Method of changing size of range of motion of wrist portion of robot and method of manufacturing robot

Abstract

According to the method of changing the size of the range of motion of the wrist portion of the robot (1) of the present invention, the number of parts is reduced and assembly work is easy, thereby changing the range of motion at low cost. In the method of changing the size of the range of motion of the wrist portion of the robot (1) of the present invention, the robot (1) is provided with: a first shaft unit that relatively drives a second member (8) with respect to a first member (4) using a first motor (7); a second shaft unit that relatively drives a fourth member (16) with respect to a third member (9) using a second motor (10); and a fixing member (11) that is detachably provided between the second member (8) and the third member (9) and fixes the second member (8) and the third member (9) as one, the method prepares a plurality of fixing members (11) that differ in length, and fixes the second member (8) and the third member (9) using one fixing member (11) selected from among the prepared fixing members (11).

Description

[0001] This application is a divisional application of a Chinese invention patent filed on September 25, 2018, with a priority date of September 29, 2017, application number “201811115670.2”, and entitled “Robot”. Technical Field

[0002] This invention relates to robots. Background Technology

[0003] Currently, there are robots that have forearms that can be replaced with parts of different lengths, and whose range of motion can be changed when the robot's working position is concentrated at a close distance or a long distance relative to the robot's setting position (for example, see Patent Document 1).

[0004] The robot in Patent Document 1 is configured such that multiple concentric hollow tubes have gears at both ends that can be detachably separated. Each of the multiple concentric hollow tubes has a gear at both ends that transmits driving force from a motor, and the length of the forearm can be changed by replacing the hollow tubes with hollow tubes of different lengths.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 61-30396 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] However, for the robot in Patent Document 1, in order to change the length of the forearm, multiple hollow tubes of different lengths must be prepared as the three axle components. These hollow tubes transmit power between the wrist portion located at the front end of the forearm and the gear portion located at the base end of the forearm. In addition, when replacing the hollow tubes of the three axle components, a high-precision assembly and disassembly structure is required to prevent center misalignment and to assemble with the gear portions at both ends with high precision. Furthermore, the assembly operation is time-consuming, thus increasing costs.

[0010] The present invention was made in view of the above-mentioned problems, and its object is to provide a robot that reduces the number of parts and is easy to assemble without disassembling or replacing the components of the drive mechanism, thereby enabling easy changes to the range of motion and arm shape at low cost.

[0011] Solution to the problem

[0012] To solve the above-mentioned technical problems, the present invention provides the following solution.

[0013] One aspect of the present invention provides a robot comprising: a first axis unit that drives a second component relative to a first component using a first motor; a second axis unit that drives a fourth component relative to a third component using a second motor; and a fixing member that is detachably disposed between the second component and the third component and fixes the second component and the third component together.

[0014] According to this method, a robot is constructed as follows: a third component of the second axis unit is mounted on the second component of the first axis unit via a fixing component. The second and third components are then driven relative to the first component by the operation of a first motor, and a fourth component is driven relative to the second and third components by the operation of a second motor. In this case, since the fixing component is detachably disposed between the second and third components, the robot's range of motion can be easily changed by replacing it with a fixing component of a different length.

[0015] That is, it can be used directly without disassembling the second shaft unit that drives the fourth component relative to the third component using the second motor, and the range of motion can be changed by shifting the position relative to the first shaft unit only by fixing the component. This reduces the number of parts and makes assembly easy, thereby enabling the range of motion to be changed at low cost.

[0016] In addition, in the above-described manner, at least one relay component may be provided between the second component and the fixed component, and between the third component and the fixed component, to relay between the two components.

[0017] This makes it easier to disassemble the fixed components in the relay components.

[0018] Alternatively, in the above embodiments, the first shaft unit may drive the second component to rotate relative to the first component, and the second shaft unit may drive the fourth component to rotate relative to the third component.

[0019] Therefore, it is relatively easy to provide a dual-axis drive unit.

[0020] In addition, in the above-described manner, at least one of the first axis unit and the second axis unit can also perform linear drive.

[0021] This enables a part of the robot to perform linear movements.

