Patent Application
20080028883
This application is based upon and claims the benefit of priority from the prior Japanese Patent Application Nos. 2004-211921 and 2004-211923, the entire contents of which are incorporated herein by reference.
The present invention relates to an arm structure for an articulated robot and, more particularly, to an arm structure for a carrying robot capable of carrying a load along a predetermined carrying route.
A carrying robot is installed in a production plant for producing automobiles and such to carry a vehicle body, namely, a load. The body carried to a predetermined position is processed by a processing robot. A plurality of known carrying robots are arranged on a carrying route. The carrying robot on the upstream side in the upstream direction X2 with respect to a carrying direction carries a body and transfers the same to the carrying robot on the downstream side in the downstream carrying direction X1. Thus the body is transferred from one to another of the successively arranged carrying robots to carry the body along the carrying route (refer to, for example, JP 2003-231075 A).
The known carrying robot 20 has the two parallel linkages 6 and 11. The first parallel linkage 6 has a first lower link 2, a first upper link 3, a first arm 4 and a first auxiliary link 5. The first arm 4 and the first auxiliary link 5 link together the first lower link 2 and the first upper link 3.
The second linkage 11 has a second lower link 7, a second upper link 8 fixed to the first upper link 3, a second arm 9 and a second auxiliary link 10. The second arm 9 and the second auxiliary link 10 link together the second lower link 7 and the second upper link 8. A third arm 17 is joined to the second lower link 7 so as to turn for angular displacement on the third arm 17. A holding device for holding the load 21 is attached to the free end of the third arm 17.
The carrying robot 20 includes a first driving unit for turning the first arm 4 relative to the first lower link 2, a second driving unit for turning the second arm 9 relative to the second upper link 8, and a third driving unit for turning the third arm 17 relative to the second lower link 7.
The carrying robot 20 drives the joints of a quadric crank mechanism to carry the load 21. Therefore, the carrying robot 20 has a large carrying capacity for carrying the load 21 of a large mass. However, the quadric crank mechanism is a complicated mechanism and the carrying robot 20 including the quadric crank mechanism is inevitably large.
The carrying robot 20A does not has any mechanism corresponding to the second linkage 11 of the carrying robot 20. Therefore, second arm 9 and the third arm 17 can be extended straight. Thus the carrying robot 20A can carry the load 21 further downstream with respect to the carrying direction than the carrying robot 20.
Accordingly, it is an object of the present invention to provide a carrying arm structure for a carrying robot capable of carrying a load in a wide range even in a state where movements of the arm are limited.
Another object of the present invention is to provide a small robot having a large carrying capacity.
To achieve the object, a robot arm structure in a first aspect of the present invention includes: a bed installed on a predetermined reference plane; a lower link disposed on the bed; an upper link disposed above the lower link; a first arm joining the lower link and the upper link so as to be capable of being displaced relative to the upper link and the lower link; an auxiliary link joining the lower link and the upper link so as to be capable of being displaced relative to the upper link and the lower link; a second arm having a first end and a second end, the first end being joined to the upper link, the second arm being capable of being displaced relative to the upper link; a third arm having a first end and a second end, the second end of the third arm being joined to the second end of the second arm, the third arm being capable of being displaced relative to the second arm; and a fourth arm having a first end and a second end, the first end of the fourth arm being joined to the second end of the third arm, the fourth arm being capable of being displaced relative to the third arm, the fourth arm being equipped with holding means for holding a load to be carried;
wherein the lower link, the upper link, the first arm, and the auxiliary link form a quadric crank mechanism, and the first end of the fourth arm is below the first end of the third arm when the first to fourth arms are respectively vertically extended so as to set the robot arm in a reference position.
Preferably, in the state that the robot arm is set in the reference position, the first to the fourth arms are distanced vertically from the reference plane respectively by distances not shorter than a limit height Hc at which the robot arm is at the nearest possible distance from the reference plane.
Preferably, the second arm has a length Y2 not greater than a value equal to (H−Hc), where H is the vertical distance of the first end of the second arm from the reference plane when the robot arm is set in a specific position in which the first arm is inclined at a predetermined angle to the lower link, and Hc is the limit height Hc.
Preferably, the length Y2 of the second arm is not shorter than a value equal to (Hc+Y3−H), where Hc is the limit height, Y3 is the length of the third arm and H is the vertical distance of the first end of the second arm from the reference plane when the robot arm is set in the specific position.
Preferably, the robot arm structure further includes an arm position maintaining means for exerting a force necessary for maintaining a position of the second arm to the second arm.
A robot in a second aspect of the present invention to achieve the object includes: a base; an arm having a first end and a second end, the first end being joined to the base, the arm being capable of being displaced relative to the base; arm driving means for driving the arm to displace the arm relative to the base; and arm position maintaining means for exerting a part of a force necessary for maintaining the arm in a position to the arm by coming into contact with the arm in a state where the second end of the arm is distanced from the base in a predetermined direction.
According to the present invention, the arm can be moved along a predetermined route by displacing the arm by the arm driving means. The second end of the arm distanced in a predetermined direction from the base is in contact with the arm position maintaining means. Exertion of force on the arm by the arm position maintaining means reduces driving force necessary for maintaining the arm in a position by the driving means. The rigidity of the arm may be low and the construction of the arm does not need to be as complicated as that of the known arm.
The arm driving means exerts driving force continuously on the arm even in a state where the arm position maintaining means exerts force on the arm. Thus a control method of controlling the arm driving means does not need to be changed before and after the contact of the arm with the arm position maintaining means.
Preferably, the arm position maintaining means comes into contact with the arm with the second end of the arm distanced horizontally from the base to apply a part of force necessary for counterbalancing gravitational force acting on the arm.
According to the present invention, when the arm position maintaining means applies force to the arm, the arm driving means capable of exerting of a low driving force can maintain the arm in a position.
Preferably, the arm position maintaining means includes a contact member with which the arm comes into contact, a holding member for holding the contact member so as to be displaced in predetermined opposite first and second displacing directions, and a reactive force producing member for exerting a reactive force proportional to a displacement with which the contact member is displaced in the displacing direction by the arm.
According to the present invention, the contact member is displaced in the first displacing direction by force exerted thereon by the arm when the arm comes into contact with the contact member. The contact member exerts a reactive force corresponding to a displacement from a natural state thereof in the first displacing direction, i.e., a reactive force acting in the second displacing direction, on the arm. The force exerted by the contact member on the arm increases with the increase of the displacement of the contact member in the displacing direction. The driving force of the arm driving means and the reactive force exerted by the contact member act on the arm in the second displacing direction, while the gravitational force acts in the first displacing direction. Thus the forces balance out each other to maintain the arm in the position.
The contact member is movable in the displacing directions and the force acting on the arm changes with the change of the displacement in the displacing directions. Accordingly, the forces acting on the arm can balance out each other even if the weight of the load changes and hence the flexibility of the robot can be improved. Since the contact member can be displaced in the displacing directions, an allowable range in which the arm can come into contact with the contact member is wide and hence a position where the arm comes into contact with the contact member does not need to be accurately taught to the robot.
Preferably, the robot includes: a bed; a lower link disposed on the bed; an upper link disposed above the lower link, the upper link forming the base to which the first end of the arm is joined; a first arm joining the lower link and the upper link so as to be capable of being displaced relative to the upper link and the lower link; an auxiliary link joining the lower link and the upper link so as to be capable of being displaced relative to the upper link and the lower link; a second arm having a first end and a second end so as to form the arm, the first end of the second arm being joined to the upper link, the second arm being capable of being displaced relative to the upper link; first arm driving means for driving the first arm to displace the first arm relative to the lower link; and second arm driving means for driving the second arm to displace the second arm relative to the upper link; wherein the arm position maintaining means comes in contact with the second arm in a state where the second end of the second arm is distanced horizontally from the upper link.
According to the present invention, the upper link, the lower link, the first arm and the auxiliary link form a quadric crank mechanism, namely, a hybrid linkage. Thus the first arm driving means may have a low driving force as compared with that of a robot not employing a quadric crank mechanism and employing a direct-acting mechanism, namely, a robot employing a serial linkage. When the second end of the second arm is distanced horizontally from the upper link by displacing the second arm relative to the upper link, the arm position maintaining means exerts force to extend the second arm upward. Thus the second arm driving means may be a driving means having a low driving force.
Preferably, the robot further includes a third arm connected to the second arm and capable of being displaced relative to the second arm, a fourth arm connected to the third arm and capable of being displaced relative to the third arm, third arm driving means for driving the third arm to displace the third arm relative to the second arm, and fourth arm driving means for driving the fourth arm to displace the fourth arm relative to the third arm; wherein the third and the fourth arms can be displaced in a state where the second arm is in contact with the arm position maintaining means.
