JP6586162B2 - Arm robot - Google Patents

Description

  The present invention relates to an arm robot.

  2. Description of the Related Art Conventionally, as an arm robot, for example, a power transmission unit that drives a second wrist element includes a gear set that orthogonally decelerates and a second wrist motor, and drives a third wrist element that is a tip. However, what has a gear set for orthogonal reduction and a third reduction part for reducing the rotation of the third wrist motor has been proposed (for example, see Patent Document 1). In this arm robot, it is possible to suppress a decrease in power transmission efficiency. Further, as an arm robot, one that rotates an arm by a mechanism having a motor, a ball screw, and a belt has been proposed (see, for example, Patent Document 2). In this robot, the rotation of the arm can be controlled by a simple speed reducer.

JP 2014-213437 A Japanese Patent Laid-Open No. 6-15587

  However, the arm robot described in Patent Document 1 tries to suppress a decrease in transmission efficiency, but the arm is thick and it is desired to further reduce the size of the arm. In addition, the arm robot described in Patent Document 2 decelerates with a simple structure by a belt mechanism. However, since all the arms are driven by the belt mechanism, a deviation occurs during rotational driving such as extension of the belt mechanism. As a result, misalignment was accumulated up to the tip, and sufficient operation accuracy could not be ensured.

  The present invention has been made in view of such a problem, and a main object of the present invention is to provide an arm robot that is more compact on the front end side for working on a work target and that can sufficiently ensure operation accuracy. To do.

  The present invention adopts the following means in order to achieve the main object described above.

The arm robot of the present invention is
A tip for working on the article to be worked;
A first motor, a ball screw having a shaft disposed in the axial direction of the first motor, a pulley having the tip portion disposed thereon, and spanning the pulley and including the first motor and the ball screw. A first arm having a belt connected to the ball screw and moving in the axial direction of the first motor and provided with a first drive unit that rotationally drives the tip part;
A wave gear that orthogonally decelerates the driving force of the second motor and the second motor and decelerates the driving force of the second motor by means of a differential between an ellipse and a perfect circle. A second arm having any one of the mechanisms and provided with a second drive unit that rotationally drives the first arm;
It is equipped with.

  In this arm robot, the first arm on the distal end side is provided with a first drive unit that is rotationally driven by a belt including a motor and a ball screw, so that the first arm can be formed thinner. In addition, the second arm provided with the first arm is provided with a second drive unit having a bevel gear mechanism that can be reduced in the orthogonal direction and made compact in the rotation axis direction. In addition, the operation accuracy can be ensured. Alternatively, the second arm provided with the first arm is provided with a second drive unit having a wave gear mechanism that decelerates by the difference between an ellipse and a perfect circle, thereby achieving compactness and ensuring operation accuracy. can do. For this reason, in this arm robot, the tip side working on the work target is more compact, and sufficient operation accuracy can be ensured.

  In the arm robot of the present invention, the belt may be a carbon belt. In this arm robot, the operation accuracy of the first arm can be further ensured by using the carbon belt. This carbon belt may have a carbon core wire inside a resin (for example, high-strength urethane or high-strength nylon).

  In the arm robot of the present invention, the tip portion may be provided with either a sampling member that sucks and collects the article or a sampling member that grips and collects the article. With this arm robot, an article can be collected by suction or gripped.

  In the arm robot according to the aspect of the invention, an irradiation unit that irradiates the work target with light and an imaging unit that images the work target may be disposed at the tip. In this arm robot, the work can be performed while confirming the work object by the irradiation unit and the imaging unit.

  In the arm robot of the present invention, the second arm is either a bevel gear mechanism that orthogonally reduces the driving force of the third motor or a wave gear mechanism that reduces the driving force of the third motor by the differential between an ellipse and a perfect circle. It is good also as what is arrange | positioned in the 3rd drive part which rotates and drives the said 2nd arm. In this arm robot, it is possible to reduce the size and ensure the operation accuracy even in the portion where the second arm is disposed.

  In the arm robot of the present invention, the first driving unit may be configured such that the shaft of the first motor and the shaft of the ball screw are directly connected. In this arm robot, since a gear or the like is not interposed between the first motor and the ball screw, the arm robot can be made more compact. In the arm robot of the present invention, the first drive unit may include a brake unit in the first motor. In this arm robot, since it can be fixed by the brake part at the time of a stop, the movement of a front-end | tip part can be prevented.