[0022] Furthermore, in the above-described manner, the rotation axis of the fourth component relative to the third component can also extend in a plane that is substantially orthogonal to the rotation axis of the second component relative to the first component.

[0023] Therefore, it can be applied to robots where two adjacent axes are approximately orthogonal.

[0024] In addition, in the above embodiments, the fixing component may also be configured to be fixed in a position different from at least one of the second component and the third component.

[0025] Therefore, the fixing components for fixing the second and third components can be generalized, thereby enabling further reduction in the number of parts and lower costs.

[0026] In addition, in the above-described manner, the fixing component may also be integrally disposed in one of the second component or the third component, and disposed in a manner that allows it to be fixed in a different position from another of the second component or the third component.

[0027] Thus, one of the second or third components is integrated with the fixed component, thereby enabling further reduction of the number of parts and lower costs.

[0028] In addition, in the above method, the fixing component can also be configured to fix both components only on both sides separated by the second component and the third component.

[0029] Therefore, the third component can be fixed with a double-support structure relative to the second component, thus achieving an increase in rigidity.

[0030] Alternatively, in the above-described manner, the fixing component can also be composed of a flat plate component.

[0031] Therefore, it is possible to manufacture fixed components made of flat plate parts simply and at low cost, and to connect the first axis unit and the second axis unit in various ways by flipping their inside and outside.

[0032] In addition, in the above-described manner, at least a portion of the fixing component may also be composed of an assembly of multiple beam components and at least one reinforcing component, wherein the multiple beam components reinforce the space between the second component and the third component, and the assembly of at least one reinforcing component reinforces each of the beam components.

[0033] This allows for the creation of lightweight yet strong fixed components.

[0034] In addition, in the above-described manner, the beam component or the assembly of the reinforcing components can also be connected by bolts.

[0035] Therefore, depending on the intended use of the robot, it is possible to replace it with fixed components of different offsets by simply replacing some beam components or replacing the reinforcing components.

[0036] In addition, in the above-described manner, the second axis unit may further include: a third motor that drives the fifth component to rotate relative to the fourth component; and a fourth motor that drives the sixth component to rotate relative to the fifth component, wherein the fourth component, the fifth component, and the sixth component constitute the wrist.

[0037] Therefore, without disassembling the fourth, fifth, and sixth components of the wrist and the second shaft unit including the second, third, and fourth motors used to drive them, the range of motion can be changed simply by displacement. This allows for further reduction in the number of parts or reduction in the time required for assembly operations, thereby achieving cost reduction.

[0038] Invention Effects

[0039] According to the present invention, the number of parts is reduced and assembly is easy, and the range of motion can be changed at low cost. Attached Figure Description

[0040] Figure 1 This is a schematic side view illustrating the overall structure of a robot (short arm) according to an embodiment of the present invention.

[0041] Figure 2 It is shown Figure 1 A schematic side view of the overall structure of the robot (long arm).

[0042] Figure 3 It shows that Figure 1 A schematic side view of the robot's first axis unit, which is shifted vertically in opposite directions.

[0043] Figure 4 yes Figure 1 A partial side view of the robot.

[0044] Figure 5 Viewed from below at an angle Figure 1 A 3D view of the robot's second axis unit.

[0045] Figure 6 This shows the installation of Figure 5 An exploded 3D view showing the state of the fixed component when the bolts are removed.

[0046] Figure 7 Viewed from below at an angle Figure 2 A 3D view of the robot's second axis unit.

[0047] Figure 8 yes Figure 2 A partial side view of the robot.

[0048] Figure 9 Viewed from an oblique angle Figure 1 A partial 3D view of the robot.

[0049] Figure 10 This shows the second axis unit being targeted. Figure 9 A partial 3D view of the robot being flipped and installed (or viewed from an oblique top). Figure 3 (Partial 3D view of the robot's second axis unit).

[0050] Figure 11 It is shown Figure 2 A partial side view of a variant of the robot.

[0051] Figure 12 It is shown Figure 1 A partial side view of a variant of the robot.

[0052] Figure 13 This is an explanation Figure 1 A partial 3D view of the robot's effect.

[0053] Figure 14 This is an explanation Figure 13 A partial side view of the robot's effect.