According to the present invention, the free end of the fourth arm can be horizontally distanced from the base by coordinately displacing the third and the fourth arms in a state where the second arm is in contact with the arm position maintaining means. The first arm is a component of the quadric crank mechanism. Therefore, the first and the second driving means are required to produce low driving forces, respectively, even in a state where the free end of the fourth arm is horizontally distanced from the base. The free end of the fourth arm can be optionally moved to a position horizontally distanced from the second arm.
Preferably, the robot further includes a position adjusting member movably disposed on the fourth arm, the position adjusting member being equipped with holding means for holding a load to be carried; and position adjusting member driving means for driving the position adjusting member to displace the position adjusting member relative to the fourth arm.
According to the present invention, the load can be held in a fixed position by displacing the position adjusting member by the position adjusting member driving means even if the fourth arm is displaced. Thus the load can be held in the fixed position while the load is being carried.
Preferably, the arm position maintaining means is joined to the bed.
According to the present invention, special alignment operation for aligning the arm position maintaining means and the arm, which is necessary when the arm position maintaining means is distanced from the bed, is unnecessary because the arm position maintaining means is connected to the bed. A contact position where the arm comes into contact with the arm position maintaining means can be determined beforehand and hence the contact position does not need to be determined at the installation site of the robot. The arm is light as compared with an arm combined with arm position maintaining means because the arm position maintaining means is distanced from the arm and hence the load on the arm driving means can be reduced.
Preferably, a force exerted by the arm position maintaining means on the arm is lower than the maximum driving force of the arm driving means.
According to the present invention, a downward force acting on the arm decreases upon the transfer of the load from the robot to another robot. Then, if the arm position maintaining means is still exerting a force on the arm, the force exerted by the arm position maintaining means on the arm exceeds the force exerted by the arm on the arm position maintaining means. According to the present invention, the force exerted by the arm position maintaining means on the arm is lower than the maximum driving force of the arm driving means. Therefore, even if the force exerted by the arm position maintaining means on the arm exceeds the force exerted by the arm on the arm position maintaining means, the arm can be restrained from being displaced upward. The robot can exercise the same effect even if the force is exerted on the arm in a direction other than a vertical direction.
Preferably, the arm position maintaining means is capable of adjusting the force exerted on the arm.
According to the present invention, the robot can flexibly deal with the change of the weight of the load to be carried by adjusting the force exerted on the arm by the arm position maintaining means. Thus the robot has improved flexibility.
Preferably, the outer surface of at least either of the contact part of the arm position maintaining means with which the arm comes into contact and a contact part of the arm that comes into contact with the position maintaining means is a curved surface.
According to the present invention, the arm and the arm position maintaining means can be brought into point contact or line contact with each other. In some cases, the arm comes into contact with the arm position maintaining means after moving in a direction oblique to a direction in which the force exerted by the arm position maintaining means acts, and the arm slides on the arm position maintaining means to the predetermined contact position. Since the arm and the arm position maintaining means are in point contact or line contact with each other, the arm can smoothly slide to the contact position after the arm has come into contact with the arm position maintaining means. Thus the abrasion of the contact parts of the arm and the arm position maintaining means can be reduced.
Preferably, the arm position maintaining means includes a contact member with which the arm comes into contact, a holding member for holding the contact member so as to be displaceable in predetermined directions, and a reactive force producing member for producing a reactive force proportional to a displacement by which the contact member is displaced in a displacing direction, and the contact member is held via a sliding bearing on the holding member.
According to the present invention, the sliding bearing ensures the smooth movement of the contact member in the displacing direction even if a force acts on the contact member in a direction intersecting the displacing direction. In some cases, the arm comes into contact with the arm position maintaining means after moving in a direction oblique to a direction in which the force exerted by the arm position maintaining means acts, and the arm slides on the arm position maintaining means to the predetermined contact position. In such a case, the contact member can smoothly move in the displacing direction. Consequently, the contact member can be displaced in the displacing direction regardless of the direction in which the arm advances toward the arm position maintaining means.
Preferably, the contact member has a damping property with respect to a movement.
According to the present invention, the movement damping property of the contact member can prevent the sudden displacement of the contact member. Thus the vibration of the contact member can be suppressed when the force acting on the contact member changes due to the collision of the contact member and the arm and due to the separation of the arm from the contact member.
Preferably, the robot is a carrying robot capable of holding a load and of carrying the load in horizontal directions.
The robot according to the present invention is a carrying robot. The carrying robot holds the load by the arm and carries the load from an upstream position to a downstream position along a carrying route. The robot according to the present invention can move the arm to a position horizontally apart from the base, such as the bed, and can horizontally carry the load in a low position.
To achieve the object, an arm position assisting structure in a third aspect of the present invention intended to realize the arm position maintaining means employed in any one of the foregoing robots.
According to the present invention, the robot is provided with the arm position assisting structure realizing the arm position maintaining means. Thus the robot can be realized by using the arm driving means having a low driving force and the arm having a low rigidity, and hence the robot arm structure is simplified and the robot can be formed in a small size.
The arm driving means exerts a driving force on the arm even in a state where a force is exerted on the arm. Therefore, the control of the arm is not complicated. For example, when the contact member of the arm position assisting structure with which the arm comes into contact is displaceable, part of the force for maintaining the position of the arm can be applied to the arm even if the force acting on the arm varies and even if the position of the arm is not accurately taught.
In the robot arm structure in the first aspect of the present invention for the carrying robot, the lower link, the upper link, the first arm and the auxiliary link form the quadric crank mechanism. Therefore, the first arm can be driven for displacement by driving means having a low power even when the load is placed at a position distanced from the bed. Thus the load can be surely carried to a remote position.
The second arm is connected to the upper link, the third arm is connected to the second arm and the fourth arm is connected to the third arm. Therefore, the holding means mounted on the fourth arm can be moved in a wide range by making the second to fourth arms move for angular displacement even in a state where the first arm is held at a predetermined position in a predetermined position relative to the bed. Consequently, the load can be moved in a wide range.
When a plurality of robots are installed in an narrow space, the second to fourth arms of the robot, in some cases, interfere with other robots unless the first arm is held in a predetermined angular position. The load can be moved in a desired posture to a desired position even in such a case by displacing the second to fourth arms. For example, the load can be carried to a desired position by displacing the third and fourth arms even in a state where the second arm is held in a position by the arm position maintaining means. In this case, power necessary for maintaining the respective positions of the first and second arms can be reduced by supporting the second arm by the arm position maintaining means.
According to the present invention, it is possible to avoid the respective heights of the arms being not higher than the limit height Hc in a state where the arms are extended vertically in the reference position. Thus the carrying robot can hold the load in the reference position. The arms extend vertically when the arms are maintained in the reference position, and hence power needed by the driving means to maintain the position can be reduced. When the reference position is a standby position in which the robot is kept in readiness, standby power consumed by the driving means during the standby time can be reduced.
According to the present invention, the second arm has a length Y2 not greater than a value equal to (H−Hc), where H is the vertical distance of the first end of the second arm from the reference plane when the robot arm structure is set in the specific position in which the first arm is inclined at a predetermined angle to the lower link, and Hc is the limit height Hc. Thus the reduction of the height of the second arm below the limit height Hc can be prevented even in a state where the first arm is set in a position to set the robot arm structure in the specific position. Thus the second arm can be turned through an optional angle relative to the first arm in a state where the first arm is set in a position to set the robot arm structure in the specific position. For example, in a state where the second and third arms are displaced to maintain the fourth arm in an optional position, the fourth arm can be moved in the carrying direction without reducing the respective heights of the arms to the limit height. Thus the load held on the fourth arm can be carried without changing the position thereof.
According to the present invention, the robot arm structure is designed such that the length Y2 of the second arm is not shorter than a value equal to (Hc+Y3−H), where Hc is the limit height, Y3 is the length of the third arm and H is the vertical distance of the first end of the second arm from the reference plane when the robot arm structure is set in the specific position. Thus the reduction of the respective heights of the second and third arms below the limit height Hc can be prevented even in a state where the first arm is set to set the robot arm structure in the specific position. The fourth arm can be moved in the carrying direction with the fourth arm surely maintained in an optional position.
According to the present invention, the position of the second arm can be maintained, even if the load is heavy, by the arm position maintaining means for maintaining the position of the second arm and power to be produced by the driving means for driving the first and second arms can be reduced. Since the robot arm structure has the second, third and fourth arms, the load can be displaced even in a state where the position of the second arm is maintained by the arm position maintaining means.
