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WO1993017837A1 - Robot articule - Google Patents

Robot articule Download PDF

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Publication number
WO1993017837A1
WO1993017837A1 PCT/JP1993/000281 JP9300281W WO9317837A1 WO 1993017837 A1 WO1993017837 A1 WO 1993017837A1 JP 9300281 W JP9300281 W JP 9300281W WO 9317837 A1 WO9317837 A1 WO 9317837A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
robot
drive motor
support member
tool
Prior art date
Application number
PCT/JP1993/000281
Other languages
English (en)
Japanese (ja)
Inventor
Hiroaki Takechi
Tatsunori Suwa
Takashi Ono
Original Assignee
Kabushiki Kaisha Komatsu Seisakusho
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 Kabushiki Kaisha Komatsu Seisakusho filed Critical Kabushiki Kaisha Komatsu Seisakusho
Publication of WO1993017837A1 publication Critical patent/WO1993017837A1/fr

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector

Definitions

  • the present invention relates to an industrial articulated robot having a new shaft configuration. Background technology
  • the trajectory that can be cut and cut is smaller than the outermost diameter of the gripping device of the processing tool, and the operating range is narrow for the size of the gripping device.
  • the gripping device when such a gripping device is attached to the tip of an articulated robot to cut a work, there is a new problem that the gripping device interferes with the work and becomes an obstacle. Disclosure of Kishimei
  • the present invention does not operate each axis of the conventional 5- or 6-axis robot, but uses a small circle or square formed by the trajectory of two arms that roll on a horizontal plane provided at the end of the robot.
  • the present invention provides a support member fixed to the distal end of a multi-joint robot main body having five or six axes, which supports the base end of the first arm so as to be able to roll around, and the other first arm.
  • a 7- or 8-axis robot is configured by supporting the base end of the second arm that rolls in the same plane at the tip of the arm, and a tool gripping member is provided at the other end of the second arm. .
  • the position is determined by the 5- or 6-axis robot body, and the first arm is turned by the first drive motor.
  • the second drive motor is driven, the second arm is turned with respect to the first arm, thereby drawing an arbitrary trajectory in a plane where the tool gripping member fixed to the distal end side of the second arm extends.
  • the work is cut along the above-mentioned trajectory.
  • both arms are turned by the first drive motor and the second drive motor, and the posture is set so as not to interfere with the work. Cut any trajectory while changing or after changing.
  • you want to cut a wide range of straight lines or curves and add small roundness to the corners first use a straight line or -5 with the S-axis robot body. The curve is cut, and then the small roundness is cut with high precision using the combination of the movements of the first arm and the second arm.
  • FIG. 1 is a side view of an industrial multi-articulated robot according to the present invention
  • FIG. 2 is a plan view showing a main part of the first embodiment of the present invention
  • FIG. 3 is a main view of the first embodiment of the present invention.
  • FIG. 5 is a cross-sectional view showing a second embodiment of the present invention
  • FIG. 5 is a cross-sectional view taken along the arrow A in FIG. 4
  • FIG. 6 is a cross-sectional view taken along line BB of FIG. 4
  • FIG. 8 is a plan view showing an essential part of the second embodiment of the invention
  • FIG. 8 is an explanatory view of an operation in the first embodiment shown in FIG. 2
  • FIG. 9 is a flowchart showing an operation of cutting a figure by a plasma cutting torch
  • reference numeral 1 denotes a distal end of a six-axis articulated robot 2
  • reference numeral 3 denotes two surface-turning first arms 6 attached to the distal end portion 1 of the mouth robot 1 via a bracket 4.
  • a tool holding device having a second arm 7.
  • a support member 5 is fixed to the bracket 4, and the base end of the first arm 6 is rotatably supported by the support member 5.
  • the distal end portion of the first arm 6 of the other, and c proximal end of the second arm 7 is rotatably supported, the support member 5 and the second arm 7, the first driving motor 8, respectively
  • the second drive motor 9 is fixed.
  • the output shaft 8a of the first drive motor 8 is connected to a shaft 6a formed at the base end of the first arm 6 via a first reduction gear 10, as shown in FIG. Further, the output shaft 9 a of the second drive motor 9 is connected to a shaft 6 b formed at the tip of the first arm 6 via the second reduction gear 11.
  • the first and second reduction gears 10 and 11 use wave gears (product name: Harmonic Drive), which are compact in configuration and light in weight. Also, a tool gripping member 13 is fixed to the tip of the second arm 7.
  • the first arm 6 is driven via a first reduction gear 10 by a first drive motor 8 fixed to a support member 5.
  • the second arm 7 is driven by a second drive motor 9 ′ fixed to the support member 5, as shown in FIGS. 5 and 6, a second reduction gear 11 ′ composed of belts 15 and 16, etc. It is performed by driving through the.
  • Function 1 When cutting a small diameter circle or square, first position the body with the 6-axis robot 2 and drive the first drive motor 8 to support the support member 5. L, the first arm 6 turns. Further, by driving the second drive motor 9 or 9 ′, the second arm 7 is turned around the tip of the first arm 6, and thereby the tool fixed to the tip of the second arm 7.
  • the axis of gripping member 13 is, for example, With, an arbitrary trajectory can be drawn in the area indicated by the diagonal lines. At this time, the workpiece is cut along the trajectory by holding the plasma cutting or YAG laser torch 12 on the tool holding member 13.
  • Function 3 When cutting a wide range of straight lines or curves and adding small roundness to the corners, first cut the straight lines or curves with the body of the 6-axis robot 2, and then cut the first arm 6 and the second arm. Cutting the small roundness with high precision by combining the rotational movements of the two arms 7
  • the first and second drive motors 8 and 9 Or 9 ' is controlled by a control device (not shown). It is also possible to cut by teaching the control trajectory based on a predetermined calculation formula. The flow chart at this time is shown in FIG. 9 and is implemented by the steps (1) to (10).
  • the length of the first arm 6 is 1, the length of the second arm 7 is 1 2 , and the angle of the first arm 6 from the reference coordinates! , The angle from the reference coordinates of the second arm 7 is z, and the coordinate of the center point of the figure to be cut is X.
  • the tip of the second arm 7 is moved to the teaching point ( ⁇ , ⁇ ).
  • the coordinates of the cutting trajectory are converted into the surface tiling angle of the motor 8, 9 or 9 'of each axis. The conversion into the surface turning angle is performed by the following equation.
  • the posture is changed so that the first arm 6 and the second arm 7 are moved so as not to interfere with the stroke.
  • any shape can be cut.
  • the feature at this time is shown in FIG. 10 and is implemented by the steps (21) to (27).
  • INDUSTRIAL APPLICABILITY The present invention is capable of cutting a plurality of small Rs and squares with high accuracy without moving the articulated robot main body such as a six-axis robot, and is capable of cutting a plurality of small Rs and squares even when approaching a workpiece. This is useful as an industrial articulated robot that can avoid interference.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Laser Beam Processing (AREA)

