JPS62102982A - Industrial 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 Field of Industrial Application The present invention relates to an industrial robot having multiple joints.

BACKGROUND OF THE INVENTION In recent years, it has been desired that collective robots produced in recent years should not interfere with surrounding objects in a narrow working environment, have fine arms, and be able to easily expand their joints.

An example of a conventional industrial robot will be described below with reference to the drawings. FIGS. 2 and 3 show external views of conventional industrial robots. In Figure 2, 1 is a pedestal, 2 is an upper arm, 3 is a forearm, 3a is a lever, 4.5, 6,
7 and 8 are motors each having a rotation angle detector, and 9 is a wrist.

In addition, in Fig. 3, 10 is a pedestal, 11- is a shoulder part, 12
is the upper arm, 13 is the forearm, 14 is the wrist, 15 and 16
are reduction gears in the upper arm and forearm drive systems, respectively.

The operation of the industrial robot configured as described above will be explained below.

In FIG. 2, the upper arm 2 is driven by a motor 4 and rotates on the base 1. Further, the motor 5 drives the upper arm 2, and the motor 7 drives the forearm 3 via the lever 3a. The rocking rotation of the wrist portion 9 with respect to the forearm 3 is as follows:
Driven by a motor 6 via a chain, the hand part 9
The pivoting rotation of the wrist part 9 of a is also driven by the motor 8 via a chain.

In addition, in FIG. 3, the motor 17 connects the shoulder 11 to the base 10.
A motor placed inside the shoulder 11 rotates the upper arm 12 via a speed reducer 15.
Rotate and oscillate against.

Similarly, a motor located within the upper arm 12 drives the forearm 13 via a reduction gear 16. The forearm 13 has three motors and rotation angle detectors disposed inside thereof, which enable rotation of the forearm 13 in the axial direction, rocking rotation of the wrist portion 14, and pivoting rotation of the hand portion 14a. do.

Problems to be Solved by the Invention However, with the above configuration, for example, in the case of the robot shown in Figure 2, the joints can be easily added, whereas in the case of the robot shown in Figure 3, it is easy to add joints. There are many convex parts in the joints such as the shoulders, and when the robot is used for work, there are many parts that interfere with surrounding objects.

In view of the above-mentioned problems, the present invention provides a robot having a structure in which addition of joints can be performed very easily and unnecessary protrusions in the shoulders and the like are eliminated.

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention has a hollow cylindrical arm having a rocking rotation joint at one end and a swivel joint at the other end.1. Two motors for driving each are arranged so that their output shafts are parallel to the central axis of the arm and in opposite directions inside the arm.

Furthermore, in the present invention, as another means, the first arm is supported coaxially with the first arm at one end of a hollow cylindrical first arm, and is pivotable with respect to the first arm by a first pivot joint. The second arm has a hollow cylindrical shape, and the end of the second arm has a swinging rotation joint and a second pivoting joint,
Three motors for driving the first and second pivot joints and the rocking rotary joint are arranged so that their output shafts are parallel to the central axis of the second arm. .

action J: Connection with other modules can be easily realized.

Embodiment Hereinafter, one embodiment of the present invention will be described based on the accompanying drawings. FIG. 1 shows a robot constructed of modules having joints in two or more axes according to an embodiment of the present invention. In Figure 1, 18.19 represents 1 joint of 2 axes.
This is an example of modules included in one module, and 20 is 3
This is an example of a module that includes shaft joints in one module. Regarding modules 18 and 19, a swinging rotation joint 22.25 and a swinging joint 23.26 are attached to both sides of hollow arms 21 and '24, respectively, and a swinging joint 22.25 and a swinging joint 23.26 are attached inside the hollow arms 21.24. Dynamic rotation joint 22.
25 and a motor for driving the pivot joints 23 and 26. Also, in the module 20, the hollow arm 2
An arm 28 forming a pivot joint with a hollow arm 27, a swinging rotary joint 29, and a pivoting joint 30 are supported on one side of the arm 7.

Module 18 and module 19 have exactly the same internal configuration; an example of the internal configuration of module 18 is shown in FIG. 4, and an example of the internal configuration of module 20 is shown in FIG.

In FIG. 4, 31 is a motor for driving a rotating joint; 32
33 is a coupling connected to the motor 31 for driving the pivot joint, and 33 is an encoder that detects the rotation angle of the motor 31 through the coupling 32. 34 is a motor for driving the swinging rotary joint, 35 is a coupling connected to the motor 34, and 36 is an encoder that detects the rotation angle of the motor 34 through the coupling 35. It is arranged parallel to the central axis of the hollow cylinder that constitutes the shaft or arm. Further, 37 and 38 are reduction gears for the rocking rotary joint and the swivel joint, respectively, and in this embodiment, a harmonic drive reduction gear is used.