The robot in the second aspect of the present invention employs the driving means having a low driving force as arm driving means and can maintain the position of the arm having low rigidity; that is, the arm driving means is small and hence the robot is small. The construction of the arm does not need as complicated as that of the known arm. Complicated control of the arm driving means is unnecessary. Consequently, the robot having a large carrying capacity can be built in simple, small construction.
According to the present invention, the position of the arm can be maintained by the arm driving means having a low driving force even when a high gravitational force acts on the arm. When the robot of the present invention is, for example, a carrying robot, the position of the load can be maintained at a position horizontally distanced from the bed even if the load is heavy. When the robot of the present invention is, for example, a machining robot, the position of the robot can be maintained at an optional position even if a machining unit is large.
According to the present invention, the contact member can be displaced in displacing directions, such as vertical directions. Therefore, the position of the arm can be maintained when the robot is required to carry loads respectively having different weights and the robot has improved flexibility. The arm can be brought into contact with the arm even if the contact position where the arm is expected to come into contact with the contact member is not accurately taught. Therefore, teaching work for teaching the robot a moving path along which the arm is to be moved can be simplified. The reactive force producing means is, for example, a coil spring.
According to the present invention, the robot has the quadric crank mechanism and the arm position maintaining means. Therefore, the driving means having a low driving force can be used as the first and second arm driving means. The driving means can be built in small sizes, respectively, and hence the robot can be built in a small size. The free end of the second arm can be horizontally distanced from the bed and hence the horizontal moving range is wide.
According to the present invention, the force is exerted on the second arm by the arm position maintaining means and the robot has the quadric crank mechanism. Therefore, the first and second arm driving means may be driving means respectively having low driving forces even in a state where the free end of the fourth arm is horizontally distanced from the base. The first and second arms may be low-rigidity arms.
The fourth arm can be horizontally moved with the free end thereof held low relative to the bed by coordinately moving the third and fourth arms in a state where force is exerted on the second arm by the arm position maintaining means. Preferably, the third arm is connected to a free end of the second arm to move the free end of the fourth arm farther in the horizontal direction.
When the load is held, for example, on the free end of the fourth arm for carrying, the load can be carried in a small space because the load can be moved in a low position. If the load is to be machined by another machining robot while the load is being moved, the height of the machining robot may be low and the machining robot does not need to be built in a large size.
According to the present invention, when the fourth arm is displaced due to the displacement of the position adjusting member, the load can be held in a fixed position. Thus the load can be moved with the load held in the fixed position. Thus the operability can be improved when the robot is used for carrying and machining.
According to the present invention, aligning operation for aligning the arm position maintaining means and the bed, which is necessary when the arm position maintaining means and the bed are separate, is not necessary because the arm position maintaining means is connected to the bed. Thus the arm contact position where the arm comes into contact with the arm position maintaining means is set beforehand and hence the contact position does not need to be determined at the installation site of the robot. The arm is light as compared with an arm combined with arm position maintaining means because the arm position maintaining means is distanced from the arm and hence the load on the arm driving means can be reduced.
According to the present invention, the force exerted on the arm by the arm position maintaining means is lower than the driving force of the arm driving means. Therefore, the position of the arm can be maintained even if a force acting in a displacing direction, such as a downward direction, changes. Therefore, the vibration of the arm can be suppressed and the efficiency of operations by the robot for carrying and machining can be improved.
According to the present invention, the robot can deal with change in the weight of the load through the adjustment of the force exerted on the arm by the arm position maintaining means, which improves the flexibility of the robot.
According to the present invention, the outer surface of at least either of the arm position maintaining means and the arm is a curved surface. Therefore, the arm can make the arm position maintaining means slide smoothly to the predetermined contact position. Thus the arm can be accurately moved to the contact position and the arm position maintaining means can surely exert force on the arm.
According to the present invention, the action of a jerking force on the contact member is suppressed by the sliding bearing even if the arm is brought into contact with the contact member by moving the arm from a position apart from the contact member in a direction intersecting the displacing direction of the contact member, and the contact member can be smoothly displaced in the displacing direction. Thus the arm position maintaining means can surely exert force on the arm. Preferably, sliding bearings are placed on the opposite sides, respectively, of the holding member with respect to a contact member displacing direction to move the contact member more smoothly when force is exerted on the contact member in a direction intersecting the displacing direction.
According to the present invention, the contact member is prevented from sudden displacement because the contact member has a movement damping property. The vibration of the contact member can be prevented. Thus the arm is prevented from coming into contact with the vibrating contact member, and the arm or the contact member is prevented from being damaged. The arm can be prevented from being shocked by the sudden displacement of the contact member. The arm can be prevented from vibrating upon the transfer of a load held by arm to another robot in a state where force is exerted on the arm by the arm position maintaining means.
The robot according to the present invention is a carrying robot that holds a load and carries the same from an upstream position to a downstream position with respect to a carrying direction. Since the arm of the robot can be moved to a position horizontally distanced from the bed, the load can be carried in a low position in horizontal directions. Thus the load can be carried in a small space. If the load is to be machined by another machining robot while the load is being moved, the height of the machining robot may be low.
The robot provided with the arm position assisting structure in the third aspect of the present invention can be built in a small size. The arm driving means having a low driving force is inexpensive.
The arm position maintaining means exerts an auxiliary force for maintaining the position of the arm to the arm in a state where the arm driving means exerts driving force on the arm. Therefore, the arm driving means does not need to be controlled by a complicated control operation. When the arm position maintaining means is displaceable in displacing directions, such as vertical directions, the arm can be brought into contact with the arm position maintaining means even if the force acting on the arm changes and even if the position of the arm is not taught accurately.
Carrying robots in preferred embodiments according to the present invention will be described with reference to FIGS. 1 to 30.
Each of the carrying robots 30 includes a bed 33 fixedly installed at the site, arms supported on the bed 33 so as to be turned for angular displacement, and arm driving means for turning the arms for angular displacement. The arm driving means of the carrying robot 30 move the arms to move the load 31 connected to the arm along the carrying route.
More specifically, the carrying robot 30 includes the bed 33, the plurality of arms and links 34 to 40, and arm driving means 42 to 45 (
The second arm 38 has a first end 38a and a second end 38b joined to the upper link 35 and the a first end 39a of the third arm 39, respectively. The third arm 39 has a second end 39b connected to a first end 40a of the fourth arm 40. The adjacent ones of the second arm 38 to the fourth arm 40 are joined together so as to be turnable relative to each other for angular displacement.
The carrying robot 30 is provided with a position adjusting member 41, and a position adjusting member driving means 46 (
In this embodiment, the lower link 34, the upper link 35, the first arm 36 and the auxiliary link 37 form a quadric crank mechanism. Therefore, A driving means having a small power can drive the first arm 36 for displacement even if the load 31 is placed apart from the bed 33. Thus the load can be more surely carried to a distant position.
The second arm 38 is joined to the first arm 36, the third arm 39 is joined to the second arm 38, and the fourth arm 40 is joined to the third arm 39. Thus holding means mounted on the fourth arm 40 can be moved in a wide range through the angular displacement of the second arm 38, the third arm 39 and the fourth arm 40 even in a state where the first arm 36 is maintained in a predetermined position relative to the bed 33. Thus the load held by the holding means can be moved in a wide range.
When a plurality of robots are installed in an narrow space and the carrying robot 30 interferes with other robots unless the first arm 36 is maintained at a predetermined angle, this embodiment can move the load in a desired position to a desired place by displacing the second arm 38, the third arm 39 and the fourth arm 40. The load can be moved to a desired position by displacing the third arm 39 and the fourth arm 40 even when the second arm 38 is supported and maintained in a position by the arm position maintaining means 60. Power needed by a driving means for driving the first arm 36 and the second arm 38 can be reduced by supporting the second arm 38 by the arm position maintaining means 60.
In the carrying robot 30, the lower link 34, the upper link 35, the first arm 35 and the auxiliary link 37 form a quadric crank mechanism, namely, a hybrid linkage. The upper link 35 maintained parallel to the lower link 34 can move in carrying directions X relative to the bed 33. The load 31 is carried in the carrying direction X. In this embodiment, the carrying directions X are horizontal directions.
The first arm 36 connects a first end 34a on the side of one of the carrying directions of the lower link 34 and a first end 35a on one of the carrying directions of the upper link 35. The first arm 36 has a first end 36a joined to a first end 35a on the side of one of the carrying directions of the lower link 34, and a second end 36b joined to a first end 35a on the side of one of the carrying directions of the upper link 35. The first arm 36 can turn through angular displacement about a first axis J1 on the lower link 34 and about a second axis J2 on the upper link 35.