[0054] Figure 15 It is shown Figure 1 Partial 3D views of other variations of the robot.

[0055] Figure 16 It is shown Figure 1 Partial side view of other variations of the robot.

[0056] Figure 17 yes Figure 16 A partial 3D view of the robot from one direction.

[0057] Figure 18 yes Figure 16 A partial 3D view of the robot from another direction.

[0058] Figure 19 It is shown Figure 1 A schematic side view of the overall structure of other variations of the robot.

[0059] Explanation of reference numerals in the attached figures:

[0060] 1 robot

[0061] 4. First arm (first component)

[0062] 6. Wrist (wrist area)

[0063] 8. First bracket (second component)

[0064] 9. Second bracket (third component)

[0065] 7, 10 motors (first motor, second motor)

[0066] 11, 15 Fixed components

[0067] 16-base shaft (fourth component)

[0068] 19 Beam Components

[0069] 20 Reinforced Components

[0070] 21 Relay Components

[0071] C is the third axis (axis of rotation).

[0072] D. Fourth axis (rotation axis) Detailed Implementation

[0073] Hereinafter, a robot 1 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0074] like Figure 1 As shown, the robot 1 of this embodiment is a six-axis multi-joint robot, which includes: a base 2, which is disposed on the ground; a rotary body 3, which rotates relative to the base 2 about a vertical first axis A; a first arm (first component) 4, which rotates relative to the rotary body 3 about a horizontal second axis B; a second arm 5, which rotates at the front end of the first arm 4 about a third axis C, the third axis C being parallel to the second axis B; and a three-axis wrist (wrist part) 6, which is disposed at the front end of the second arm 5.

[0075] Furthermore, the second arm 5 includes: a motor (first motor) 7, which is mounted at the front end of the first arm 4; a first bracket (second component) 8, which rotates relative to the first arm 4 about a third axis C using the motor 7; a second bracket (third component) 9; a motor (second motor) 10, which rotates the wrist 6 about a fourth axis D relative to the second bracket 9, the fourth axis D extending in a plane orthogonal to the third axis C; and a fixing component 11, which detachably connects the first bracket 8 and the second bracket 9.

[0076] Furthermore, in this embodiment, the first axis unit comprises a first arm 4, a first bracket 8, and a motor 7. The first bracket 8 is mounted in a manner that allows it to swing relative to the first arm 4 about a third axis C, and the motor 7 drives the first bracket 8 to rotate about the third axis C. The second axis unit comprises a second bracket 9, a wrist 6, and a motor 10. The wrist 6 is mounted in a manner that allows it to rotate relative to the second bracket 9 about a fourth axis D, and the motor 10 drives the wrist 6 to rotate about the fourth axis D. The first axis unit includes a power transmission mechanism (reduction mechanism) for transmitting power from the first motor 7 to the first bracket 8, and the second axis unit includes a power transmission mechanism (reduction mechanism) for transmitting power from the second motor 10 to the second arm 5. Figure 1 In the example, a power transmission mechanism is configured between the first arm 4 and the first bracket 8, and the first motor 7 and the first bracket 8 rotate integrally around the third axis C.

[0077] The wrist 6 is composed of a base shaft (fourth component) 16, an intermediate shaft (fifth component) 17, and a front shaft (sixth component) 18. The base shaft (fourth component) 16 can be rotated about a fourth axis D by a motor 10. The intermediate shaft (fifth component) 17 can be rotated relative to the base shaft 16 about an axis extending in a plane orthogonal to the fourth axis D. The front shaft (sixth component) 18 can be rotated relative to the intermediate shaft 17 about an axis arranged in the same plane as the fourth axis D.

[0078] Two motors (a third motor and a fourth motor, not shown in the figure) and a power transmission mechanism (not shown in the figure) are arranged inside the second arm 5. The two motors drive the front two shafts 17 and 18 of the three shafts 16, 17 and 18 that constitute the wrist 6 to rotate.

[0079] In this embodiment, the fixing member 11 is a flat plate member, arranged across the first bracket 8 and the second bracket 9, and is detachably fixed to the first bracket 8 and the second bracket 9 by bolts 12 (see reference). Figure 6 ).

