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WO2001026865A1 - Manipulateur articule horizontal - Google Patents

Manipulateur articule horizontal Download PDF

Info

Publication number
WO2001026865A1
WO2001026865A1 PCT/JP2000/007015 JP0007015W WO0126865A1 WO 2001026865 A1 WO2001026865 A1 WO 2001026865A1 JP 0007015 W JP0007015 W JP 0007015W WO 0126865 A1 WO0126865 A1 WO 0126865A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
auxiliary link
reduction gear
link
fixed
Prior art date
Application number
PCT/JP2000/007015
Other languages
English (en)
Japanese (ja)
Inventor
Tsuyoshi Tanoue
Kazuhiro Haniya
Shin-Ichi Kaido
Hiroyuki Arai
Original Assignee
Kabushiki Kaisha Yaskawa Denki
Kabushiki Kaisha Yushin Seiki
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
Priority claimed from JP11288822A external-priority patent/JP2001038656A/ja
Application filed by Kabushiki Kaisha Yaskawa Denki, Kabushiki Kaisha Yushin Seiki filed Critical Kabushiki Kaisha Yaskawa Denki
Publication of WO2001026865A1 publication Critical patent/WO2001026865A1/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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Definitions

  • the present invention relates to a multi-joint type manipulator, and more particularly to a horizontal multi-joint type manipulator that linearly moves between two points to convey articles.
  • FIG. 4 is a plan view showing an example of a conventional horizontal articulated type manifold.
  • 1 is a fixed base
  • 2 is a first arm
  • the first arm 2 is driven to rotate in a horizontal plane by a first motor (not shown) built in the fixed base 1.
  • Reference numeral 3 denotes a second arm, which is rotatably supported at the tip of the first arm 2 in a horizontal plane, and has a tip flange 4 at its tip.
  • the tip flange 4 is a portion for attaching a mechanical hand or the like for gripping the article to be transported.
  • One end of a first auxiliary link 5 is rotatably supported at an end of the second arm 3 opposite to the end flange 4, and the other end of the first auxiliary link 5 is rotatable at one end of a second auxiliary link 6. It is supported by.
  • the other end of the second auxiliary link 6 is attached to the fixed base 1 coaxially with the first arm 2, and is driven to turn in a horizontal plane by a second motor (not shown) built in the fixed base 1. That is, the first arm 2, the second arm 3, the first auxiliary link 5, and the second auxiliary link 6 constitute a parallelogram link mechanism, and the second arm 3 is connected via the parallelogram link mechanism, It is driven by the second motor.
  • the conventional horizontal articulated manipulator has the following problems.
  • the first arm 2 and the second arm 3 are both components of the parallelogram link mechanism, and the posture in which the first arm 2 and the second arm 3 are arranged in a straight line (the operation stroke of the distal flange 4 is maximized). In such a case, there is a problem that such a posture cannot be taken because the parallelogram link mechanism comes to the dead center. Disclosure of the invention
  • an object of the present invention is to provide an articulated manipulator that drives a first and a second arm with the same motor and has a wide operating range without any restriction on the posture of the second arm.
  • a first aspect of the present invention relates to a fixed base, a first reduction gear fixed to the fixed base, and an output shaft coupled to an input portion of the first reduction gear.
  • a first arm coupled to an output portion of the first speed reducer and driven to rotate; a first auxiliary link rotatably supported at a tip of the first arm; A second reduction gear fixed to an auxiliary link; power transmission means for connecting an output shaft of the motor and an input of the second reduction gear; and a turn coupled to an output of the second reduction gear
  • a second arm driven and a second auxiliary link rotatably supported at one end at the tip of the first auxiliary link and rotatably supported at the other end by the fixed base.
  • a parallelogram link using the first auxiliary link, the second auxiliary link, and the fixed base It is those that make up the structure.
  • a third arm pivotally attached to a tip of the second arm, and a third auxiliary member rotatably supported at one end to the third arm and at the other end to the first auxiliary link.
  • a second parallelogram link mechanism including the second arm, the third arm, the third auxiliary arm, and the first auxiliary link.
  • FIG. 1 is a plan view of a horizontal articulated manipulator showing a first embodiment of the present invention, P
  • FIG. 2 is a side sectional view of the horizontal articulated manipulator in Fig. 1
  • Fig. 3 is a plan view of a horizontal articulated manipulator showing a second embodiment of the present invention
  • Fig. 4 is a conventional horizontal articulated manipulator. It is a top view which shows an example of an articulated type manipulator.
  • FIG. 1 is a plan view of a horizontal articulated manipulator according to a first embodiment of the present invention. The external features of the horizontal articulated manipulator will be described with reference to FIG.
  • reference numeral 1 denotes a fixed base
  • the first arm 2 is attached to the fixed base 1 so as to be driven to rotate in a horizontal plane
  • Reference numeral 7 denotes a first auxiliary link, which is rotatably attached to the tip of the first arm 2 in a horizontal plane
  • Reference numeral 8 denotes a second auxiliary link, one end of which is rotatably attached to the first auxiliary link 7 and the other end of which is rotatably attached to the fixed base 1.
  • the second arm 3 is attached so as to be driven to rotate with respect to the first auxiliary link 7.
  • the first arm 2, the first auxiliary link 7, the second auxiliary link 8, and the fixed base 1 form a parallelogram link mechanism.
  • the first auxiliary link 7 keeps a fixed posture with respect to the fixed base 1 even when turning.
  • FIG. 2 is a side sectional view for explaining the internal structure of the horizontal articulated type manipure shown in FIG.