The first axis J1 is horizontal and parallel to transverse directions Y perpendicular to the carrying directions X. The first axis 31 passes the joint of the lower link 34 and the first arm 36. The second axis J2 is parallel to the first axis J1 and passes the joint of the upper link 35 and the first arm 36. First arm driving means 43 drives the first arm 36 for angular displacement about the first axis J1.
The auxiliary link 37 connects a second end 34b on the side of the other carrying direction of the lower link 34 and a second end 35b on the side of the other carrying direction of the upper link 35. The auxiliary link 37 has a first end 37 joined to the second end 34b of the lower link 34 and a second end 37b joined to the second end 35b of the upper link 35. The auxiliary link 37 can be turned for angular displacement about a third axis J3 on the lower link 34. The auxiliary link 37 can be turned for angular displacement about a fourth axis J4 on the upper link 35.
The third axis 33 is parallel to the first axis J1 and passes the joint of the lower link 34 and the auxiliary link 37. The fourth axis J4 is parallel to the first axis J1 and passes the joint of the upper link 35 and the auxiliary link 37.
The second arm 38 to the fourth arm 40 are connected successively to form a direct-acting linkage, namely, a serial linkage. More concretely, a first end 38a of the second arm 38 is joined to a middle part 35c with respect to the carrying directions of the upper link 35. The second arm 38 can be turned for angular displacement about a fifth axis J5 on the upper link 35. The fifth axis J5 is parallel to the first axis J1 and passes the joint of the upper link 35 and the second arm 38. The second arm driving means 43 drives the second arm 38 for angular displacement about the fifth axis 35.
The third arm 39 has a first end 39a joined to the second end 38b of the second arm 38. The third arm 39 can be turned for angular displacement about a sixth axis J6 on the second arm 38. The sixth axis 36 is parallel to the first axis 31 and passes the joint of the second arm 38 and the third arm 39. The third arm driving means 44 drives the third arm 39 for angular displacement about the sixth axis J6.
The fourth arm 40 has a first end 40a joined to the second end 39b of the second arm 39. The fourth arm 40 can be turned for angular displacement about a seventh axis 37 on the third arm 39. The seventh axis 37 is parallel to the first axis J1 and passes the joint of the third arm 39 and the fourth arm 40. The fourth arm driving means 45 drives the fourth arm 40 for angular displacement about the seventh axis 37.
The position adjusting member 41 is joined to the second end of the fourth arm 40. The position adjusting member 41 can be turned about an eighth axis J8 on the fourth arm 40. The eighth axis J8 is parallel to the first axis J1 and passes the joint of the fourth arm 40 and the position adjusting member 41. The position adjusting member driving means 46 drives the position adjusting member 41 for angular displacement about the eighth axis J8.
The holding means is mounted on the position adjusting member 41. Desirably, the holding means is capable of detachably holding the load 31. In this embodiment, the holding means is a table 50. The load 31 is supported on the table 50. The table 50 may be provided with a holding mechanism for detachably holding the load 31. The position of the position adjusting member 41 about the carrying directions X, the transverse directions Y and the vertical directions Z is manually adjustable. Thus the position of the table 50 can be minutely adjusted and the load 31 supported on the table 50 can be stably carried.
The table 50 held at a desired height can be horizontally moved by individually driving the first arm 36, the second arm 38, the third arm 39 and the fourth arm 40 for displacement. In this embodiment, the table 50 held in a desired position at a desired height can be horizontally moved by coordinately individually driving the first arm 36, the second arm 38, the third arm 39, the fourth arm 40 and the position adjusting member 41.
The carrying robot 30 includes control means 55. The control means 55 controls the first arm driving means 42, the second arm driving means 43, the third arm driving means 44, the fourth arm driving means 45 and the position adjusting member driving means 46. The driving means 42 to 46 are, for example, servomotors, and the control means 55 is, for example, a robot controller. The robot controller adjusts currents supplied to the servomotors. The control means 55 calculates currents to be supplied to the servomotors, and supplies the calculated currents to the servomotors to carry the load 31 along a predetermined carrying route.
The control means 55 is provided with a storage unit for storing predetermined programs, an arithmetic unit for carrying out the programs stored in the storage unit, an output unit for sending out drive signals determined by the arithmetic operations performed by the arithmetic unit to the driving means 42 to 46, and an input unit for receiving instructions provided by the operator and angular displacement data provided by the driving means. The storage unit is a memory. The arithmetic unit is an arithmetic circuit, such as a CPU.
The control means 55 controls the arm driving means 42 to 45 for coordinated operations to move the table 50 horizontally. The position adjusting member driving means 46 is operated coordinately to move the table 50 horizontally with the load 31 held in a fixed position.
The carrying robot 30 is provided with arm position maintaining means 60 and 61 to maintain the position of the second arm 38. The arm position maintaining means 60 and 61 come into contact with the second end 38b of the second arm 38 and exerts a part of force necessary for maintaining the position of the second arm 38 on the second arm 38. The arm position maintaining means 60 and 61 are on the side in the downstream carrying direction X1 and on the side in the upstream carrying direction X2, respectively, with respect to the bed 33. The second end 38b of the second arm 38 comes into contact with the arm position maintaining means 60 on the side in the downstream carrying direction X1 when the second end 38b of the second arm 38 is moved in the downstream carrying direction X1 and receives an upward force from the arm position maintaining means 60. The second end 38b of the second arm 38 comes into contact with the arm position maintaining means 61 on the side of the upstream carrying direction X2 when the second arm 38b of the second arm 38 is moved in the upstream carrying direction X2 and receives an upward force from the arm position maintaining means 61.
A fifth distance L5 between the second axis J2 and the fifth axis J5 and a sixth distance L6 between the fourth axis L4 and the fifth axis J5 are approximately equal. A seventh distance L7 between the fifth axis J5 and the six axis J6 and an eighth distance L8 between the sixth axis J6 and the seventh axis J7 are approximately equal. The sum of the seventh distance L7 and the eighth distance L8 is approximately equal to a ninth distance L9 between the seventh axis J7 and the eighth axis 38. The ninth distance L9 and the third distance L3 are approximately equal. The adjacent links and the arms are pivotally joined. The arms are pivotally joined.
As shown in
As mentioned above, the arm position maintaining means 60 and 61 are fixedly disposed on the side in the downstream carrying direction X1 and on the side of the upstream carrying direction X2, respectively, with respect to the bed 33. Since the arm position maintaining means 60 and 61 are the same in construction, only the arm position maintaining means 60 on the downstream side in the downstream carrying direction X1 with respect to the bed 33 will be described and the description of the arm position maintaining means 61 will be omitted.
The arm position maintaining means 60 is provided with a contact member 62, a holding member 63 and a reactive force producing member 64. The contact member 62 can be moved in predetermined displacing directions, namely, vertical directions Z in the embodiment. The second arm 38 comes into contact with the contact member 62. The holding member 63 holds the contact member 62 so as to be movable in vertical directions Z. The reactive force producing member 64 exerts a reactive force corresponding to a displacement of the contact member 62 from a natural state thereof in the vertical direction Z on the contact member 62. More concretely, when the second end 38b of the second arm 38 comes into contact with the contact member 62 and displaces the contact member 62 in the vertically down ward direction Z2, the reactive force producing member 64 exerts a force corresponding to the displacement of the contact member 62 through the contact member 62 on the second arm 38.
The arm position maintaining means 60 has a predetermined reference axis 100 parallel to directions in which the contact member 62 is displaced. The contact member 62, the holding member 63 and the reactive force producing member 64 are coaxial and are aligned with the reference axis 100. In the following description, a direction in which the contact member 62 exerts a reactive force on the second arm 38 is called an upward direction 101 and a direction in which the second arm 38 exerts force on the contact member 62 is called a downward direction 102.
The holding member 63 is formed in a cylindrical shape having an axis aligned with the reference axis 100. A part of the contact member 62 projects from the holding member 63 and the other part of the same extends in a space in the holding member 63. The contact member 63 has a flange 66, an upper stem 67 projecting from the holding member 63, a lower stem 68 and a contact head 81. The flange 66, the upper stem 67, the lower stem 68 and the contact head 81 are aligned with the reference axis 100 when the contact member 62 is held by the holding member 63.
