JPS6099580A - Multi-joint 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] <Technical field of invention> The present invention relates to an articulated robot.

<Prior Art> Typical conventional examples of articulated robots include those shown in FIGS. 1 and 2.

In the figure, 1 is a body that rotates in the horizontal direction as indicated by an arrow 6, 2 is a first arm that is connected to the body 1 and rotates in a vertical direction as indicated by an arrow 7, and 3 is a first arm. 2, a second arm that rotates in the vertical direction indicated by arrow 8; 4, a wrist portion as a movable part that is connected to the tip of second arm 3, and rotates in the direction of arrow 9; 5; is continuous with the wrist part 4 and rotates in the direction of arrow 10, and the finger part continues with the hand part 5 and rotates in the direction of arrow 11.
12 is an electric motor fixed to the second arm 3, and the spur gear 1
A rotational force is transmitted to the hollow drive shaft 2° via 5A and 15B, and the wrist portion 4 is rotated in the direction of arrow 9. 13 is an electric motor fixed to the second arm 3, and spur gears 16A, 1
The rotational force is transmitted to the hollow drive shaft 21 inserted through the drive shaft 2o through the drive shaft 6B, and the hand portion 5 is rotated in the direction of the arrow 1° through the bevel gears 17A and 17B. Reference numeral 14 denotes an electric motor fixed to the second arm 3, which connects the drive shaft 22 through the drive shaft 21 through bevel gears 18A, 18B, 18C, 18D and spur gears 19A, 19B. 11
direction.

In such a conventional articulated robot, f! In order to be able to arrange each electric motor 12, 13, 14 on the base end side of the second arm 30 with the aim of minimizing the moment of inertia of the arm 3 of 2), a hollow drive shaft 20, 21 and a drive shaft are used. 22 has a triple structure, and a gear mechanism is appropriately arranged to transmit the rotational force of each electric motor 12, 13, 14.

However, the above-mentioned conventional device has the drawbacks of having a complicated structure, being difficult to manufacture, and being expensive.

<Summary of the Invention> The present invention has been made in view of the above points, and focuses on the fact that when the movable part continuous to the tip of the arm moves, the movable part of the arm continuous to the movable part also moves in the same way. The electric motor that drives the other movable parts is fixed to the transmission mechanism that transmits the rotational force of the electric motor to the former movable part, and one drive shaft of the motor is inserted into the hollow drive shaft of the former motor. Yoshi,
The purpose is to provide an articulated robot with a simple configuration.

<Embodiments of the invention> Hereinafter, one embodiment of the present invention will be described based on FIG. 3.

Incidentally, the same elements as those in the conventional example are given the same reference numerals and the explanation thereof will be omitted.

In the figure, reference numeral 23 denotes an electric motor fixed to a spur gear 15B, and its drive shaft 24 is inserted through the drive shaft 20, and a worm gear 25 is connected to the insertion end of the motor, and the hand portion 5 is connected to the arrow 1.
Rotate in the 0 direction. 26 is an electric motor fixed to the spur gear 15B like the electric motor 23, and its drive shaft 27 is also inserted through the drive shaft 20, and a worm gear 28 is axially connected to the insertion end of the electric motor. Part A is rotated in the direction of arrow 11.

Next, the effect will be explained.

When the electric motor 12 is driven, the wrist portion 4 including the electric motor 23, 26, the finger portion A, and the hand portion 5 rotates at the same angular velocity via the spur gears 15A and 15B.

When the electric motor 23 is driven, the end portion 5 rotates in the direction of the arrow 10 via the drive shaft 24 and the worm gear 25, and when the electric motor 26 is driven, the drive shaft 27. Worm gear 28. Finger portion A rotates in the direction of arrow 11 via bevel gears 29A and 29B.

In this way, the drive shaft 20 is driven by the electric motor 12 in multiple rotations.
Electric motors 23 and 26 for driving the finger section 5 and the finger section A are fixed to the spur gear 15B connected to the drive shaft 24.
．． 27' through which the hollow drive shaft 20 is inserted, the electric motor 23. ．． The rotational force transmission mechanism of 26 can be simplified, making manufacturing extremely easy and reducing costs.

<Effects of the Invention> As explained above, according to the present invention, a plurality of continuous movable parts are provided at the tip of an arm, each of which is different from the arm, but has a different degree of freedom of movement, and each of the above-mentioned In an articulated robot configured to drive the movable parts by respective electric motors, the electric motors that drive the movable parts that are directly continuous with the arm are fixed to the arm, and the other movable parts are fixed to the arm. The electric motor that drives the motor is fixed to a transmission mechanism that transmits the rotational force of the former electric motor, and the drive shaft of the latter electric motor is inserted into the hollow drive shaft of the transmission mechanism of the former electric motor. This has the advantage that the structure can be simplified, manufacturing is extremely easy, and costs can be reduced.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an articulated robot, FIG. 2 is a sectional view of a conventional distal arm, and FIG. 3 is a sectional view of a distal arm according to an embodiment of the present invention. 3... Second arm 4... Wrist part s... Hand part 12, 23. 26... Electric motor 15A. 15B... Spur gear 20, 24.27... Drive shaft A
...Finger part

Claims (1)

[Claims] A plurality of continuous movable parts are connected to the tip of the arm and have different degrees of freedom of movement even though their ends are different from that of the arm, and the movable parts are configured to be driven by respective electric motors. In the multi-jointed robot, an electric motor that drives a movable part that is directly continuous with the arm is fixed to the arm, and a transmission that transmits the rotational force of the former electric motor to the electric motor that drives the movable parts of the other remaining parts is fixed to the arm. An articulated robot fixed to a mechanism, and characterized in that the drive shaft of the latter electric motor is inserted into the hollow drive shaft of the transmission mechanism of the former electric motor.