  • the internal structure of the horizontal articulated manipulator will be described with reference to FIG.
  • reference numeral 9 denotes a first reduction gear.
  • the first reduction gear 9 is, for example, a known reduction gear such as a cycloid reduction gear or a harmonic reduction gear, and has a hollow hole through the input shaft at the center of rotation.
  • the upper part of the drawing is the output part of the first reduction gear 9, the lower part is the fixed part, and the input part is inside the hollow hole. .
  • the first reduction gear 9 has a fixed portion fixed to the fixed base 1 and attached thereto, and a motor 10 is fixed to the fixed portion.
  • Output shaft 11 of motor 10 is the first deceleration It projects through the hollow hole of the machine 9 and over the first speed reducer 9.
  • An input gear 12 is mounted in the middle of the output shaft 11 and meshes with a gear (not shown) of an input part of the first reduction gear 9 inside the hollow hole to reduce the power of the motor 10 by the first reduction gear.
  • Aircraft 9 is reported.
  • the first arm 2 is connected to the output section of the first reduction gear 9, and is driven to rotate by the motor 10 via the first reduction gear 9.
  • Reference numeral 13 denotes a driving pulley, which is attached to the output shaft 11 of the motor 10.
  • Reference numeral 14 denotes a driven pulley attached to the driven shaft 15.
  • the driven shaft 15 is mounted so as to be coaxial with the rotation axis of the first auxiliary link 7 with respect to the first arm 2, and freely rotates with respect to the first auxiliary link 7.
  • a timing belt 16 is wound around the driving pulley 13 and the driven pulley 14 to transmit the rotation of the driving pulley 13 to the driven pulley 14. Evening belt 16 passes through the inside of the first arm 2 and cannot be seen from the outside.
  • Reference numeral 17 denotes a second speed reducer, which has the same features as the first speed reducer 9.
  • the second reduction gear 17 has a fixed part fixed to the first auxiliary link 7 and has a second arm 3 coupled to the output part.
  • An input gear 18 attached to the tip of the driven shaft 15 meshes with a gear (not shown) of the input section of the second reduction gear 17.
  • the driving pulley 13, the timing belt 16, the driven pulley 14, the driven shaft 15, and the input gear 18 are connected to the output shaft 11 of the motor 10 and the input section of the second reduction gear 17. To form a power transmission mechanism.
  • the first auxiliary link 7 keeps a fixed posture with respect to the fixed base 1 irrespective of the turning of the first arm 2, so that the first reduction gear 9, the second reduction gear 17 and the If the reduction ratio of the power transmission mechanism is properly selected, the rotation of the motor 10 causes the front flange 4 to move on a straight line.
  • the reduction ratio is set so that the rotation speeds of the first arm 2 and the second arm 3 are equal, the front flange 4 will be linear. To move.
  • FIG. 3 is a plan view of a horizontal articulated manipulator showing a second embodiment of the present invention.
  • the features of this horizontal articulated manipulator will be described with reference to FIG.
  • the structure from the fixed base 1 to the second auxiliary link 8 and the internal drive mechanism are described above. Since it is completely the same as the first embodiment, the description is omitted.
  • Reference numeral 21 denotes a third arm, which is attached to the distal end flange 4 of the second arm 3 so as to be pivotable in a horizontal plane.
  • the third arm is a substantially L-shaped arm, and grips the workpiece W to be transferred between the long side and the short side of the L-shape.
  • a suction chuck 22 is provided on the long side of the L-shape as a gripping mechanism for that purpose.
  • the gripping mechanism is not limited to the suction chuck, but may be a mechanical hand or the like that holds the work W with claws.
  • Reference numeral 23 denotes a third auxiliary link, one end of which is rotatably supported on the third arm 21 and the other end of which is freely rotatable in a horizontal plane on the second auxiliary link 7.
  • the second parallelogram link mechanism is configured by the second arm 3, the third arm 21, the third auxiliary link 23, and the first auxiliary link 7.
  • the third arm 21 includes a parallelogram link mechanism including the first arm 2, the first auxiliary link 7, the second auxiliary link 8, and the fixed base 1, the second arm 3, the third arm 21 and the third arm 21. 3 Since it is connected to the second parallelogram link consisting of the auxiliary link 23 and the first auxiliary link 7, it is fixed to the fixed base 1 regardless of the movement of the first arm 2 and the second arm 3. Keep your posture. Therefore, the horizontal articulated manipulator according to the second embodiment can be moved on a straight line while keeping the posture of the work W constant.
  • the articulated manipulator of the present invention is not limited to a horizontal articulated manipulator, but can be applied to a vertical articulated manipulator.
  • the articulated manipulator of the present invention is not limited to handling applications, and it is needless to say that it can be applied to various applications such as painting, polishing, and inspection by replacing the suction chuck with another tool.
  • the first and second arms can be driven by a single motor and the tip of the manipulator can be moved on a straight line.
  • An articulated manipulator for transporting articles can be provided at low cost.
  • the second arm is independent of the parallelogram link mechanism, the second arm The rotation angle of the system can be selected independently of the dead point of the parallelogram linkage. Therefore, an articulated manipure with a wide operation range can be obtained.
  • the present invention is used as a manufacturing technology for a horizontal articulated manipulator that moves a product linearly between two points and conveys an object in order to put materials and products into and out of a semiconductor manufacturing device, a press machine, or a resin molding machine. can do.