[0080] In addition, as a fixing component 11, it can be utilized Figure 1 The short-sized component shown and Figure 2 The long component shown.

[0081] Compared to the short-sized fixing member 11, the long-sized fixing member 11 is configured such that the distance between the mounting position for the first bracket 8 and the mounting position for the second bracket 9 is longer.

[0082] More specifically, such as Figures 4 to 8As shown, the fixing component 11 is an L-shaped flat plate component, and is fastened to two sides of the first bracket 8 and the second bracket 9 in the horizontal direction by bolts 12. The first bracket 8 and the second bracket 9 have the same width in the horizontal direction, thereby allowing the first bracket 8 and the second bracket 9 to be detachably fixed.

[0083] The function of the robot 1 configured in this embodiment will be explained below.

[0084] like Figure 4 and Figure 5 As shown, according to this embodiment of the robot 1, when the first bracket 8 of the first axis unit and the second bracket 9 of the second axis unit are clamped on two sides in the horizontal direction by a pair of short-sized fixing members 11 and fixed with bolts 12, the first bracket 8 and the second bracket 9 are formed as one unit by the fixing members 11. Therefore, by the operation of the motor 7, the second axis unit as a whole can swing relative to the first arm 4 around the third axis C.

[0085] like Figure 6 As shown, in this state, loosen bolt 12 and remove fixing component 11, as follows: Figure 7 and Figure 8 As shown, the fixed component 11 is replaced with a longer one and secured again with bolts 12, thereby allowing the entire second axis unit to be moved toward the front end of the wrist 6.

[0086] Therefore, the range of motion of the wrist 6 can be changed in such a way that it extends to the maximum reach position at the front end of the wrist 6.

[0087] In this case, the robot 1 according to this embodiment can be moved forward as a whole without disassembling the second axis unit to change the range of motion of the robot 1. That is, the second axis unit is equipped with a movable cable for supplying power to the motor for driving the wrist 6, or, as in the prior art, a power transmission mechanism for transmitting power from the motor to the wrist 6. Therefore, if these are disassembled and replaced with parts of different sizes and then reassembled, assembly and adjustment operations are required.

[0088] As in this embodiment, if the range of motion can be changed without disassembling the second axis unit, it has the following advantages: before and after changing the range of motion, all components constituting the second axis unit can be generalized, thereby reducing the number of parts and the time required for adjustment and assembly operations, thus significantly reducing costs. Furthermore, since the fixing component 11 is composed of a flat plate component, it is easy to process and can be manufactured at low cost. In addition, when a motor is arranged in the wrist 6, considering the displacement of the second axis unit, the motor drive cable (not shown) in the first arm 4 and the second axis unit can have extra length between the motor 10 and the second arm 5, thereby also enabling cable generalization.

[0089] Furthermore, in this embodiment, if the up-down direction in the figure is set to the vertical direction, the first bracket 8 and the second bracket 9 are fixed by a pair of fixing members 11 arranged in the horizontal direction at positions separated by the first bracket 8 and the second bracket 9. Therefore, it has the advantages of being able to support the second shaft unit in a double-support state and improving rigidity.

[0090] In addition, such as Figure 7 and Figure 8 As shown, by moving the second axis unit forward to form a space between the two fixed parts 11, the space can be used to configure, for example, a welding wire supply device 13 for welding wire, and thus it can be used as an arc welding robot.

[0091] In addition, in this embodiment, such as Figure 13 As shown, fixing members 11, composed of L-shaped flat plate components, are arranged on two sides in the horizontal direction of the first bracket 8 and the second bracket 9, thus... Figure 14 In the area enclosed by the dashed line, it is not necessary to make the fixed part 11 protrude from the lower part of the base end of the second shaft unit, thus also having the advantage of reducing interference with surrounding machines.

[0092] Furthermore, in this embodiment, both short and long types of fixing members 11 are used. However, instead of these, three or more types of fixing members 11 can be used to change the range of motion in a stepwise manner.

