Robot arm mechanism
A technology for manipulators and joints, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high cost and increased arm weight
Active Publication Date: 2019-05-24
FANUC LTD
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Problems solved by technology
[0003] In order to improve safety, it is necessary to densely arrange many sensors and expand the sensing range to cover more, but in this case, not only the cost is high, but also the weight of the arm and the like will inevitably increase, which is not realistic
In addition, since the arm part, which is endowed with stretchability by the direct-acting telescopic mechanism, is housed in the pillar part as it contracts, it is difficult to equip a contact sensor or a proximity sensor in the approximate middle of the arm part, and it is inevitable that there will be an area where it cannot be sensed.
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Embodiment Construction
[0020] The robot arm mechanism of this embodiment will be described below with reference to the drawings. There are many types of robotic arm mechanisms. figure 1 (a) is an example of a vertical multi-joint manipulator mechanism, figure 1 (b) exemplifies a horizontal articulated robot arm mechanism (SCARA robot arm mechanism) that has two parallel rotating joints and operates in a selected plane, figure 1 (c) The example is an orthogonal three-axis mechanical arm mechanism with three linear motion joints at the arm, and the axes of these joints conform to the Cartesian coordinate system, figure 1 (d) Illustrated is a polar coordinate type robot arm mechanism having two rotary indirect parts and one direct motion indirect part at the arm, and the axes of these indirect parts constitute a polar coordinate system. There is also a parallel mechanical arm mechanism with a link that forms a closed-loop structure at the arm, with at least one rotary joint and one linear joint at th...
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The purpose of the present invention is to simplify the configuration and expand the range of sensitivity of a robot arm mechanism, thereby achieving improved safety. A robot arm mechanism according to the present embodiment has a plurality of link parts 61. The plurality of link parts 61 are connected by means of a plurality of joint parts 63. The link parts 61 are each provided with a pluralityof photoelectric sensors. The photoelectric sensors each comprise a light projection part 41 and a light-receiving part 42. The light projection part 41 is installed on one end of each of the link parts 61. The light receiving part 42 is installed on the other end of each of the link parts 61. A light path from the light projection part 41 to the light-receiving part 42 is positioned outside eachof the link parts 61. The approach of an operator to the link parts 61 can be detected by the blocking of the light path of one of the photoelectric sensors.
Description
technical field [0001] Embodiments of the invention relate to robotic arm mechanisms. Background technique [0002] Multi-joint arm mechanisms have been used in various fields such as industrial robots. Although the polar coordinate type robot is safe because it is not equipped with an elbow joint, it is only suitable for certain fields due to its narrow range of motion. The inventors have completed a practical direct-acting telescopic mechanism whose telescopic length is longer than that of conventional direct-acting mechanisms and has achieved a wide range of motion. As a result, it can be applied to various fields, and an environment where robots and workers collaborate can become a reality. In the collaborative environment where the robot and the operator are close, higher safety requirements are put forward for the robot. Therefore, many robots are equipped with contact sensors or proximity sensors on their arms or wrists. [0003] In order to improve safety, it is ...
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IPC IPC(8): B25J19/06
CPCB25J19/06B25J19/021G01V8/20G01V8/22B25J9/1694B25J9/1674B25J19/02B25J13/089
Inventor 尹祐根
Owner FANUC LTD