Landscapes

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

Abstract

L'invention se rapporte à un manipulateur articulé conçu pour entraîner un premier et un second bras avec le même moteur, sans restriction du mouvement du second bras. Ce manipulateur comporte une base de fixation (1), un premier démultiplicateur de vitesse (9) fixé à la base de fixation, un moteur (10), un premier bras (2) couplé à la sortie du premier démultiplicateur de vitesse (9), un premier lien auxiliaire (7) monté rotatif sur l'extrémité de pointe du premier bras (2), un second démultiplicateur de vitesse (17) fixé audit lien (7), un organe de transmission d'énergie (16) conçu pour coupler l'arbre de sortie (11) du moteur (10) à l'entrée du second démultiplicateur de vitesse (17), un second bras (3) couplé à la sortie du second démultiplicateur de vitesse (17) et un second lien auxiliaire (8) monté rotatif en une de ses extrémités sur l'extrémité de pointe du premier lien auxiliaire (7) et monté rotatif en son autre extrémité sur la base de fixation (1), ledit premier bras (2), ledit premier lien auxiliaire (7), ledit second lien auxiliaire (8) et ladite base de fixation (1) constituant un mécanisme de liaison en parallélogramme.
PCT/JP2000/007015 1999-10-08 2000-10-06 Manipulateur articule horizontal WO2001026865A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP11/288822 1999-10-08
JP11288822A JP2001038656A (ja) 1999-05-27 1999-10-08 多関節型マニピュレータ