[0093] Furthermore, because the fixing component 11 is made of a flat plate, it can also be used with the inside and outside flipped. For example, as... Figure 1 and Figure 9 As shown, the second shaft unit will be positioned above the motor 7 used to swing the second arm 5, such as... Figure 3 and Figure 10The upper limit is flipped as shown, thereby fixing the first bracket 8 and the second bracket 9 by the left-right flipped fixing member 11, so as to form a robot 1 with an axis structure that offsets the fourth axis vertically in opposite directions.

[0094] In addition, instead of using two types of fixed parts 11 to change the range of motion, such as... Figure 11 and Figure 12 As shown, a type of fixing member 15 with multiple through holes 14 can also be used to change the fixing position of the second bracket 9 in the front-rear direction.

[0095] In addition, instead of changing the fixing position of the second bracket 9, or at the same time, it is also possible to change the fixing position of the first bracket 8.

[0096] In addition, such as Figure 11 and Figure 12 As shown, when a type of fixing component 15 has multiple fixing positions, the fixing component 15 can also be integrated with the first bracket 8 or the second bracket 9.

[0097] Therefore, it has the advantage of further reducing the number of parts and thus achieving cost reduction.

[0098] In addition, in this embodiment, the fixing member 11 is fixed across the two sides of the first bracket 8 and the second bracket 9 in the horizontal direction, thereby supporting the second shaft unit in a double-support state, instead of the previous case, as shown below. Figure 15 As shown, it can also be configured on any side and supported in a single-support state.

[0099] In addition, this embodiment illustrates a structure in which the second shaft unit can be moved in the front-back direction at the position where the second arm 5 is mounted on the first arm 4, but it is not limited to this and can also be applied to the following situations: the second shaft that causes the first arm 4 to swing relative to the rotating body 3 is moved in the front-back direction, or the second shaft unit is moved in the long dimension direction of the first arm 4.

[0100] In this embodiment, a component formed of a flat plate is used as the fixing member 11. Alternatively, a fixing member 11 with reinforcing ribs can be used to improve the strength of the fixing member 11. Furthermore, three or more fixing members 11 can be used for fixing.

[0101] In addition, in this embodiment, robot 1 is exemplified as a robot in which the fourth axis D extends in a plane orthogonal to the third axis C and the third axis C and the fourth axis D are arranged perpendicularly. However, instead of this, a robot can also be used in which the plane orthogonal to the third axis C and the plane orthogonal to the fourth axis D are parallel, and the third axis C and the fourth axis D are arranged in parallel.

[0102] In addition, in this embodiment, such as Figures 16 to 18 As shown, at least one part of the fixing component 11 can be composed of an assembly of multiple beam components 19 and multiple reinforcing components 20. The multiple beam components 19 are connected between the first bracket 8 and the second bracket 9, and the assembly of multiple reinforcing components 20 reinforces the multiple beam components 19. Furthermore, the beam components 19 and the reinforcing components 20 can also be configured to have multiple holes and screw holes, and to allow for changes in the mounting position. Preferably, in this case, the assembly of beam components 19 and reinforcing components 20 is bolted together. This allows the fixing component 11 to be lightweight and its strength increased, and, depending on the application of the robot 1, can be changed to a fixing component 11 with different offsets by replacing only some of the beam components 19 and reinforcing components 20.

[0103] In addition, such as Figures 16 to 18 As shown, a relay component 21 may be provided between the first bracket 8 and the beam component 19, and between the beam component 19 and the second bracket 9, to relay between the two components. This prevents a decrease in the sealing performance of the drive unit due to disassembly of the fixing component 11 in the output shaft or the like, making disassembly operations easier to perform.

[0104] In addition, in this embodiment, a six-axis multi-joint robot is exemplified as the axis structure of robot 1, but it is not limited to this.

[0105] For example, it can also be applied to, in Figure 1 A seven-axis multi-joint robot, etc., in which a rotation axis is added to the first arm 4 along the direction of twisting the first arm 4. It can also be configured such that the first arm 4 is formed in a way that it is split in the middle, and each split part of the first arm 4 is used as a fixed part of the newly added one-axis unit.

[0106] Therefore, in addition to adjusting the length of the first arm 4, the number of axes can also be changed to six or seven axes, etc. These are not limited to vertical multi-joint robots, but can also be applied to horizontal multi-joint articulated robots or parallel linkage robots.