The flange 66 is a circular plate having a circumference contiguous with the inner circumference 65 of the holding member 63. The upper stem 67 extends in the upward direction 101 from the flange 66. The upper stem 67 is cylindrical and has a diameter smaller than that of the flange 66. When the flange 66 is placed in the holding member 63, the upper stem 67 projects from the holding member 63. The lower stem 68 extends in the downward direction 102 from the flange 66. The lower stem 68 is cylindrical and has a diameter smaller than that of the flange 66.
The contact head 81 is on the upper end of the upper stem 67. The second arm 38 comes into contact with the contact head 81. The contact head 81 is formed in a circular plate of a diameter greater than that of the upper stem 67. The contact head 81 has an upward convex, curved position maintaining contact surface 85. The second arm 38 comes into contact with the position maintaining contact surface 85. The position maintaining contact surface 85 has a top point 85a on the reference axis 100. The position maintaining contact surface 85 is a curved surface or a spherical surface.
A contact part 81a forming the position maintaining contact surface 85 is made of a synthetic resin having a shock absorbing property and exerting a low frictional resistance on the second arm 38, such as nylon 6. Thus shocks of the impact of the second arm 38 on the contact head 81 can be absorbed. Further more, the second arm 38 can smoothly slide on the position maintaining con tact surface 85. The contact part 81a is fastened to the other part of the contact head 81 with bolts and is detachable. The worn out contact part 81a can be replaced with a new contact part 81a.
The holding member 63 has an outer tube 70, a bottom wall 69, an inner tube 71 and a flange 72. The outer tube 70, the bottom wall 69, the inner tube 71 and the flange 72 have axes aligned with the reference axis 100. The outer tube 70 is cylindrical. The inner tube 71 is disposed inside the outer tube 70. The bottom wall 69 is joined to the lower ends of the outer tube 70 and the inner tube 71. The bottom wall 69 is continuous with the inside surface of the outer tube 70 and the outside surface of the inner tube 71. The bottom wall 69 has an annular shape. The inner tube 71 has an axial size shorter than that of the outer tube 70.
The flange 72 projects radially outward from the upper end of the outer tube 70. The inside surface of the outer tube 70 faces the circumference of the flange 66 of the contact member 62. The inside diameter of the outer tube 70 and the diameter of the flange 66 are approximately equal to each other. In this embodiment, a sealing member 99 is attached to the flange 66 to seal a gap between the outer tube 70 and the flange 66. The inside surface of the inner tube 71 faces the surface of the lower stem 68 of the contact member 62. The inside diameter of the inner tube 71 and the diameter of the lower stem 68 are approximately equal to each other. The lower stem 68 extends in a space surrounded by the inner tube 71.
A cover 80 is fastened to the flange 72. The cover 80 is a ring having an axis aligned with the reference axis 100. The cover 80 covers the upper open end of the outer tube 70. The cover 80 is provided with an opening through which the upper stem 67 extends. The diameter of the opening of the cover 80 is approximately equal to the diameter of the upper stem 67 and smaller than the respective diameters of the flange 66 and the contact head 81. The cover 80 is fastened to the flange 72 and the upper stem 67 is passed through the opening of the cover 80. Thus the contact member 62 is restrained from separating from the holding member 63. The holding member 63 and the cover 80 are detachably fastened together with screws 83 or bolts. The upper stem 67 of the contact member 62 is extended through the opening of the cover 80 and the lower stem 68 of the contact member 62 is inserted into the inner tube 71. The contact member 62 is movable in the vertical directions Z.
The reactive force producing member 64 is, for example, a compression coil spring 64. The compression coil spring 64 is contained in the outer tube 70 and has an axis aligned with the reference axis 100. The compression coil spring 64 has a lower end 64b seated on the bottom wall 69 and an upper end 64a pressed against the flange 66. The compression coil spring surrounds the lower stem 68 entirely. The compression coil spring 64 is compressed in the holding member 63. Thus the compressed compression coil spring 64 exerts an upward force in the upward direction 101 on the flange 66. The flange 66 pushed by the compression coil spring 64 comes into contact with the cover 80 to restrain the contact member 62 from separating from the holding member 63.
In a natural state, the flange 66 is pressed against the cover 80 by the compression coil spring 64 and the contact member exerts force on the cover 80 in the upward direction Z1. When the second arm 38 comes into contact with the contact member 62 and exerts a downward force on the contact member 62, the contact member 62 is displaced downward against the resilience of the compression coil spring 64. When the contact member 62 is thus displaced downward, the contact member 62 exerts an upward force equal to the product of a displacement x in the downward direction 102 and the spring constant k of the compression coil spring 64 on the second arm 38.
In this embodiment, the force to be exerted by the contact member 62 on the second arm 38 is changeable. For example, a spacer, namely, a space adjusting member, may be interposed between the flange 72 and the cover 80. The spacer increases the axial distance between the holding member 63 and the cover 80 in a natural state and thus the pressure exerted by the compression coil spring 64 on the contact member 62 can be adjusted. The force exerted on the second arm 38 by the contact member 62 may be adjusted by a method that adjusts the position of the bottom wall 69 relative to the cover 80. For example, it is possible to cope with the change of the load 31 by changing the force exerted by the compression coil spring 64 on the contact member 62 according to the weight of the load 31, which improves the flexibility of the carrying robot.
A support means 82 for supporting the arm position maintaining means 60 is connected to the bed 33. The arm position maintaining means 60 is detachably fastened to the support means 82 with screws 84 or bolts. The arm position maintaining means 60 fastened to the support means 82 is held at a predetermined position at a distance in the carrying direction X from the bed 33. Therefore, the positional relation between the arm position maintaining means 60 and the robot does not need to be adjusted at the operating site where the carrying robot is used and hence teaching work can be curtailed.
A bearing 86 and a sealing member 87 are disposed between the cover 80 and the upper stem 67. More concretely, the sliding bearing 86 and the sealing member 87 are fitted in the opening of the cover 80 such that the sealing member 87 is disposed above the sliding bearing 86. A bearing 74 and a sealing member 73 are disposed between the inner tube 71 and the lower stem 68. More concretely, the sliding bearing 74 and the sealing member 73 are fitted in the inner tube 71 such that the sealing member 73 is disposed below the sliding bearing 74. The sliding bearings 86 and 74 employed in this embodiment contain a lubricant and can bear heavy load. The sliding bearings 86 and 74 do not need lubrication. The sealing members 87 and 73 prevent the entry of dust in the holding member 63. The sealing members 87 and 73 are, for example, oil seals. The interior space of the holding member 63 is sealed by the sealing members 87 and 73.
Thus the contact member 62 is supported in the two sliding bearings 86 and 74 arranged in the direction of displacement of the contact member 62 on the holding member 63. The sliding bearings 86 and 74 ensure the smooth displacement of the contact member 62 even if the second arm 38 comes into contact with contact member 62 from an oblique direction 120 inclined to the reference axis 100. Thus the exertion of a resistive force against the displacement of the contact member in the displacing direction by the holding member 63 can be suppressed. Therefore, an upward force can be surely exerted on the second arm 38 even if the second arm 38 comes into contact with the contact member 62 from the oblique direction 120.
Upper shock absorbing members 88 are attached to parts facing the flange 66 of the cover 80. The upper shock absorbing members 88 are made of a synthetic resin, such as 6-nylon. The upper shock absorbing members 88 are arranged at equal angular intervals about the reference axis 100. The flange 66 collides against the upper shock absorbing members 88 when the downward force exerted on the contact member 62 by the second arm 38 is removed. The shock absorbing members 88 can attenuate noise and shocks resulting from the collision of the flange 66 against the shock absorbing members 88.
A plurality of lower shock absorbing members 89 are attached to parts facing the contact head 81 of the contact member 62 of the cover 80. The lower shock absorbing members 89 are made of a synthetic resin, such as 6-nylon and are arranged at equal angular intervals about the reference axis 100. It is possible that the contact head 81 collides against the cover 80 when a downward force is exerted on the contact member 62. In this embodiment, the contact head 81 collides against the lower shock absorbing members 89. The lower shock absorbing members 89 can absorb noise and shocks resulting from the collision.
Preferably, the contact member 62 has a damping ability. The damping ability can prevent the sudden displacement of the contact member 62 in the displacing direction when force is exerted on the contact member 62. Thus vibrations can be suppressed when the contact member 62 collides against the holding member 63. Since the interior space of the holding member 63 is sealed by the sealing members 87 and 73, it is preferable to form a through hole 75 in the flange 66 so that an upper space extending over the flange 66 and a lower space extending under the flange 66 can communicate with each other by means of the through hole 75. When the through hole 75 is formed in a proper size, the flow of air between the upper space extending over the flange 66 and the lower space extending under the flange 66 through the through hole 75 can be properly restricted. Thus a damping function can be exercised by a simple mechanism. The damping function prevents the sudden movement of the contact member 62. Other mechanism having a damping function may be used. The damping function can suppress the vibration of the contact member 62 when the force exerted on the contact member 62 changes.
