JPS5937077A - Driving mechanism of articulated type robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an articulated robot, that is, a single-force base that pivots around a vertical axis 6, and a single-force base that pivots around a horizontal axis that is parallel to each other. Regarding the drive mechanism of an articulated robot, which includes a first arm 8, a second arm, and a jointed arm means consisting of a wrist arm, which are connected to each other so as to be bendable and rotatable, the motor driving the driven arm such as the arm is connected to the jointed arm. The gear reduction device 4. is arranged on the base tjl side of the means to reduce the moment of inertia when driving the articulated arm means. Positioned close to the driven part, it is easy to perform high-precision arc drive.
This is something that should be changed.

Hereinafter, one embodiment of the present invention will be described based on the attached illustrative drawings. In FIG. , 4 is a one-stage I-F 1-section arc provided on the rotating base 2''. The articulated arm means 4 has a first arm port whose inner end is rotatably supported around a horizontal axis 5, and an outer end-side portion of the first arm 6, which is rotatably supported on the pivot base 2. A second arm 8 is rotatably supported around a horizontal axis 7, and a horizontal axis 9 is located on the side RB (the side where the first arm 6 is located) of the second arm 8. The wrist arm 10 is equipped with a wrist arm 1o that is rotatably supported around the wrist.
A wrist main body 12 is provided which rotates around an axis 11 perpendicular to the horizontal axis 9. Note that each of the horizontal axes 5.
7.9 are parallel to each other.

As shown in FIGS. 2 and 3, the cylindrical circulation base 2 is rotatably supported by a bearing 15 while being fitted onto one end of the base 1. ing.

Reference numeral 14 denotes a rotating base driving motor, and C1 is installed in the base 1 and supported concentrically with the vertical axis 6, and a gear reducer 15 (harmonic reducer, etc.) is connected to the output shaft 14a facing toward the ground. A human power shaft 15a is coupled thereto, and an upward output shaft 15b of the gear reducer 15 is fixed to the rotation base 2-spray 12a. Reference numeral 16 denotes a cylindrical body for supporting a motor, which is installed upright within the base 1 and which houses the motor 14, and which is attached to the upper end of this cylindrical body 16 and houses the gear reducer 15. A conical cylindrical member 17 suspends the motor 14 via a bracket 118, and also connects both Mll gear reduction R15 input and output shafts 15a, 15.
b is supported by a bearing 19.

Therefore, the rotation of the output shaft 14a of the motor 14 is transmitted to the rotation coupling 2 while being decelerated by the gear reducer 15, and the rotation base 2 is installed with an axis perpendicular to the base 1. The rotation of the center 6 (rotation/liL) will be observed.

Reference numeral 20 denotes a first arm drive motor, which is installed on the hearth spray 12a in the rotating base 2 in a state close to the vertical axis 6. This motor 20
The output shaft 20a of the gear reducer 24 is interlocked with the central input shaft 24a of the ζ retarder 24 through the toothed bell wheels 21 and 22 and the toothed bell 125. 5, the outer fixing ring 24b of which protrudes from the =L portion of the base 2.
At the same time, a ring-shaped output rotating body 24c is fixed to one side of the first boot 1.6.

Therefore, the rotation of the output shaft 20a of the motor 20 is transmitted to the central human power shaft 24a of the gear reduction device 24 via the toothed bell wheel 21, 22 and the toothed belt 26, and this device 24 After being connected, the ring-shaped output rotating body 2
4c to the first arm 6.
is rotated about the horizontal axis 5 with respect to the rotating base 2.

Reference numeral 26 denotes a wrist arm drive motor arranged concentrically with the horizontal axis 5, and is supported by the bearing portion 25 via a bracket 27 that covers the toothed bell wheel 22. This motor 26 has an output shaft 26a
A gear reducer (harmonic reducer, etc.) 28 connected to
And an endless chino via the rotating shaft 29! Drive 10.