1 is a schematic explanatory diagram of an arm robot 1. FIG. Explanatory drawing of the 1st drive part 11 with which the 1st arm 10 is provided. Explanatory drawing of the 2nd drive part 21 with which the 2nd arm 20 is provided. The block diagram showing the electrical connection relation of the arm robot. Schematic explanatory drawing of another arm robot 1B.

  Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram of an arm robot 1 which is an example of the present invention. FIG. 2 is an explanatory diagram of the first drive unit 11 provided in the first arm 10. FIG. 3 is an explanatory diagram of the second drive unit 21 provided in the second arm 20. FIG. 4 is a block diagram showing the electrical connection relationship of the arm robot 1. Since the arm robot 1 is movable in all directions, there is no specific direction to be fixed. However, for convenience of explanation, the left-right direction (X-axis), the front-rear direction (Y-axis), and the up-down direction (Z-axis) are In the following, description will be made assuming that it is as shown in FIGS.

  The arm robot 1 is configured as a device that performs a predetermined work on an object to be worked. The article to be worked on is not particularly limited, and examples thereof include various parts such as mechanical parts, electrical parts, electronic parts, chemical parts, foods, biotechnology, biological items, and the like. Examples of the predetermined work include a process of collecting, moving, and arranging from an initial position to a predetermined position, and a process of deforming, connecting, and joining a predetermined part. The arm robot 1 will be described below assuming that it mainly executes a process of placing electronic components from an initial position to a predetermined position.

  The arm robot 1 includes a first arm 10, a second arm 20, a third support portion 30, a pedestal portion 40, a tip portion 50, and a control portion 60 (see FIG. 4).

  The first arm 10 is a longitudinal member provided with a distal end portion 50 for working on an article to be worked. The first arm 10 is provided therein with a first drive unit 11 that rotationally drives the tip 50. As shown in FIGS. 2 and 4, the first drive unit 11 includes a first motor 12, a shaft 13, a ball screw 14, a first pulley 15, a second pulley 16, a belt 17, and a slide 18. I have. The first motor 12 is a power source that rotationally drives the distal end portion 50, and its rotation shaft is disposed in the longitudinal direction of the first arm 10 (the front-rear direction in FIGS. 1 and 2). A brake unit 19 is disposed at the rear end of the first motor 12, and the rotation of the rotating shaft is fixed by the brake unit 19 even when power supply to the first motor 12 is stopped. The ball screw 14 is provided with a shaft 13 in the rotation axis direction of the first motor 12, and the slide 18 moves in the front-rear direction as the shaft 13 rotates. The shaft 13 is directly connected to the rotation shaft of the first motor 12. In the first arm 10, the first pulley 15 in which the distal end portion 50 is disposed is disposed on the distal end side, and the second pulley 16 is disposed on the rear end side. The first pulley 15 and the second pulley 16 are pivotally supported by the housing of the first arm 10 so as to be rotatable. In the first pulley 15, a base portion 51 of the distal end portion 50 is disposed so as to be rotatable with respect to the first arm 10.

  The belt 17 is stretched around the first pulley 15 and the second pulley 16. The belt 17 is preferably formed of a material that does not easily expand and contract from the viewpoint of ensuring operation accuracy. The belt 17 may be a carbon belt. For example, the carbon belt may have a carbon core wire inside a resin (for example, high-strength urethane or high-strength nylon). A slide 18 connected to the ball screw 14 is fixed to the belt 17. In the first drive unit 11, when the shaft 13 is rotationally driven by the first motor 12, the slide 18 moves in the longitudinal direction of the shaft 13 via the ball screw 14. Further, in the first drive unit 11, when the slide 18 moves in the front-rear direction, the belt 17 slides in the front-rear direction, and the linear movement of the belt 17 is converted into a rotational motion via the first pulley 15, and the tip 50 Rotate. The belt 17 encloses the first motor 12, the shaft 13, and the ball screw 14 inside the first pulley 15 and the second pulley 16. For this reason, the first arm 10 is made more compact than that in which the first motor 12 and the ball screw 14 are provided outside the belt 17.