When the load 31 is heavy, a compression coil spring having a large spring constant k is used as the reactive force producing member 64 to bear the heavy weight of the load 31. In this embodiment, impact applied to the cover 80 by the flange 66 of the contact member 62 on the cover 80 can be damped by the damping function of the contact member 62 even if the second arm 38 is distanced for a short time from the contact member 62. The lower shock absorbing members 89 can further reduces the impact.
When the second arm 38 comes into contact with the contact member 62 of the arm position maintaining means 60 and displaces the contact member 62 downward, the arm position maintaining means 60 applies a second torque M2 to the second arm 38. The second torque M2 exercises an effort to move the second end 38b of the second arm 38 upward. The second torque M2=−k·x·L11, where k is the spring constant of the compression coil spring 64, x is a deflection from an axial length of the compression coil spring 64 in an natural state where any force is not acting on the compression coil spring 64 caused by the second arm 38, and L11 is the horizontal distance between the fifth axis J5 and a point in contact with the contact member 62 on the second arm 38. The direction of action of the second torque M2 is opposite that of the first torque M1.
Since the arm position maintaining means 60 applies the second torque M2 to the second arm 38, the second arm driving means 43 can maintain the position of the second arm 38 by only a force necessary to produce a third torque M3=M1−M2. If the carrying robot 30 is not provided with the arm position maintaining means 60, the second arm driving means 43 needs to produce a force necessary for producing a torque that can balance the first torque M1. This force is higher than a force needed to be produced by the second arm driving means 43 when the carrying robot 30 is provided with the arm position maintaining means 60.
Thus, in this embodiment provided with the arm position maintaining means 60, the position of the second arm 38 can be maintained by the second arm driving means 43 having a small driving force in a state where the load 31 is horizontally moved. The position of the second arm 38 can be maintained even if the second arm 38 has a low rigidity. Similarly, the arm position maintaining means 60 enables the first arm driving means 42 having a low driving force to maintain the position of the first arm 36 even if the first arm 36 has a low rigidity.
When the load 31 is transferred from the carrying robot 30 to the carrying robot 30 on the downstream side in the downstream carrying direction X1, the first torque M1 is removed from the second arm 38. Then, the second arm driving means 43 is required to apply a downward force to the second arm 38 to press the second end 38b of the second arm 38 downward against the second torque M2. If the force applied by the second torque M2 to the second arm 38 is higher than the driving force of the second arm driving means 43, the position of the second arm 38 cannot be maintained and the second arm 38 vibrates. Therefore, it is desirable to determine the spring constant k and the deflection x of the compression coil spring 64, and the horizontal distance L11 between the fifth axis 35 and a point in contact with the contact member 62 on the second arm 38 so that the force producing the second torque M2 is lower than the maximum driving force of the second arm driving means 43.
Such a condition applies similarly to the first arm driving means 42. The respective weights of the arms and the weight of the carrying robot 30 are neglected in the foregoing description. Practically, it is preferable to take the weight of the carrying robot into consideration in determining the spring constant k and the deflection x of the compression coil spring 64, and the horizontal distance L11 between the fifth axis J5 and a point in contact with the contact member 62 on the second arm 38.
The contact head 81 of the arm position maintaining means 60 of this embodiment is movable in the vertical directions Z. Therefore, the arm position maintaining means 60 can apply a force for maintaining the position of the second arm 38 to the second arm even if a taught contact point where the second arm 38 is expected to come into contact with the contact head 81 is slightly off in the vertical direction Z. Thus the allowable range for a position where the second arm 38 comes into contact with the arm position maintaining means 60 is wide and a teaching operation for teaching the second arm 38 is simple.
The second arm driving means 43 applies a driving force continuously to the second arm 38 while a force is applied to the second arm 38 by the arm position maintaining means 60. Therefore, a control method of controlling the second arm driving means 43 does not need to be greatly changed before and after the second arm 38 comes into contact with the arm position maintaining means 60 and the first arm driving means 42 and the second arm driving means 43 can be easily controlled.
Thus, the table 50 at an optional height H can be horizontally displaced as shown in
The second arm 38 comes into contact with either of the arm position maintaining means 60 on the downstream side in the downstream carrying direction X1 and the arm position maintaining means 61 on the upstream side in the upstream carrying direction X2. The contact surfaces 90 are formed so as to correspond to the arm position maintaining means 60 and 61, respectively.
In some cases, the second end 38b of the second arm 38 approaches the contact member 62 from the oblique direction 120 inclined to the reference axis 100 on the arm position maintaining means 60 to curtail carrying time. In such a case, the flat contact surface 90 comes into contact with a point near the top point 85a of the position maintaining contact surface 85 as shown in
If the contact surface 90 is a spherical surface, the contact surface 90 comes into contact with a point 85b apart from the top point 85a of the position maintaining contact surface 85 as shown in
If the position maintaining contact surface 85 is a flat surface, the contact surface 90 of the second arm 38 slides in flat contact with the position maintaining contact surface 85 as shown in
In this embodiment, the position maintaining contact surface 85 is curved and the contact surface 90 of the second arm 38 is flat as shown in
When the position maintaining contact surface 85 is curved and does not have any sharp edges as shown in
As shown in
The plurality of carrying robots 30A and 30B are used when the carrying route extends beyond the limit of a carrying range in which the carrying robot 30 can carry the load 31. The carrying robots 30A and 30B are arranged along the carrying route at an interval. The upstream carrying robot 30A in the direction X2 carries the load 31 in the downstream carrying direction X1 and transfers the load 31 to the downstream carrying robot 30B, and then the downstream carrying robot 30B carries the load 31 in the downstream carrying direction X1.
In step a1, the controller 55 controls the driving means 42 to 46 to move the table 50 to a receiving position on the upstream side in the upstream carrying direction X2. Upon the arrival of the table 50 at the receiving position, the table 50 receives the load 31 from the carrying robot on the upstream side in the upstream carrying direction X2 and holds the load 31. Then, step a2 is executed.
In step a2, the load 31 is maintained at a predetermined height and is carried in the downstream carrying direction X1. If the load 31 needs to be machined by a machining robot during being carried, the load 31 is stopped at a machining station, the machining robot machines the load 31, and then the carrying operation is resumed to carry the load 31 in the downstream carrying direction X1 after the completion of machining. After the table 50 has been moved in the downstream carrying direction X1 to a transfer position, the control means 55 executes step a3.
In step a3, the table 50 releases the load 31, and the carrying robot transfers the load 31 to the carrying robot on the downstream side in the downstream carrying direction X1. Then, step a4 is executed. A query is made in step a4 to see whether or not the carrying operation is to be continued. If the response in step a4 is affirmative, a load receiving operation is carried out to receive another load 31 from the upstream side in the direction X2. Concretely, step a6 is executed. In step a6, the table 50 is moved horizontally in the upstream carrying direction X2 and the carrying procedure returns to step a1.
The control means 55 thus controls the driving means 42 to 46 to carry loads 31 successively from the upstream side in the upstream carrying direction X2 to the downstream side in the downstream carrying direction X1.
A transfer position where the carrying robot 30A on the upstream side in the upstream carrying direction X2 transfers the load 31 and a receiving position where the carrying robot 30B on the downstream side in the downstream carrying direction X1 receives the load 31 are substantially at the same position 101.
As shown in FIGS. 23(1) to 23(4), the upstream carrying robot 30A moves the table 50A holding the load 31 horizontally in the downstream carrying direction X1 to the transfer position 101. As shown in FIGS. 23(5) and 23(6), the upstream robot 30A moves the table 50A downward from the transfer position 101 to a posttransfer position 104. The posttransfer position 104 is on the downstream side of the transfer position 101 in the downstream carrying direction X1. As shown in
As shown in FIGS. 23(1) and 23(2), the downstream carrying robot 30B maintains the table 50B in a state for receiving the load 31 thereon and moves the table 50B horizontally in the upstream carrying direction X2 to a prereceiving position 105. In this embodiment, the prereceiving position 105 is on the upstream side of the receiving position 101 in the upstream carrying direction X2. As shown in FIGS. 23(3) and 23(4), the downstream carrying robot 30B moves the table 50B upward from the prereceiving position 105 to the receiving position 101. As shown in FIGS. 23(5) to 23(7), the downstream carrying robot 30B moves the table 50B horizontally from the receiving position 101 in the downstream carrying direction X1.
