JPH04130191U - Robot arm brake release mechanism - Google Patents

Abstract

(57) [Summary] [Purpose] When an articulated robot makes an emergency stop, it is possible to quickly and accurately move the robot to a safe posture without being hindered by surrounding structures. To enable the arm to be moved. [Structure] In order to release the posture of each arm 2 to 5 when it is stopped, in an articulated robot that has an electromagnetic brake installed in the rotation mechanism of each of the plurality of arms 2 to 5 to maintain the posture when it is stopped. A brake release switch (for example, release switch 16-a) is provided at a position where it can be operated while holding the arm (for example, arm 4).

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a brake release mechanism for an articulated industrial robot, and in particular, Quickly and easily without interfering with peripheral mechanisms when the bot makes an emergency stop, etc. Brake release mechanism for industrial robots that can be moved to a safe posture position Regarding.

0002

[Conventional technology]

Currently, industrial robots used in various fields are capable of moving in three-dimensional space. Vertical articulated robots like the one shown in Figure 8 are often used to respond to arbitrary postures. It is used. In FIG. 8, the robot 1 has arms 2 to 5 corresponding to the first to fourth axes, and a fifth axis. The hand support part 6 corresponds to the sixth axis, the hand 7 corresponds to the sixth axis, and each axis rotates relative to each other. Rotation mechanisms 8 to 11 corresponding to joints are provided. That is, the rotation mechanism 8 also serves as a support mechanism for supporting the robot on the base 20, and The rotating mechanism 9 rotates the arm 2 of the second shaft with respect to the arm 2 of the first shaft. The rotation mechanism 10 rotates the arm 3 of the third axis with respect to the arm 3 of the second axis. The rotation mechanism 11 rotates the arm 4 of the fourth axis relative to the arm 4 of the third axis. The arm 5 is rotated up and down, and the hand support part 6 is rotated left and right with respect to the arm 5 of the fourth axis. There is a mechanism to do this. In addition, the hand 7 has a structure suitable for gripping a predetermined workpiece. and a rotation function for the hand support section 6. In addition, the robot 1 having the above-described structure also has a program stored in the control device 12, etc. A predetermined task is executed by the control signal transmitted via the cable 1-a of the When a serious abnormality occurs, the control device 12 operates to activate the electromagnetic block provided on each rotating mechanism. A rake (not shown) was applied to cause an emergency stop. In this case, in order to restart the robot after an emergency stop, the electromagnetic brake must be released. A switch 13-a is provided at a predetermined position on the control device 12, and by operating this switch 13-a, , the brake was released by a brake release circuit shown in FIG. In FIG. 9, 14 to 19 are rotation mechanisms 8 to 11, hand support part 6, and hand. 7, each electromagnetic brake has its own installed rotation. When the rotation mechanism is driven, a current is passed through a circuit (not shown) and its operation is resolved. The brake release switch 13-a is released, but the brake release switch 13-a is connected to the drive source 13 and the brake as shown in the figure. It is inserted between 14 and 19, and its operation causes each brake 14 to 19 to be connected in parallel. It was designed to release each brake at once by passing an electric current through it.

0003

[Problem that the idea aims to solve]

By the way, during the operation of the robot described above, for example, the state shown in FIG. That is, the robot 1 performs work by passing its robot arm between the structures 21 and 22. If an emergency stop occurs while the robot arm is in front of the structures 21 and 22, It will be necessary to return it to its position. However, when the robot is in the stopped position as shown in Fig. 10, the obstacle It is necessary to operate each rotating shaft so as to avoid the structures 21 and 22 that become objects. Recently, the performance of robots has improved, and they are often operated in narrow spaces. , The operation of returning each rotary axis to the complicated safe posture position as described above can be performed automatically or with a switch. In many cases, it is difficult to execute with a touch operation. In the above case, release the brake mechanism installed on each rotating mechanism and manually adjust the brake mechanism to the specified position. The robot arm must be rotated and moved into position. In the brake release function of conventional robots, in order to release the brake mechanism, When the brake release switch mentioned above is operated, each time the brake release switch is operated, as shown in the circuit shown in Figure 9. All the brakes installed on the rotation mechanism are released at the same time. For example, as shown in FIG. 11, the robot 1 and the structure 22 interfere, and the structure 22 or Otherwise, there was a risk of damaging the robot 1 itself. Therefore, in the case of the above work, at least two or more workers must operate this robot. There was a problem in that it was necessary to maintain and regulate the movement of each arm. This invention solves the above-mentioned problems (problems) and prevents the robot from making an emergency stop. In such a case, even one worker may interfere with structures existing around the robot. This allows you to quickly and easily move to a safe posture without causing any damage. The aim is to obtain a brake release mechanism for robots using the same technology.