  As shown in FIG. 1, the second arm 20 is a longitudinal member on which the first arm 10 is disposed. The second arm 20 is provided with a second drive unit 21 that rotationally drives the first arm 10 on the distal end side thereof. The second drive unit 21 includes a bevel gear mechanism 23 on which the first arm 10 is disposed. As shown in FIG. 3, the bevel gear mechanism 23 is a gear mechanism that orthogonally reduces the driving force of the second motor 22. The bevel gear mechanism 23 meshes with a pinion 24 of a spiral bevel gear (spiral bevel gear), a first gear 25 formed with teeth meshing with a spiral bevel of the pinion 24, and teeth provided on the shaft of the first gear 25. And a second gear 26. The pinion 24 is fixed to the rotating shaft of the second motor 22 and transmits a driving force to the first gear 25 that is pivotally supported in a direction orthogonal to the rotating shaft. More preferably, the bevel gear mechanism 23 is a bevel gear mechanism in which the pinion 24 and the first gear 25 are offset. Since these gears are offset, it is possible to further reduce the size. The first arm 10 is disposed on the second gear 26, and the first arm 10 is rotationally driven by the driving force of the first gear 25. The second arm 20 includes the bevel gear mechanism 23 with the axial direction of the second motor 22 as the longitudinal direction, and thereby accommodates the second motor 22 therein.

  The third support unit 30 is provided with the second arm 20. The third support part 30 is provided with a third drive part 31 for rotating the second arm 20 on the distal end side thereof. The third drive unit 31 includes a bevel gear mechanism 33 provided with the second arm 20 and a third motor 32 that drives the bevel gear mechanism 33. The third motor 32 has a larger rated output than the second motor 22. The bevel gear mechanism 33 is assumed to be the same mechanism as the bevel gear mechanism 23, and the description thereof is omitted.

  The pedestal portion 40 supports the third support portion 30 via a support shaft 41 formed in the vertical direction. The pedestal portion 40 is provided with a motor, and the support shaft 41 is rotated by the motor.

  The tip portion 50 works on an object to be worked. As shown in FIGS. 1 and 2, the distal end portion 50 includes a base 51, a mounting portion 52, a sampling member 53, an imaging unit 54, and a drive portion 58. The base 51 is disposed on the first pulley 15 of the first arm 10, and a flat plate-shaped disposing part 51 a is formed on the tip side thereof. A mounting portion 52 and an imaging unit 54 are disposed on the lower surface of the placement portion 51a. The mounting part 52 is detachably mounted with a sampling member 53 for sampling an article. The sampling member 53 is configured as, for example, a mechanical chuck that has a plurality of claw portions and grips and samples an article. The sampling member 53 is driven by the drive unit 58 and rotates together with the mounting unit 52, and performs a gripping operation of the article such as opening and closing of the claw portion. The collection member 53 may be, for example, an adsorption nozzle that adsorbs and collects articles by pressure. The base 51 may have a movable shaft that can change the direction of the arrangement portion 51a, and may be configured so that the direction of the sampling member 53 can be rotated in the vertical direction. The imaging unit 54 includes an irradiation unit 55 and an imaging unit 56. The irradiation unit 55 is, for example, illumination that is arranged in a circular shape on the outer periphery of the imaging unit 56, and irradiates light around the work target article and the work target. The imaging unit 56 is a camera that captures an image of the work target item and the work target. The imaging unit 54 outputs the captured image data to the control unit 60.

  The control unit 60 is configured as a microprocessor centered on a CPU and controls the entire apparatus. The control unit 60 outputs signals to the first motor 12, the second motor 22, the third motor 32, and the drive unit 58. In addition, the control unit 60 inputs a signal from the imaging unit 54. The first drive unit 11, the second drive unit 21, and the third drive unit 31 are equipped with position sensors (not shown), and the control unit 60 inputs each position information from these position sensors while driving each drive. Control the motor of the unit. In the arm robot 1, the control unit 60 grasps the position and direction of the article to be worked using the image captured by the imaging unit 54, and performs predetermined processing on the article. In the arm robot 1, more accurate processing (collection processing and arrangement processing) can be performed on the article.

  The arm robot 1 is created so that the first arm 10, the second arm 20, and the third support unit 30 can be made as compact in the width direction (left-right direction) as possible. The arm robot 1 employs the belt-driven first drive unit 11 to make the first arm 10 lighter and thinner. For example, the width L1 (FIG. 1) of the first arm 10 may be formed to be 60 mm or less, and may be formed to be 50 mm or less. The first arm 10 may have a width excluding wiring of 50 mm or less, and may be 40 mm or less. Further, the arm robot 1 employs the second drive unit 21 and the third drive unit 31 of the bevel gear mechanism, thereby ensuring the output capable of holding the mass on the distal end side and the positional accuracy and reducing the size. It is said. For example, the width L2 of the second arm 20 may be formed to be 100 mm or less, and may be formed to be 90 mm or less. The second arm 20 can be formed to have a width excluding wiring of 90 mm or less, or can be formed to 80 mm or less. Further, the width L3 of the third support part 30 can be formed to be 70 mm or less, or can be formed to be 60 mm or less. The tip 50 can be formed with a width L0 of 40 mm. The pedestal portion 40 can be formed with a width L4 of 150 mm or less. In addition, if all the arms are belt drive type drive units, the arm robot accumulates belt deflection and the like, and it is difficult to ensure position accuracy at the tip. In addition, when all arm robots are used as the drive unit of the gear mechanism, the arm robot has a large width at the tip, which makes it difficult to make it compact and difficult to perform fine work.

  Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. In this embodiment, the distal end portion 50 corresponds to the distal end portion, the first arm 10 corresponds to the first arm, the first drive portion 11 corresponds to the first drive portion, and the second arm 20 corresponds to the second arm. The second drive unit 21 corresponds to the second drive unit, and the third drive unit 31 corresponds to the third drive unit.

  In the arm robot 1 of the present embodiment described above, the first arm 10 on the distal end side includes the first drive unit 11 that is rotationally driven by the belt 17 including the first motor 12 and the ball screw 14. It is possible to make the first arm 10 thinner, and it is possible to combine force and speed. In addition, the second arm 20 provided with the first arm 10 includes a second drive unit 21 having a bevel gear mechanism 23 that can be reduced in the orthogonal direction and can be made compact in the rotation axis direction. Therefore, it is possible to achieve compactness and ensure operation accuracy. Therefore, in the arm robot 1, the first arm 10 on the distal end side that works on the work target is more compact and lightweight, and the second arm 20 and the third support unit 30 that support the first arm 10 operate on the first arm 10. Sufficient accuracy can be secured.

  Moreover, since the belt 17 is a carbon belt, the arm robot 1 is less stretched and contracted, and the operation accuracy of the first arm 10 can be further ensured. Furthermore, since the arm robot 1 is provided with the collection member 53 for grasping and collecting the article at the distal end portion 50, the arm robot 1 can grasp and collect the article. Furthermore, the arm robot 1 is provided with an irradiation unit 55 that irradiates light on the work target and an imaging unit 56 that images the work target at the distal end portion 50, so that the work target is being confirmed. Work can be done. Since the arm robot 1 includes the third drive unit 31 having the bevel gear mechanism 33, it is possible to achieve compactness and ensure operation accuracy even in the portion where the second arm 20 is disposed.

  In addition, since the first drive unit 11 is directly connected to the rotation shaft of the first motor 12 and the shaft 13 of the ball screw 14, there is no gear between the first motor 12 and the ball screw 14. Can be achieved. Moreover, since the 1st drive part 11 is provided with the brake part 19 in the 1st motor 12, and can be fixed by the brake part 19 at the time of a stop, the movement of the front-end | tip part 50 can be prevented at the time of a power supply stop.

  It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

  For example, in the above-described embodiment, the second drive unit 21 and the third drive unit 31 are provided with a bevel gear mechanism, but instead may be provided with a wave gear mechanism. FIG. 5 is a schematic explanatory diagram of another arm robot 1B including the wave gear mechanisms 23B and 33B. The arm robot 1B includes a second drive unit 21B having a wave gear mechanism 23B and a third drive unit 31B having a wave gear mechanism 33B. In the wave gear mechanism 23 </ b> B, the second motor 22 is disposed in a direction orthogonal to the longitudinal direction of the second arm 20. The wave gear mechanism 23B is configured as a harmonic drive (registered trademark) including a wave generator 24B, a flex spline 25B, and a circular spline 26B. The wave generator 24B is a component in which a thin ball bearing is combined with the outer periphery of an elliptical cam. The flex spline 25B is a thin cup-shaped metal elastic body, and is a component in which teeth are carved on the outer periphery of the opening. The circular spline 26B is a rigid ring-shaped part, and has fewer teeth on the inner periphery than the flexspline 25B. The explanation of the wave gear mechanism 33B is omitted because it is the same as the wave gear mechanism 23B. In this arm robot 1B, by using the wave gear mechanism, the second arm 20 and the third support unit 30 that support the first arm 10 can sufficiently ensure the operation accuracy. The arm robot 1B may include a wave gear mechanism in either the second arm 20 or the third support unit 30.

  In the embodiment described above, the belt 17 is a carbon belt. However, the belt 17 is not particularly limited thereto, and may be a belt formed of a material other than carbon.