The 0:1 rotary shaft 29 projects on the rotating base 2 so as to be located between the bifurcated inner ends of the first armo 6, while passing through the central input shaft 24a of the gear reduction gear 24. Installed solid bearing part '51 and O: Brarisso 1 for motor support marked with ■
27, and one end is connected to the output rotating body 28a of the gear reducer 28. 29, and the tooth ring 53, which is concentric with the horizontal axis 7, which is the center of rotation of the second arm 8, as shown in FIGS. 4 and 5. It is hung.

This gear i53 is fixed to the second arm 8 so as to be concentric with the horizontal axis 7, and rotatably supported by a cylindrical shaft 64 protruding toward the first arm 6 side. ? 55 is the - of the second arm 8
・It is an endless chain stretched on the side (6.
The gear ring 36 is formed integrally with the tooth ring 53, and the tooth ring 57 is
It is fixed to the wrist arm 10 and is fixed to a cylindrical shaft 38 which is supported on the second end of the second arm 8 in a state concentric with the horizontal axis 9.

Therefore, the rotation of the output shaft 26a of the motor 26 is reduced by the float reducer 28.
The wrist arm 1o is transmitted to the first arm 8 via the toothed ring 32, the endless chain 50.12, the endless chain 50.12, the endless chain 50.12, the toothed ring 55, and the toothed ring 57. It is rotated around the center 9.

In Figure 2, ゛ζ, 6? is a wrist main body driving motor, which drives the endless gear 42 via a float reducer (such as a harmonic reducer) 40 and a rotating shaft 41 connected to its output shaft '59a. The rotating shaft 41 is concentric with the horizontal axis 5, which is the center of rotation of the first arm 6, and has both ends connected to a bearing portion 43 that projects upward from the MiJ turning base 2 and the solid bearing portion 51. The outer end is supported by the gear reducer 4.
0 output rotating body 40a. The motor 39 and the gear reducer 40 are supported by a bracket 44 fixed to the bearing 845 so as to be concentric with the horizontal axis 5.
There is. The end portion of the bifurcated inner end portion of the first arm 6 that is loosely fitted between the solid bearing portion 31 and the bearing portion 25 is connected to the gear reduction device 24 as shown in 1. Although it is supported by the rotating shaft 29, the end portion on the side that loosely fits between the solid bearing portion 61 and the bearing portion 45 is directly supported by the n;1 rotating shaft 41. The endless chain 42 is stretched on the opposite side of the first arm 6 from the side where the endless chain '50 is located,
n; I arrangement A toothed wheel 45 fixed to the rotating shaft 41, and a toothed wheel 46 concentric with the horizontal axis 7 as shown in FIGS. 4 and 5.
It is hung between. This tooth ring 46 is connected to the cylinder shaft 6.
4, and extends between the first arm 6 and the second arm 8 (fixed to the first art side end of the supported rotating shaft 47). An endless chain is provided on the side opposite to the side where the endless chain 55 is located, and has a gear ring 49 fixed to the second arm side end of the rotation shaft 47 and a concentric ring in the sleeve 68. It is suspended between one end of a rotating shaft 50 supported by a fixed gear ring 51.

The rotation shaft 50 is a drive shaft 52 of the nil recorder 6 main body 12.
and 'ζ are interlocked and connected via bevel gears 53 and 54.

Therefore, motor 6? The rotation of the output shaft 59a is decelerated by the gear reducer 40. °C1 rotating shaft 41, gear wheel 45, non-Og1 chain 42, gear wheel 46, rotating shaft 47
, tooth ring 49, endless line 48, tooth ring 51, rotating shaft 50,
and wrist main body drive shaft 52 through all teeth '1E53.54
The wrist body 12 is rotated C times around the axis 11 with respect to the wrist body 12 and 10.