Next, the operation of the module in the embodiment shown in FIG. 4 will be explained. The output of the motor 31 is slightly decelerated via a reduction gear section consisting of spur gears 39a and 39b, and then transmitted to the input shaft 40 of the reduction gear 37, and the output of the reduction gear 37 directly drives the pivot joint. Similarly, the output of the motor 34 changes its rotation direction and is decelerated by the bevel gear 41a141b, and is transmitted to the input shaft 42 of the reducer 38, and the output of the reducer 38 directly drives the swinging rotary joint. As described above, according to this embodiment, the motor and encoder for driving the swinging and rotating joints and the motor and encoder for driving the swivel joints are installed inside the hollow arm 21 parallel to the central axis of the hollow arm. In addition, by arranging them in opposite directions, it is possible to eliminate the protrusion at the joint.

Next, a second embodiment of the present invention will be described using FIGS. 5(a) and 5(b). Figure 5 is an internal configuration diagram of a module that includes three-axis joints in one module, where 43, 44, and 45 are motors that drive the three joints, 46, 47, and 48 are couplings, and 49, 50, and 51 are motors that drive the three joints. Motor 43.4 each
This is an encoder that detects a rotation angle of 4.45. These are mounted parallel to each other in hollow arms.

In addition, in FIG. 5, the output of the motor 43 is the spur gear 52a.
, 52b, 53a, 53bs 54as 54bs to drive the second hollow arm 55. Further, the output of the motor 44 is transmitted to the transmission shaft 58 by the spur gear 57a157b, and the transmission shaft 58 is further transmitted to the transmission shaft 58 by the spur gear 59a.
, 5'9b bevel gears 60a, 60b drive a member 66 constituting a swinging rotation joint that swings and rotates with respect to the hollow arm 55. Similarly, the output of the motor 45 drives the transmission shaft 62 through spur gears 61a and 61b, and
2 is spur gear 63a, 63b, bevel gear 64as 64b%
A pivot joint that pivots and rotates with respect to the member 66 via 65as65b is configured. The member 67 is driven. In the manner described above, a compact module having three joints without any protrusions is constructed. Furthermore, by using the modules shown in the examples shown in FIGS. 4 and 5, it is possible to construct a robot that has no convex parts as a whole and can easily add joints.

Effects of the Invention As described above, the present invention uses a module that includes joints of two or more axes in one module, and through the structure of the module, a motor is installed in a hollow cylindrical arm parallel to the arm center axis. By arranging multiple encoders and driving the swinging rotation joint or swivel joint provided at the end of the arm, the robot as a whole has no convex parts, is compact, and can be easily connected to other modules. An industrial robot can be constructed.

[Brief explanation of drawings]

FIG. 1 shows an external view of an industrial robot according to an embodiment of the present invention. 2 and 3 are external views of a conventional robot, and FIG. 4 is a cross-sectional view showing the internal structure of a module including two-axis joints in one module among the embodiments of the present invention. Figures (a) and (b) show examples of embodiments of the present invention.
FIG. 2 is a cross-sectional view showing the internal configuration of a module including three-axis joints in one module. 31.34...Motor, 33.36...
・Encoder, 37.38...Reducer, 39a
, 39b... Spur gear, 40.42--Human shaft, 41a, 41b... Bevel gear. Patent applicant: Director of the Agency of Industrial Science and Technology Todoroki Tatsun*tc---
Seven Joules Figure 1 ・H, 24,275-A 72.2j
, 29 uniform t7 rotation N node 2'J, 2HD---fL times Kanna Fig. 2 @ Fig. 3

Claims (2)

[Claims] (1) A hollow cylindrical arm, a swinging joint supported at one end of the arm so as to be swingable and rotatable relative to the arm, and a swinging and rotating joint supported at the other end of the arm for swinging rotation relative to the arm. The arm has two motors whose output shafts are arranged parallel to the central axis of the arm and in opposite directions, and a rotation joint of the two motors. two encoders that detect angles; and two sets of speed reducers that are connected to the output shafts of the two motors and transmit the rotations of the two motors at a reduced speed to the rocking rotation joint and the swivel joint, respectively. An industrial robot characterized by being composed of a module having a section and a module. (2) a hollow cylindrical first arm; a first arm disposed coaxially with the first arm at one end of the first arm;
a hollow cylindrical second arm rotatably supported by a pivot joint; It has a rocking rotary joint that is rotatably supported, and a second rotary joint that is rotatably supported with respect to the rocking rotary joint, and inside the first hollow arm, the a motor whose output shaft is arranged parallel to the central axis of the second arm in order to drive the second pivot joint, the rocking rotary joint, and the second pivot joint; Three encoders are connected to the output shafts of the three motors to detect the rotation of the three motors, respectively, to the first rotation joint, the swing rotation joint, and the second rotation joint.
1. An industrial robot comprising a module including three sets of reducer parts for transmitting power to the rotation joints of the robot.