図
桁９図FIG. 1 is a schematic diagram 69 of the improved composite multi-row room robot of the present invention, and FIGS.
Figures 5 and 6 are diagrams illustrating how each industrial robot configuration is realized using a robot, and Figure 7 is a diagram illustrating an example of electric operation using the composite interrow i-type robot of the present invention.
The figure is a schematic diagram of a conventional general articulated robot.
11 are skeletal diagrams of conventional industrial robots. 11... Rotation mechanism, 12... Telescopic mechanism. 13...Geral rotation mechanism, 14...Extension and contraction mechanism. 15 spiral mechanism, 16... telescopic mechanism. 17 Wrist area. 71, 81.91.74.84.94.76, 86.9
6...Expansion mechanism. ? 2.82.92.・・・・・・・・・・・・・・・・・・
・−・−・Song・・−Song・・Song・Rotation mechanism. 73.83.93.75.85.95...-Four circles...
...Expansion mechanism. Agent: Patent Attorney Noriyuki Chika (and 1 other person) Figure 1 Figure 2 Figure 5 Figure 7 Figure 8 Figure 9
Claims (1)
記関節を結合する腕部に少なくとも全体で三つの伸縮機
構を設けたことを特徴とする複合多関節型ロボット。What is claimed is: 1. A composite multi-joint robot having two or more joints, characterized in that an arm connecting the joints is provided with at least three extension and contraction mechanisms in total.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25920684A JPS61136782A (en) | 1984-12-10 | 1984-12-10 | Composite multi-joint type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25920684A JPS61136782A (en) | 1984-12-10 | 1984-12-10 | Composite multi-joint type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61136782A true JPS61136782A (en) | 1986-06-24 |
Family
ID=17330861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25920684A Pending JPS61136782A (en) | 1984-12-10 | 1984-12-10 | Composite multi-joint type robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61136782A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63197084U (en) * | 1987-06-04 | 1988-12-19 | ||
| JPH02104988U (en) * | 1989-01-31 | 1990-08-21 | ||
| JPH04129694A (en) * | 1990-09-17 | 1992-04-30 | Mitsubishi Heavy Ind Ltd | Robot |
| JP2007118175A (en) * | 2005-09-27 | 2007-05-17 | Yaskawa Electric Corp | Transport system |
| JP2009155842A (en) * | 2007-12-25 | 2009-07-16 | Panasonic Electric Works Bath & Life Co Ltd | Shower hanger device |
| CN105563463A (en) * | 2014-10-29 | 2016-05-11 | 株式会社安川电机 | Machining apparatus, method for making instruction, method for producing workpiece, controller, and method for control |
| EP3213883A4 (en) * | 2014-10-29 | 2018-05-30 | Kabushiki Kaisha Yaskawa Denki | Machining device and production method of workpiece |
| US10112299B2 (en) | 2014-10-29 | 2018-10-30 | Kabushiki Kaisha Yaskawa Denki | Machining apparatus and method of producing workpiece |
| CN113146326A (en) * | 2020-01-23 | 2021-07-23 | 大隈株式会社 | Machine tool |
| JP2021130196A (en) * | 2020-02-20 | 2021-09-09 | ファナック株式会社 | Method for differentiating size of operation rnage of wrist section of robot and method for manufacturing robot |
| WO2023228857A1 (en) * | 2022-05-26 | 2023-11-30 | ローレルバンクマシン株式会社 | Articulated robot, control method for articulated robot, robot system, and method for manufacturing article |
| WO2024048285A1 (en) | 2022-08-30 | 2024-03-07 | ローレルバンクマシン株式会社 | Articulated robot, articulated robot control method, robot system, and article manufacturing method |
| CN118679034A (en) * | 2022-08-30 | 2024-09-20 | 劳雷尔银行机械株式会社 | Multi-joint robot, control method for multi-joint robot, robot system, and method for manufacturing article |
-
1984
- 1984-12-10 JP JP25920684A patent/JPS61136782A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63197084U (en) * | 1987-06-04 | 1988-12-19 | ||
| JPH02104988U (en) * | 1989-01-31 | 1990-08-21 | ||
| JPH04129694A (en) * | 1990-09-17 | 1992-04-30 | Mitsubishi Heavy Ind Ltd | Robot |
| JP2007118175A (en) * | 2005-09-27 | 2007-05-17 | Yaskawa Electric Corp | Transport system |
| JP2009155842A (en) * | 2007-12-25 | 2009-07-16 | Panasonic Electric Works Bath & Life Co Ltd | Shower hanger device |
| US10112299B2 (en) | 2014-10-29 | 2018-10-30 | Kabushiki Kaisha Yaskawa Denki | Machining apparatus and method of producing workpiece |
| EP3034249A1 (en) * | 2014-10-29 | 2016-06-22 | Kabushiki Kaisha Yaskawa Denki | Machining apparatus, method for making instruction, method for producing workpiece, controller, and method for control |
| EP3213883A4 (en) * | 2014-10-29 | 2018-05-30 | Kabushiki Kaisha Yaskawa Denki | Machining device and production method of workpiece |
| CN105563463A (en) * | 2014-10-29 | 2016-05-11 | 株式会社安川电机 | Machining apparatus, method for making instruction, method for producing workpiece, controller, and method for control |
| CN113146326A (en) * | 2020-01-23 | 2021-07-23 | 大隈株式会社 | Machine tool |
| KR20210095574A (en) * | 2020-01-23 | 2021-08-02 | 오쿠마 가부시키가이샤 | Machine tool |
| JP2021115652A (en) * | 2020-01-23 | 2021-08-10 | オークマ株式会社 | Machine Tools |
| CN113146326B (en) * | 2020-01-23 | 2024-04-30 | 大隈株式会社 | Machine tool |
| TWI862777B (en) * | 2020-01-23 | 2024-11-21 | 日商大隈股份有限公司 | Machine tool |
| JP2021130196A (en) * | 2020-02-20 | 2021-09-09 | ファナック株式会社 | Method for differentiating size of operation rnage of wrist section of robot and method for manufacturing robot |
| WO2023228857A1 (en) * | 2022-05-26 | 2023-11-30 | ローレルバンクマシン株式会社 | Articulated robot, control method for articulated robot, robot system, and method for manufacturing article |
| WO2024048285A1 (en) | 2022-08-30 | 2024-03-07 | ローレルバンクマシン株式会社 | Articulated robot, articulated robot control method, robot system, and article manufacturing method |
| CN118679034A (en) * | 2022-08-30 | 2024-09-20 | 劳雷尔银行机械株式会社 | Multi-joint robot, control method for multi-joint robot, robot system, and method for manufacturing article |
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