Abstract

Un robot articulé (2) permet de découper de petits cercles ou carrés notamment, avec une grand précision et sans mouvement de son corps principal. On peut de plus agrandir son espace opérationnel pour qu'il découpe ces mêmes figures géométriques mais nanties de grandes dimensions. A cette fin, l'extrémité proximale d'un premier bras (6) est fixée de manière à pouvoir tourner sur un support (5) monté sur la partie frontale (1) du robot articulé (2). L'extrémité proximale d'un second bras (7) pouvant tourner dans un plan horizontal est fixée sur l'autre extrémité (frontale) du premier bras (6) afin de constituer un robot à sept ou huit axes, et un porte-instruments (13) est placé à l'extrémité frontale du second bras (7).
PCT/JP1993/000281 1992-03-06 1993-03-05 Robot articule WO1993017837A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP4/83040 1992-03-06
JP4083040A JPH068182A (ja) 1992-03-06 1992-03-06 多関節ロボット

Publications (1)

Publication Number Publication Date
WO1993017837A1 true WO1993017837A1 (fr) 1993-09-16

Family

ID=13791103

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1993/000281 WO1993017837A1 (fr) 1992-03-06 1993-03-05 Robot articule

Country Status (2)

Country Link
JP (1) JPH068182A (fr)
WO (1) WO1993017837A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113275765A (zh) * 2021-05-31 2021-08-20 奇瑞新能源汽车股份有限公司 机器人激光切割机构

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101160059B1 (ko) * 2010-09-07 2012-06-26 삼성중공업 주식회사 플라즈마 절단기의 절단 높이 제어방법 및 그 장치
US9314873B2 (en) * 2011-03-21 2016-04-19 Electronics And Computer Highlights Apparatus for laser working of flat elements
JP5486105B1 (ja) * 2013-04-09 2014-05-07 テクノコート株式会社 レーザー肉盛溶接方法、レーザー溶接方法、レーザー切断方法、レーザー焼き入れ方法、レーザー肉盛溶接装置、レーザー溶接装置、レーザー切断装置及びレーザー焼き入れ装置
JP6138722B2 (ja) * 2014-04-10 2017-05-31 スターテクノ株式会社 ワーク加工装置
CN106270944B (zh) * 2016-09-07 2018-08-03 江苏菲达宝开电气股份有限公司 一种摇摆式焊接设备
JP7286531B2 (ja) * 2019-12-27 2023-06-05 川崎重工業株式会社 多軸ロボットおよびその制御方法
WO2022215197A1 (fr) * 2021-04-07 2022-10-13 ファナック株式会社 Dispositif d'entraînement d'outil et robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57189785A (en) * 1981-05-20 1982-11-22 Nippon Electric Co Industrial robot
JPS5973299A (ja) * 1982-10-21 1984-04-25 株式会社神戸製鋼所 工業用ロボツト等の手首機構
JPS6084280U (ja) * 1983-11-14 1985-06-11 株式会社神戸製鋼所 工業用ロボツト
JPS61253506A (ja) * 1985-05-02 1986-11-11 Kawasaki Heavy Ind Ltd 産業用ロボットを用いる山形鋼の溶断方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57189785A (en) * 1981-05-20 1982-11-22 Nippon Electric Co Industrial robot
JPS5973299A (ja) * 1982-10-21 1984-04-25 株式会社神戸製鋼所 工業用ロボツト等の手首機構
JPS6084280U (ja) * 1983-11-14 1985-06-11 株式会社神戸製鋼所 工業用ロボツト
JPS61253506A (ja) * 1985-05-02 1986-11-11 Kawasaki Heavy Ind Ltd 産業用ロボットを用いる山形鋼の溶断方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113275765A (zh) * 2021-05-31 2021-08-20 奇瑞新能源汽车股份有限公司 机器人激光切割机构
CN113275765B (zh) * 2021-05-31 2023-02-21 安徽必达新能源汽车产业研究院有限公司 机器人激光切割机构

Also Published As

Publication number Publication date
JPH068182A (ja) 1994-01-18

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