The tables 50A and 50B are formed so as to be able to support the load 31 thereon. The tables 50A and 50B can be simultaneously positioned at the transfer position 101 and at the receiving position 101, respectively. During the receiving operation and the transfer operation, the upstream table 50A is moved horizontally toward the transfer position 101 and, at the same time, the downstream table 50B is moved to the prereceiving position 105 as shown in
After the down stream table 50B has arrived at the prereceiving position 105 as shown in
As shown in
Then, as shown in
Subsequently, as shown in FIGS. 23(6) and 23(7), the downstream robot 30B moves the downstream table 50B horizontally in the downstream carrying direction X1. The upstream robot 30A moves the upstream table 50A to the posttransfer position 104, and then moves the upstream table 50A horizontally from the posttransfer position 104 in the upstream carrying direction X2. The load 31 is thus transferred and received by the transfer operation and the receiving operation. During the transfer operation for transferring the load 31 and the receiving operation for receiving the load 31, the arm position maintaining means 60 applies an upward force to the second arm 38 to maintain the respective positions of the first and the second arm, and the third arm 39 and the fourth arm 40 are displaced. Thus the load 31 can be transferred from one to the other table at a position remote from the bed 33 by using the second arm driving means having a low driving force. Waiting time can be reduced by the cooperative operation of the upstream and downstream robots.
The control means 55 carries out a control operation to make the carrying robot 30 in the reference position move the table 50 horizontally in the downstream carrying direction X1 without changing the position of the table 50. The control means 55 controls the driving means 42 to 46 to displace the first to fourth arms such that the table 50 is moved horizontally in the downstream carrying direction X1 without changing its position.
While the table 50 is being moved in the downstream carrying direction X1, the control means 55 controls the driving means 42 to 46 so that the second arm 38 may come into contact with the arm position maintaining means 60. When the second arm 38 is brought into contact with the arm position maintaining means 60 as shown in
The arm position maintaining means 60 thus applies an upward force to the second arm 38 and the third arm 39 and the fourth arm 40 are displaced relative to the second arm 38 to move the table further in the downward carrying direction X1 as shown in
In step b1, the third arm 39 and the fourth arm 40 are displaced coordinately with the position of the second arm 38 maintained to move the table 50 horizontally in the downstream carrying direction X1. Upon the arrival of the table 50 at a predetermined position near the bed 33, step b2 is executed. When the table 50 is at this predetermined position near the bed 33, the position of the second arm 38 can be maintained without the assistance of the arm position maintaining means 60.
In step b2, the control means 55 displaces the first arm 36, the second arm 38, the third arm 39 and the fourth arm 40 coordinately so as to move the table 50 horizontally in the downstream carrying direction X1. The position of the carrying robot 30 changes via the reference position to a position in which the second arm 38 is moved in the downstream carrying direction X1 beyond the bed 33. If the load 31 needs to be machined by a machining device during being carried, the table 50 is stopped at a machining station. Then, step b3 is executed.
In step b3, the carrying robot 30 is kept stationary until the machining device completes a machining operation. Step b4 is executed after the machining operation has been completed. In step b4, the control means 55 displaces the arms 36, 38, 39 and 40 coordinately to move the table 50 horizontally in the downstream carrying direction x1. Step b5 is executed after the table 50 has arrived at a predetermined position beyond the bed 33 in the downstream carrying direction X1. It is difficult to maintain the position of the second arm 38 without the assistance of the arm position maintaining means 60 when the table 50 is at the predetermined position beyond the bed 33 in the downstream carrying direction X1. When the table 50 is at the predetermined position beyond the bed 33 in the downstream carrying direction X1, the second arm 38 is in contact with the arm position maintaining means 60 and the arm position maintaining means 60 applies an upward force to the second arm 38.
In step b5, the third arm 39 and the fourth arm 40 are displaced coordinately with the respective positions of the first arm 36 and the second arm 38 maintained to move the table 50 horizontally in the downstream carrying direction X1 to the transfer position 101. Then, the control procedure goes to step b6. In step b6, the moving operation for moving the second arm 38 in the downstream carrying direction X1 is ended.
As shown in
The first arm 36 and the second arm 38 are displaced during the movement of the table 50 in the upstream carrying direction X2. The second arm driving means 43 can displace the second arm 38 even if the arm position maintaining means 60 does not apply force to maintain the position of the second arm 38 to the second arm 38 because the table 50 has been unloaded. Thus, as shown in FIGS. 26(3) to 26(5), the first arm 36, the second arm 38, the third arm 39 and the fourth arm 40 are displaced to move the table 50 in the upstream carrying direction X2. The control means 55 reverses the foregoing procedure to move the table 50 to the preparatory receiving position on the upstream side in the upstream carrying direction X2. The arms 36, 38, 39 and 40 may be coordinately displaced during the movement of the table 50, provided that the second arm 38 is in contact with the contact member 62 of the arm position maintaining means 60 and the arm position maintaining means 60 applies an upward force to the second arm 38 when the table 50 arrives at the posttransfer position 104 and at the preparatory receiving position 105.
The arm position maintaining means 60 is in contact with the second arm 38 and applies a part of force necessary for maintaining the position of the second arm 38 to the second arm 38 when the second end 38b of the second arm 38 is horizontally spaced apart from the upper link 35. Therefore, the driving force of the second arm driving means 43 for maintaining the position of the second arm 38 may be low; that is, the position of the second arm 38 can be maintained even if the second arm driving means 43 is driving means having a small driving capacity, and the second arm 38 may be an arm having a low rigidity. Similarly, the first arm driving means 42 may be driving means having a small driving capacity and the first arm 36 may be an arm having a low rigidity.
Thus the first arm driving means 42 and the second arm driving means 43 are small and hence the carrying robot 30 can be formed in a small size. The arm structure does not need to be as complicated as known arm structure to maintain the position of the arm. Thus the carrying robot is simple in construction and small in size and has a large load capacity.
The second arm driving means 43 exerts driving force continuously to the second arm 38 even in a state where the arm position maintaining means 60 exerts force on the second arm 38. Thus the control method of controlling the second arm driving means 43 does not need to be changed before and after the contact of the second arm 38 with the arm position maintaining means 60, and the control method is simple. Consequently, programs to be stored in the control means 55 can be easily prepared.
Since the arm position maintaining means 60 applies an upward force to the second arm 38, the load 31 can be carried to a position horizontally spaced apart from the bed 33 even if the load 31 is heavy. When the present invention is applied to a machining robot, the machining robot can be maintained in a desired position even if the machining robot is provided with a large machining head.
The contact member 62 can be displaced in the displacing direction. The force applied to the second arm 38 by the contact member 62 changes with the displacement x of the contact member 62. The posture of the second arm 38 can be maintained flexibly even if the weight of an end effector attached to the second arm 38 or the weight of the load 31 is changed. Since the contact member 62 can be displaced in the displacing direction, the second arm 38 can come into contact with the contact member 62 even if a position where the second arm 38 comes into contact with the contact member 62 is not accurately taught.
The upper link 35, the lower link 34, the first arm 46 and the auxiliary link 37 form a quadric crank mechanism. The second arm driving means 43, as compared with that of a robot provided with a direct-acting linkage and not provided with a quadric crank mechanism, may be driving means having a small driving capacity. When the load 31 is moved horizontally, the displacement of the second arm 38, as compared with that of a robot provided with a direct-acting linkage, may be small because the second arm 38 is displaced relative to the upper link 35. When the second arm driving means 43 is a motor, the rotating speed of the motor may be low.
The third arm 39 and the fourth arm 40 enables moving the load 31 in a low position. Therefore, the carrying robot can carry the load in a small space. If the load 31 is to be machined by another machining robot while the load 31 is being moved, the height of the machining robot may be low and the machining robot does not need to be built in a large size. The table 50, namely, an end effector, can be maintained in a fixed position by displacing the position adjusting member 41 in coordination with the displacement of the arms. Consequently, the ease of working can be improved when the robots carry and machine the load. Since the arm position maintaining means 60 is joined to the bed 33, the carrying robot can be installed in a short time, which improves convenience.
The maximum force applied by the arm position maintaining means 60 to the second arm 38 is lower than the driving force of the second arm driving means 43. Therefore, the position of the second arm 38 can be maintained regardless of the variation of a force acting in one of opposite directions on the second arm 38, for example, a downward force. Thus the vibration of the second arm 38 can be controlled and the working performance of the robot can be improved.