0004

[Means to solve the problem]

This invention has an electromagnetic brake installed in the rotation mechanism of each arm to maintain its posture when stopped. In the multi-jointed robot, we installed a brake to release the posture of each arm when it is stopped. A rake release switch is provided for each arm, and each of these release switches is a robot arm installed in a position where it can be operated while grasping the arm. Regarding the brake release mechanism. In this case, the above release switch should be provided only for the designated arm. Also good.

[0005]

[Effect]

In the robot arm brake release mechanism based on this invention, an articulated robot position where the target arm of the robot can be operated while grasping it. The above brake release switch attached to the rotating mechanism of the arm is attached to the arm. Therefore, while grasping the arm, quickly apply the brake installed on the arm side. It can be released accurately, and the required arms can be rotated one by one to any rotation angle. Became. Therefore, the robot that has made an emergency stop may be blocked by the position of surrounding structures. You can adjust the posture to the desired position by rotating the required arm one by one without any assistance. It can be done.

[0006]

【Example】

First, we applied the brake release mechanism of the robot arm of this invention to an articulated vertical robot. An example of the overall configuration to which the present invention is applied will be described in detail with reference to FIGS. 1 to 7. Figure 1 shows an example of an articulated vertical robot to which the brake release mechanism based on the present invention is applied. An example is shown in which 1 is the robot body, 12 is the robot control device, and in between are connected by signal transmission cable 1-a. In the robot body 1, 8 is fixed to the base 20 and rotates with respect to the upper structure. A support mechanism 2 with a rotating function is connected to the support mechanism 8 so as to be rotatable in the left and right direction. The combined first axis arm 3 is rotated by the first rotation mechanism 9 having a joint function. The arm of the second shaft is connected to the arm 2 of the shaft so as to be freely rotatable in the vertical direction, and 4 is a joint. vertically relative to the arm 3 of the second shaft by the second rotating mechanism 10 that functions. A third axis arm 5 is rotatably connected to a third rotation mechanism 11 that functions as a joint. of the fourth shaft, which is rotatably coupled in the vertical direction to the arm 4 of the third shaft. The arm 6 is connected to the arm 5 of the fourth axis so as to be rotatable in the left and right direction, and is connected in the up and down direction. This is a hand holding section on which a hand 7 having a gripping function is rotatably attached. Each of the above rotating mechanisms has a brake that fixes its rotation, such as an electromagnetic brake. Keys 14 to 19 (not shown in this figure) are attached. Each brake is Normally, the spring force acts as a brake, and a circuit (not shown) is activated. Therefore, when the drive mechanism (not shown) of each rotation mechanism is driven, the electromagnetic brake is A current flows through the key and it is released. In addition, 16-a attached to the rotating mechanism 10 is a brake release switch, details of which will be described later. However, the operation of the brake that prevents and fixes the arm 4 from rotating is released. Also, times 17-a attached to the rotation mechanism 11 is a brake release switch, the details of which will be described later, The operation of the brake that prevents and fixes the rotation of the arm 5 is released. For other rotating mechanisms Installed brake release switches 14-a, 15-a, 18-a, 19-a (shown in Figure 2) ) are also respectively mounted at predetermined positions according to the present invention.