  In the above-described embodiment, the distal end portion 50 is mounted with the collection member 53 that collects an article. However, the distal end portion 50 is not particularly limited to the one that collects an article as long as the processing is performed on the article.

  In the embodiment described above, the imaging unit 54 is provided at the distal end portion 50. However, the imaging unit 54 is not particularly limited thereto, and the imaging unit 54 may not be provided. Also in this arm robot, the tip side working with respect to the work target is more compact, and sufficient operation accuracy can be secured.

  In the embodiment described above, the bevel gear mechanism of the second drive unit 21 and the third drive unit 31 is a spiral bevel gear, but may be a bevel gear that is not a spiral bevel. The bevel gear mechanism 23 is a bevel gear mechanism in which the pinion 24 and the first gear 25 are offset, but may not be offset. In this arm robot 1, the distal end side that works on the work target is more compact and can sufficiently secure the operation accuracy. The same applies to the bevel gear mechanism 33.

  In the embodiment described above, the first arm 10 and the second arm 20 are provided. However, the present invention is not particularly limited to this, and a third arm, a fourth arm, or the like may be provided. The third arm can also be provided with a bevel gear mechanism and a wave gear mechanism.

  The present invention can be used in the technical field of apparatuses that perform processing such as collection and arrangement of articles.

1, 1B arm robot, 10 first arm, 11 first drive unit, 12 first motor, 13 shaft, 14 ball screw, 15 first pulley, 16 second pulley, 17 belt, 18 slide, 19 brake unit, 20 first 2 arms, 21 and 21B second drive unit, 22
2nd motor, 23 bevel gear mechanism, 23B wave gear mechanism, 24 pinion, 24B wave generator, 25 1st gear, 25B flex spline, 26 2nd gear, 26B circular spline, 30 3rd support, 31, 31B 3rd Drive unit, 32 3rd motor, 33 bevel gear mechanism, 33B wave gear mechanism, 40 pedestal part, 41 support shaft, 50 tip part, 51 base part, 51a disposition part, 52 mounting part, 53 sampling member, 54 imaging unit, 55 irradiation part, 56 imaging part, 58 drive part, 60 control part.

Claims (6)

A vertical articulated arm robot,
A tip for working on the article to be worked;
A first motor, a ball screw having an axis disposed in the axial direction of the first motor, a pulley having the tip portion disposed thereon, and spanning the pulley, including the first motor and the ball screw, and connected to the ball screw. A first arm having a belt that is moved in the axial direction of the first motor and provided with a first drive part that rotationally drives the tip part;
A bevel gear mechanism that orthogonally decelerates the driving force of the second motor and the second motor and decelerates the driving force of the second motor by differential between an ellipse and a perfect circle. A second arm provided with a second drive unit for rotating the first arm,
A bevel gear mechanism in which the driving force of the third motor and the third motor is orthogonally decelerated and the second arm is disposed or a wave gear mechanism that decelerates the driving force of the third motor by the difference between an ellipse and a perfect circle. A third support portion provided with a third drive portion for rotating and driving the second arm;
A pedestal having a fourth motor and a fourth driving unit that rotationally drives the third supporting unit via a support shaft by a driving force of the fourth motor;
Arm robot equipped with.   The arm robot according to claim 1, wherein the belt is a carbon belt.   3. The arm robot according to claim 1, wherein the tip portion is provided with one of a sampling member that sucks and collects the article and a sampling member that grips and collects the article.   The arm robot according to claim 1, wherein an irradiation unit that irradiates the work target with light and an imaging unit that images the work target are disposed at the tip portion. .   The second arm includes a pinion of a spiral bevel gear and a first gear formed with teeth that mesh with the spiral pinion of the pinion, and the pinion and the first gear are arranged offset. The arm robot according to claim 1, comprising a bevel gear mechanism. A vertical articulated arm robot,
  A tip for working on the article to be worked;
  A first motor, a ball screw having an axis disposed in the axial direction of the first motor, a pulley having the tip portion disposed thereon, and spanning the pulley, including the first motor and the ball screw, and connected to the ball screw. A first arm having a belt that is moved in the axial direction of the first motor and provided with a first drive part that rotationally drives the tip part;
  A bevel gear mechanism in which the driving force of the second motor and the second motor is orthogonally decelerated to dispose the first arm, and a tooth that meshes with a pinion of a spiral bevel gear and a pinion of the pinion is formed. A second arm having a first gear and having a bevel gear mechanism in which the pinion and the first gear are arranged offset from each other, and a second drive part for rotating the first arm. When,
  Arm robot equipped with.

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