In Fig. 3, 55 is a motor for driving the second arm. The output shaft 55a of the motor 55 is installed on the inner end side of the first arm 6 so as to be located approximately directly above the horizontal axis 5. The shaft 55a includes an intermediate rotating shaft 56 supported at an intermediate position of the first armo, 6, a bell 1 wheel 57, 58 with i!lj, and a toothed belt 5.
9 - (interlockingly connected, n: 1 intermediate rotating shaft 56,
As shown in FIG. 5, the central human power shaft 60 of the gear reduction gear 60
a, toothed bell I wheel 61, 62 and toothed heald 65
The gear reduction device 60 is connected to the
is supported inside the outer end of the first arm 6, with a rotating shaft 47 concentric with the iTI horizontal axis 7 passing through the center manpower shaft 60a, and the outer fixing ring 60b is attached to the first arm 6. 6, and the ring-shaped output rotating body 60c is fixed to the enlarged diameter cylindrical portion 34a of the cylindrical shaft 64 which is fixed on the near-eighth side.

The rotation of the output shaft 55 of the motor 55 is caused by the toothed belt wheel 57, 58 and the driven bell 15?
(transmitted to the intermediate rotating shaft 56, and further transmitted to the central human power shaft 60a of the gear reduction device ili', 60 via the toothed heald wheels 61, 62 and the toothed bell 163, and is decelerated by the device 60. After that, it is transmitted from the ring-shaped output rotating body 60c to the sleeve sleeve '54, and
is rotated u around the horizontal axis 7 with respect to the arbor 66.

In FIG. 3, reference numeral 64 denotes a sprinkling harness, and a cylinder 65 is fixed to the rotating base 2 substantially in the direction of the ground.
Inside this cylinder 65, there is a screw 67 which is inserted downwardly by a spring 66, and a screw 67 which projects upwardly from this screw 67. 70 is composed of a coil spring 68 which is provided with
As shown in FIG. The rotary ring 7o is fitted with a loose fit.A chain guide 71 is protruded from the rotary ring 7o using the - part of the tooth ring.
(The other end of the chain 72, one end of which is locked to the upper end of this chain guide 71, is locked to the rod 68 of the spring balancer 64 with the chain 72 placed on this chain guide 71. As shown in FIG. 2, a pin 74 protruding from the side surface of the first arm 6 is loosely fitted into a long hole 73 formed concentrically in the rotary ring 70. , the first arm 6 fell approximately 30 degrees backward from its vertical position.''
0゛To the intermediate position B of the front force, approximately ai + backward rotation range [71 to h6゛ (When rotating, the lower end of the engine guide 71 is h1 times the base as shown by the rotating ring 70 or the imaginary line) The pin 74 rotates in the elongated hole 75 from position a to position b while remaining stopped at the return limit where it contacts the pin 74.
When the arm 6 moves in the downward rotation range R2 from the intermediate position B to the substantially horizontal downward movement limit position C, the pin 74 It comes into contact with the upper end of the long 7L73.
Then rotate the rotating ring 7o in the opening direction as shown in the figure.
The main spring 66 is compressed.

Therefore, when the first 7-no.6 rotates within the rotation range IgI in the direction of force, the spring balancer 64 does not act -υ, and the first 7-no. Rotate downward @ Rotate within the circle R2 (only when there is an intermediate position B
It is proportional to the rotation angle from to the lower blade (spring balancer
The main coil spring 66 of 64 is compressed, and its reaction force is directed in a direction that does not cancel out the downward rotational force acting on the first arm 6 due to the output, that is, in the direction of lifting the first arm. A motor 20 acts on the motor 20 and rotates the first arm 6.
Reduce the load placed on ix. In addition, the first A and the sixth are the downward movement I.
When it is within the rotation range shown in the table to reach the lower movement limit position C from a little before reaching Iυ position C, I! 11, in the region where the downward rotational force acting on the first arm 6 due to the output is maximum, not only the main coil spring 66 but also the sub coil spring 69 are compressed and act on the first arm 6. The lifting power is increased.