[0107] Furthermore, the first axis unit and the second axis unit are not only rotary axes, but can also be linear axes. For example, if we take a robot mounted on a walking axis as an example, the mounting base of robot 1 is set as a robot base offset from the slider unit mounting surface of the walking axis, thereby expanding the range of motion of robot 1. In this case, the robot base is configured as a fixed part 11, thereby allowing adjustment of the offset amount and the range of motion of robot 1.

[0108] Furthermore, in this embodiment, the first and second axis units are exemplified by the first bracket 8 rotating relative to the first arm 4 about the third axis C and the base end shaft 16 rotating relative to the second bracket 9 about the fourth axis D. However, this is not a limitation; the first bracket 8 may also be driven relative to the first arm 4, and the base end shaft 16 may be driven relative to the second bracket 9. For example, the first bracket 8 may be driven linearly relative to the first arm 4 in the direction of the third axis C, and the base end shaft 16 may be driven linearly relative to the second bracket 9 in the direction of the fourth axis D. Additionally, as... Figure 19 As shown, the first axis unit performs rotational drive and the second axis unit performs linear drive, but it is also possible that the first axis unit performs linear drive and the second axis unit performs rotational drive.

Claims

1. A method for changing the range of motion of a robot's wrist, characterized in that, The robot has the following features: The first axis unit uses a first motor to drive the second component relative to the first component. The second shaft unit uses a second motor to drive the fourth component relative to the third component. as well as A fixing component is detachably disposed between the second component and the third component, and secures the second component and the third component together. The second component is the first bracket, and the third component is the second bracket. The fixing component is configured to fix both components only on both sides separated by the second and third components. The method prepares multiple sets of fixing components of different lengths, and uses a set of fixing components selected from the prepared fixing components to fix the second component and the third component.

2. A method for manufacturing a robot, characterized in that, The robot has the following features: The first axis unit uses a first motor to drive the second component relative to the first component. The second shaft unit uses a second motor to drive the fourth component relative to the third component. as well as A fixing component is detachably disposed between the second component and the third component, and secures the second component and the third component together. The second component is the first bracket, and the third component is the second bracket. The fixing component is configured to fix both components only on both sides separated by the second and third components. The method prepares multiple sets of fixed components of different lengths, and uses a set of fixed components selected from the prepared fixed components to fix the second component and the third component, thereby creating a robot with different range of motion of the wrist.

3. A method for manufacturing a robot, characterized in that, The robot has the following features: The first axis unit uses a first motor to drive the second component relative to the first component. The second shaft unit uses a second motor to drive the fourth component relative to the third component. as well as A fixing component is detachably disposed between the second component and the third component, and secures the second component and the third component together. The fixing component is configured to secure both the second and third components on one side other than their facing surfaces. The method prepares multiple fixed components of different lengths, and uses one of the fixed components selected from the prepared fixed components to fix the second component and the third component, thereby creating a robot with different ranges of motion of the wrist.

4. The method according to claim 2 or 3, characterized in that, The first shaft unit drives the second component to rotate relative to the first component. The second axis unit drives the fourth component to rotate relative to the third component.

5. The method according to claim 2 or 3, characterized in that, At least one of the first axis unit and the second axis unit performs linear drive.

6. The method according to claim 4, characterized in that, The rotation axis of the fourth component relative to the third component extends in a plane that is substantially orthogonal to the rotation axis of the second component relative to the first component.

7. The method according to claim 2 or 3, characterized in that, The fixing component is composed of a flat plate component.

8. The method according to claim 2 or 3, characterized in that, At least a portion of the fixing component is composed of an assembly of multiple beam components and at least one reinforcing component, wherein the multiple beam components reinforce the space between the second component and the third component, and the assembly of at least one reinforcing component reinforces each of the beam components.

9. The method according to claim 8, characterized in that, The beam components or the assembly of the reinforcing components are connected by bolts.

10. The method according to claim 2 or 3, characterized in that, The second shaft unit includes: a third motor that drives the fifth component to rotate relative to the fourth component; and a fourth motor that drives the sixth component to rotate relative to the fifth component. The wrist is formed by the fourth component, the fifth component, and the sixth component.

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