The downward force acting on the second arm 38 drops upon the transfer of the load 31 from the carrying robot 30 to another robot. In such a case, the force exerted on the second arm 38 by the arm position maintaining means 60 may exceed the force exerted on the arm position maintaining means 60 by the second arm 38 if the arm position maintaining means 60 exerts force on the second arm 38. The force that can be exerted on the second arm 38 by the arm position maintaining means 60 is lower than the driving force of the second arm driving means 43. Thus the driving force of the second arm driving means 43 restrains the second arm 38 from moving upward even if the force exerted on the second arm 38 by the contact member 62 exceeds the force exerted on the contact member 62 by the second arm 38.
The change of the weight of the load 31 can be dealt with and the flexibility of the carrying robot can be improved by adjusting the force that can be exerted on the second arm 38 by the arm position maintaining means 6. The contact surface 90 of the second arm 38 is flat, the position maintaining contact surface 85 is curved, and the contact surface 90 and the position maintaining contact surface 85 are in point contact or line contact with each other. Therefore, the possibility that force acts on the arm position maintaining means 60 in a direction other than the displacing direction of the arm position maintaining means 60 can be reduced.
The sliding bearings 86 and 74 suppress the action of a deflecting force on the contact member 62 and hence the contact member 62 is displaced in the displacing direction. Thus the contact member 62 can be displaced in the displacing direction regardless of directions in which the second arm 38 approaches the contact member 62, and hence the arm position maintaining means 60 can surely exert a reactive force on the second arm 38.
The contact member 62 has a movement damping property. The damping property of the contact member 62 can prevent the sudden displacement of the second arm 38. For example, when the load 31 held by the second arm 38 is transferred to another robot while the arm position maintaining means 60 is exerting force on the second arm 38, the weight of the load 31 is removed. In such a case, the upward force exerted on the second arm 38 by the arm position maintaining means 60 may exceed the force exerted on the arm position maintaining means 60 by the second arm driving means 43 for a moment. Even under such a condition, the contact member 62 can be restrained from sudden movement. Thus the second arm 38 can be restrained from being displaced upward by the arm position maintaining means 60 even immediately after the transfer of the load 31 and the second arm 38 can be restrained from vibrating. The spring constant k of the compression coil spring may be large and hence the load can be moved to a position horizontally remote from the bed 33 even if the load 31 has a large weight.
If the load 31 is large, it is difficult to attenuate the vibration of the arm holding the load 31. Causes of vibrations of the second arm 38 can be reduced and the load 31 can be stably carried by the movement damping property of the contact member 62. The vibration of the contact member 62 can be controlled and the second arm can be prevented from coming into contact with the vibrating contact member 62.
The foregoing embodiment specifically described above is only an example and many changes can be made therein without departing from the scope of the present invention. For example, although the invention has been described as applied to the carrying robot, the present invention is applicable to robots other than the carrying robot, such as machining robots.
Any restrictions are not placed on the arm structure of the robot. The arm position maintaining means 60 may exert force on the second arm 38 in any direction other than the upward direction.
Although the arm position maintaining means 60 of this embodiment exerts an upward force on the second arm 38, the arm position maintaining means 60 may exert position maintaining force on the arm other than the second arm 38. The base in the second arm 38 is the upper link. When the arm position maintaining means 60 exerts force on the arm other than the second arm 38, the arm on the side of the bed with respect to the arm on which force is exerted is a base.
Although the compression coil spring is used in the foregoing embodiment as the reactive force producing member 64, the reactive force producing member 64 may be any means other than the compression coil spring, such as a pneumatic spring, a rubber member, an pneumatic cylinder or a hydraulic cylinder. The compression coil spring as the reactive force producing member is simple and does not need any power. Although the foregoing embodiment has been described as applied to carrying the load 31 along the carrying route by receiving and transferring the load 31 by the plurality of carrying robots, the single carrying robot 31 may be used for carrying the load 31. A synthetic resin plate may be attached to the second arm to improve the shock absorbing property and sliding property of the second arm.
The carrying robot 300 has a first arm 36 inclined at a predetermined angle to a lower link 33; that is, the first arm 36 is inclined at a predetermined angle θ1 to a vertical imaginary line and is in a predetermined specific position. A second arm 38 has a first end 38a at a height H from a reference plane when the first arm 36 is in the predetermined specific position. The first arm 36, the second arm 38, a third arm 39 and a fourth arm 40 have lengths Y1, Y2, Y3 and Y4, respectively. The length of each arm is the distance between the opposite joints of the arm and the adjacent arms.
The length Y2 of the second arm is not greater than a first set value (H−Hc), where H is a vertical specific distance of a first end 38a of the second arm 38 from the reference plane when the first arm 36 is set in the specific position and Hc is a limit height Hc, namely, a lower limit height from the reference plane for the arms of the carrying robot 300.
In
As shown in FIGS. 27(1) to 27(4), the fourth arm 40 can be horizontally moved without changing the position of the fourth arm 40 and without lowering the arms 37 to 40 below the limit height Hc. Even in the reference position, the load can be held without reducing the respective height of the arms below the limit height Hc. The carrying robot 20A in a comparative example shown in
Under a second set condition, a value (Y3−Y2), where Y2 is the length of the second arm 38 and Y3 is the length of the third arm 39, is not greater than a value (H−Hc), where H is the height of the first end 38a of the second arm 38 from the reference plane and Hc is the limit height, in the reference position as shown in
Under the first and the second set condition, the length Y2 of the second arm 38 is not smaller than half a value (H0−H), where H0 is the height of the first end 38a of the second arm 38 from the floor surface in the reference position and H is the height of the first end 38a of the second arm from the reference plane in the specific position.
When the respective lengths of the second arm 38 and the third arm 39 are determined so as to meet the first and the second set conditions, the fourth arm 40 can be moved toward the bed without causing a state shown in
As shown in
The sizes of the arms of the carrying robot 300 shown in
These sizes of the arms meet the first and the second set conditions. More concretely, the value (Y2+Y3), where Y2 is the length of the second arm 38 and Y3 is the length of the third arm 39, is 810 mm, and the value (H0−Hc), where H0 is the height of the first end 38a of the second arm 38 from the floor surface in the reference position and Hc is the limit height, is not greater than 810 mm.
The value (Y3−Y2), where Y3 is the length of the third arm 39 and Y2 is the length of the second arm 38, is zero and not greater than the value (H−Hc)=410 mm, where H is the height of the first end 38a of the second arm from the reference plane in the specific position and Hc is the limit height.
The length Y2 of the second arm 38 is 405 mm and is not smaller than half the value (H0−Hc)=200 mm, where H0 is the height of the first end 38a of the second arm 38 from the floor surface in the reference position and Hc is the limit height. The length Y2 of the second arm 38 is 405 mm and is not greater than the value (H−Hc)=410 mm, where H is the height of the first end 38a of the second arm 38 in the reference position from the reference plane and Hc is the limit height.
The length Y4 of the fourth arm 40 is 800 mm equal to {H1−H0−(Y2+Y3)}=800 mm. Thus the carrying robot 300 meets all the foregoing conditions.
When the carrying robot of the present invention shown in
the load is at the shortest possible distance from the carrying robot as shown in
ΔX3=L1·sin θ1+L2+/√{square root over ((L4−L3)2−(H11−H)2)} (2)
The carrying robot 300 of the present invention shown in
ΔX2=L1·sin θ1−√{square root over ((L2+L3)2−(H−Hc)2)}+√{square root over ((L4)2−(H11−H)2)} (3)
The carrying robot 20A in the comparative example shown in
ΔX1=L1·sin θ1+√{square root over ((L2+L3)2−(H−Hc)2)}+√{square root over ((L4)2−(L11−Hc)2)} (4)
Under the foregoing conditions, ΔX2<ΔX3<ΔX1. The carrying robots 30 and 300 of the present invention can move the load closer thereto than the carrying robot 20A in the comparative example. Thus the carrying robot of the present invention can carry the load in a low position with the first arm 36 disposed at a predetermined position without changing the position of the fourth arm 40. In the reference position, the arms 36 and 38 to 40 are not lowered below the limit height Hc.
Although the preferred embodiments of the present invention have been described specifically with a certain degree of particularity, obviously many changes are possible therein. It is therefore to be understood that the present invention may be practiced otherwise than as specifically described herein without departing from the scope and spirit thereof.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2004-211921 | Jul 2004 | JP | national |
| 2004-211923 | Jul 2004 | JP | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/JP05/13313 | 7/20/2005 | WO | 3/2/2007 |