Publications (1)

Publication Number Publication Date
WO2001026865A1 true WO2001026865A1 (fr) 2001-04-19

Family

ID=17735197

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2000/007015 WO2001026865A1 (fr) 1999-10-08 2000-10-06 Manipulateur articule horizontal

Country Status (2)

Country Link
TW (1) TW486413B (fr)
WO (1) WO2001026865A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8393243B2 (en) 2005-10-18 2013-03-12 Seiko Epson Corporation Parallel link mechanism and industrial robot
EP2814403A4 (fr) * 2012-02-15 2015-10-21 Intuitive Surgical Operations Dispositif compact de manipulation d'aiguilles pour interventions ciblées
US9931167B2 (en) 2012-02-15 2018-04-03 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
CN109953866A (zh) * 2017-12-22 2019-07-02 中国科学院沈阳自动化研究所 一种可穿戴式腕部扭摆助力康复装置

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5016302B2 (ja) * 2006-12-01 2012-09-05 日本電産サンキョー株式会社 アーム駆動装置及び産業用ロボット
JP6629106B2 (ja) * 2016-03-04 2020-01-15 住友重機械工業株式会社 ロボットの関節駆動構造
CN107413718A (zh) * 2017-04-25 2017-12-01 上海丰禾精密机械有限公司 双机械手清洗机及其清洗方法
CN110744537A (zh) * 2019-10-17 2020-02-04 尔智机器人(珠海)有限公司 一种三关节机器人
CN114368255B (zh) * 2020-10-14 2024-03-19 中南大学 一种水陆空多栖机器人
TWI854304B (zh) * 2022-09-15 2024-09-01 迅得機械股份有限公司 機械手臂

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5183352A (ja) * 1974-12-18 1976-07-21 Shiroyama Kogyo Kk Manyupireetaa
JPS58143976A (ja) * 1982-02-19 1983-08-26 城山工業株式会社 工業用ロボツト
JPS58165978A (ja) * 1982-03-24 1983-10-01 三菱電機株式会社 工業用ロボツト
JPH07122620A (ja) * 1993-10-25 1995-05-12 Tokyo Electron Ltd 動力伝達機構
JPH07132485A (ja) * 1993-11-08 1995-05-23 Matsui Seisakusho:Kk ロボットアーム駆動機構

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5183352A (ja) * 1974-12-18 1976-07-21 Shiroyama Kogyo Kk Manyupireetaa
JPS58143976A (ja) * 1982-02-19 1983-08-26 城山工業株式会社 工業用ロボツト
JPS58165978A (ja) * 1982-03-24 1983-10-01 三菱電機株式会社 工業用ロボツト
JPH07122620A (ja) * 1993-10-25 1995-05-12 Tokyo Electron Ltd 動力伝達機構
JPH07132485A (ja) * 1993-11-08 1995-05-23 Matsui Seisakusho:Kk ロボットアーム駆動機構

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8393243B2 (en) 2005-10-18 2013-03-12 Seiko Epson Corporation Parallel link mechanism and industrial robot
EP2814403A4 (fr) * 2012-02-15 2015-10-21 Intuitive Surgical Operations Dispositif compact de manipulation d'aiguilles pour interventions ciblées
US9931167B2 (en) 2012-02-15 2018-04-03 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
US10188470B2 (en) 2012-02-15 2019-01-29 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
US10772691B2 (en) 2012-02-15 2020-09-15 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
US11950864B2 (en) 2012-02-15 2024-04-09 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
CN109953866A (zh) * 2017-12-22 2019-07-02 中国科学院沈阳自动化研究所 一种可穿戴式腕部扭摆助力康复装置
CN109953866B (zh) * 2017-12-22 2023-06-27 中国科学院沈阳自动化研究所 一种可穿戴式腕部扭摆助力康复装置

Also Published As

Publication number Publication date
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