[0007] The robot body 1 equipped with the above mechanism has a sequence stored in the control device 12 in advance. Operated by program. This control device 12 has the above-mentioned various functions as shown in FIG. It includes a drive source 13 that drives a brake attached to the rotation mechanism. This driving source 1 3 controls each rotation of the robot body based on the command signal output from the control device 12. Each of the above circuits is connected in parallel with the above circuit that operates the brakes 14 to 19 attached to the rotation mechanism. Each brake 14 is released by operating the brake release switches 14-a to 19-a. ~19 to release its operation. That is, 14 is the first brake attached to the support mechanism 8, and 15 is the first rotation mechanism 9. 16 is a third brake attached to the second rotating mechanism 10. G, 17 is the fourth brake attached to the third rotation mechanism 11, 18 is the hand holding part The fifth brake, 19, attached to the This is the sixth brake.

[0008] Figure 3 shows the brake release switch 14-a, which is mounted on the robot body based on the present invention. This is a first example showing a part of the situation in which 19-a to 19-a are installed, and 3 is shown in Fig. 1. 10 is the second rotation mechanism shown in FIG. 1, and 4 is the arm of the second axis shown in FIG. This is the third axis arm shown in . In addition, 16-a attached to the second rotation mechanism 10 is , the brake of the third brake 16 attached to this rotation mechanism 10 as described above in FIG. It is a key release switch. FIG. 4 shows a second embodiment of the release brake installation. That is, the mechanism structure is the same as that shown in FIG. 4 is the arm of the third axis. In Fig. 4, the arm 3 of the second axis is equipped with a The attached 16-a connects the arm of this second axis and the arm of the third axis, as described above in Figure 1. With the brake release switch of the third brake 16 attached to the rotating mechanism 10 be. 3 and 4 show an explanation of the mounting position of each brake release switch on the rotating mechanism 10. The release switch 16-a of the installed third brake 16 was taken as a representative example. However, the mounting position of the other brake release switches is also explained in this book, which describes the details of its operation later. It is also installed based on the technical idea of the invention.

[0009] Next, the operation of the present invention in each of the above-mentioned embodiments will be explained with reference to FIGS. 5 to 7. Ru. In FIGS. 5 to 7, numerals 21 and 22 refer to structures in the working area of this robot. The other symbols are shown in FIG. 1 and are the same as those described above. As shown in FIG. 5, the tip of the robot with the hand 7 is connected to the structures 21 and While working on the opposite side of the If this occurs, depending on the cause of the emergency stop, release the brake and move in the direction shown by arrow A. It will be necessary to move. In the above case, the worker 23 uses one hand 24 to open the third axis, as shown in Fig. While supporting the arm 4, operate the third brake release switch 16-a with the other hand 25. A current is applied to this brake 16. Therefore, the third brake 16 releases its operation. Since the arm 4 of the third axis can be rotated manually, this second rotating machine The structure 10 is set at an angle that allows the tip of the robot to pass between the structures 21 and 22. Rotate clockwise or counterclockwise until the Therefore, since robot 1 takes the posture shown in Figure 7, the tip of this robot It becomes possible to move in the direction of arrow A through the space between structures 21 and 22. Therefore, operate the release switch 16-a of the third brake 16 to release the brake 16. The current is cut off and the second rotating mechanism 10 is fixed. Next, the worker 23 uses one hand 24 to touch the arm 3 of the second shaft or the tip of the arm 3. (not shown) and operate the second brake release switch 15-a with the other hand 25. make Therefore, current flows to the second brake 15, releasing the operation and causing the second brake to move. Arm 3 can be rotated manually. Therefore, this first rotation mechanism 9 The tip of the robot 1 is rotated to pass between the structures 21 and 22.