According to the articulated robot configured as described above, the motor 14 performs the rotation movement around the vertical axis 3 of the rotation base 2, and the motor 2o performs the first rotation movement around the vertical axis 3.
Horizontal axis 51 of arm 6! The motor 55 rotates the second arm 8 around the horizontal axis 7, and the motor 26 rotates the wrist arm 1o around the horizontal axis 9. Rotational movement and motor 69
Rotation 1 around the axis 11 of the palm body 12 that rotates 4 lines
11"I as appropriate, the wrist body 1
2, move the various L1 hono 1 handle 1' attached to Jy from any arbitrary position to any other arbitrary position along any route, and perform the intended work with the said [1 hono] hash t'. I can do it.

Joints of the invention! 1'+ Robot drive mechanism is above.)
It can be implemented and used in
The central human power is placed concentrically with the center of rotation of at least one arm (hereinafter referred to as the specific arm; in the embodiment, the first arm, the first arm, and the third arm, γ-), and 8) of the joint arm means. Float speed reducer I equipped with a ring-shaped output rotating body concentric with the shaft! 2 (the float reduction series WI24, 60 of the example) is arranged, and the specific arm drive motor (motor 2 of the example
0.55) and the central input shaft of the gear reduction device.
) is interlocked and connected to the transmission means (the transmission means using the tooth 4 of the embodiment = J wheel 123, and the transmission means using the bell 59.63), and the n: 1 gear reduction The ring-shaped output rotating body of the device is directly connected to the specific arm, and this float jiV: A rotating shaft that is supported so as to be relatively rotatable through the central human power axis of the float (191 rotating shaft 29.47 of the embodiment). , other driven parts (-1-117- of the embodiment), 10,
It is used as a relay shaft for transmitting rotational force to the wrist body 12).

According to the configuration of the present invention, the motor, which has a large weight, is disposed on the swing base or a position close to it.
Compared to the case where the motor is located close to the driven part, the IFI when driving the C-joint arm means is lower! tmomon 1
This makes it possible to reduce the capacity of the motor and facilitate control. Moreover, it is not possible to directly connect a gear reduction device to this motor. This eliminates all of this, making it possible to drive the arm with high precision.Furthermore, the rotation shaft that passes through the central human power shaft of this gear reduction gear is used to
Despite the fact that a gear reduction device is disposed at the joint of the C1 joint armo/means for transmitting the rotational force to the driven part, the joint can be constructed as a combination 1, and the arm can be rotated as described above. During force transmission, the II axis can be used to provide firm support.

In the embodiment, the configuration of the present invention was used as the drive mechanism for the first arm 6 and the second arm 8, but it may also be used for only one of them, or as the drive mechanism for the manual Arno 10. You can also do that.

[Brief explanation of drawings]

Figure 1 is a perspective view of the entire structure, Figure 2 is a vertical front view of the area around the rotating base, Figure 3 is a vertical side view of the area around the spring balancer, Figure 4 is a side view of the articulated arm means, and Figure i15 is the same part. A cross-sectional plan.

Claims (1)

[Claims] a rotating base that rotates around a vertical axis; a first arm and a second arm that are connected to the rotating base so that they can be bent and rotated about horizontal axes that are parallel to each other; and two stages of articulated arms consisting of a hand lamp arm], in a state concentric with the center of rotation of at least one arm (hereinafter referred to as the specific arm) among the various arms mentioned above. A gear reduction device equipped with a ring-shaped output rotating body concentric with the central human power shaft is arranged, and a specific Arno/drive motor and the gear reduction device are installed at a distance from the gear reduction device toward the turning base. The ring-shaped output rotary body of the gear reduction device is connected to the central human power shaft by a winding transmission means, and the ring-shaped output rotating body of the gear reduction device is coupled to the specific arm, and is supported through the central human power shaft of the gear reduction device so as to be relatively rotatable. A drive mechanism for an articulated robot 1 that uses a rotating shaft as a relay shaft for transmitting rotational force to other driven parts, such as art, located on the distal end side of the articulated arm means with respect to the rotating shaft.