0010 In the above example, two operations are required to move the robot body 1 to the desired posture. As explained above, there are certain shapes and shapes of structures that interfere with the robot's posture and operation when the robot is stopped. Alternatively, multiple rotation mechanisms can be rotated according to the shape of the space while sequentially releasing the brakes. By doing so, it becomes possible to process any complex movement. In other words, as a result of the above-mentioned work, the tip of the robot naturally falls when the brake is released. Since there is no risk of interference with the structure 22 by It becomes possible to work by In addition, in the above embodiment, the brake release switches attached to all rotating mechanisms are the same. Although I explained how to attach it in the same manner as above, please be sure to use the specified bracket to safely carry out the above work. Only the rake release switch should be installed, and other brake release switches should be installed. It may be installed at a location that is suitable for the overall work. In addition, in the above explanation, the brake release switch is rotated when the brake is installed. Although I explained that it should be installed near the mechanism, each brake release switch is A position where the idea of this invention can be carried out in accordance with the structure of the robot and the content of the intended work. It should be installed on. In addition, one release switch can be used to release multiple brakes depending on the conditions. It may also be possible to operate it with . In addition, in this case, operation by individual release switches is also possible. It is also possible to make it possible to switch between operation and operation using a common release switch. In addition, in the above explanation, the brake is activated by spring force by cutting off the current. The explanation was given using an example of an electromagnetic brake that moves, but the brake is not activated by the flow of current. Even if the brakes are operated by Brakes powered by any power source can be similarly implemented. In addition, if it has a structure that functions as a brake, the The technical idea of the present invention can be utilized as a means for releasing the brake. The above explanation describes an example in which the present invention is applied to an example of a robot structure. It is applicable to robots and control systems of other structures as well. In addition, it is possible to It is also possible to apply modifications.

[0011]

[Effect of the idea]

As mentioned above, the brake release mechanism of the robot arm of the present invention consists of multiple arms. An articulated robot with an electromagnetic brake installed in its rotation mechanism to maintain its posture when stopped. In this case, a brake release switch is installed to release each arm from its stopped position. Each release switch should be provided for each arm, and each release switch should be used to grasp the arm in question. Because it is configured so that it can be operated while holding it, it has the following excellent effects. has. While grasping a given arm, quickly apply the brake installed on the rotation mechanism of the arm. It can be released accurately, so each rotation mechanism can be rotated individually to any rotation angle one by one. It is now possible to do so. As a result, the robot that has made an emergency stop is blocked by the position of surrounding structures. Rotate the required arms one after another without any trouble, and correct the robot arm to the desired posture. Now you can. Moreover, since the above-mentioned work can be performed by a single worker without assistance, The operational efficiency has been significantly improved. Additionally, when the brake is released, the tip of the robot may fall naturally and cause damage to objects in the environment or nearby areas. There is no longer any risk of dangerous situations such as collisions with workers inside.

[Brief explanation of drawings]

FIG. 1 is a perspective view for explaining the structure of an articulated vertical robot, which is an example of a robot to which the present invention is applied.

FIG. 2 is a schematic block diagram showing a brake release switch circuit provided in the rotation mechanism of the robot shown in FIG. 1;

FIG. 3 is a perspective view of the main parts of the robot structure showing the mounting position of the brake release switch according to the first embodiment of the present invention.

FIG. 4 is a perspective view of the main parts of the robot structure showing the mounting position of the brake release switch according to the second embodiment of the present invention.

FIG. 5 is a front view showing a part of the robot structure and an obstacle, drawn to explain the necessity of the present invention.

FIG. 6 is a perspective view showing a part of the robot structure and obstacles to explain the operation of the present invention.

FIG. 7 is a front view showing a part of the robot structure and an obstacle to explain the effects of the present invention.

FIG. 8 is a perspective view for explaining the structure of a multi-joint vertical robot, which is an example of a conventional robot.

9 is a schematic block diagram showing a brake release switch circuit provided in the rotation mechanism of the robot shown in FIG. 8; FIG.

FIG. 10 is a front view showing a part of a conventional robot structure and an obstacle.

11 is a front view showing a part of the robot structure and an obstacle to explain a problem caused by the robot shown in FIG. 10; FIG.

[Explanation of symbols]

1: Robot body 2-5: Arm 9-11: Rotation mechanism 14-19: Brake 14-a to 19-a: Brake release switch

Claims (2)

[Scope of utility model registration request] Claim 1: In an articulated robot in which the rotation mechanism of each of a plurality of arms is provided with an electromagnetic brake that maintains the stopped posture, each arm is equipped with a brake release switch for releasing the stopped posture of each arm. - A brake release mechanism for a robot arm, characterized in that each brake release switch is provided for each arm, and each release switch is provided at a position where it can be operated while gripping the arm. 2. A brake release mechanism for a robot arm according to claim 1, wherein said release switch is provided only for a predetermined arm.