CN103707316A - Industrial robot - Google Patents
Industrial robot Download PDFInfo
- Publication number
- CN103707316A CN103707316A CN201310370776.8A CN201310370776A CN103707316A CN 103707316 A CN103707316 A CN 103707316A CN 201310370776 A CN201310370776 A CN 201310370776A CN 103707316 A CN103707316 A CN 103707316A
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- China
- Prior art keywords
- decelerator
- motor
- output shaft
- arm
- gear
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/105—Programme-controlled manipulators characterised by positioning means for manipulator elements using eccentric means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Retarders (AREA)
Abstract
The invention discloses an industrial robot capable of disposing an eccentric swinging-type decelerator and a planetary gear decelerator on a joint part of a motor, and transmitting the power from the motor to the eccentric swinging-type decelerator and the planetary gear decelerator. According to the industrial robot, a motor (14) and a decelerator (31) are disposed on a joint part (13) between a rotating frame (3) and a first arm (4), and the decelerator (31) can be used to transmit the rotating speed of the motor (14) in a decelerated manner. The decelerator is the eccentric swinging-type decelerator or the planetary gear decelerator. The eccentric swinging-type decelerator or the planetary gear decelerator is provided with a plurality of input gears (31a), which is disposed on a concentric circle taking a shaft center of the decelerator (31). The motor (14) is fixedly disposed on one of the rotating frame (3) or the first arm (4). The output side of the decelerator (31) is fixedly disposed one of the rotating frame (3) or the first arm (4), and output shaft gears (14b) engaged with the input gears (31a) are directly formed on the output shaft (14a) of the motor (14).
Description
Technical field
The present invention relates to a kind of industrial robot that disposes motor and decelerator at joint portion.
Background technology
Be known to a kind of industrial robot (for example,, with reference to patent documentation 1) that disposes motor and eccentric rocking type reduction gear at joint portion in the past.In the industrial robot of recording at patent documentation 1, spindle unit is fixed on the outer circumferential side of the output shaft of motor.Long from the length of the outstanding part of motor body in the output shaft of the Length Ratio motor of this spindle unit.And, the patchhole that inserts and be fixed at a distolateral output shaft being formed with for motor of this spindle unit, and be formed with and the input gear meshed gears that is configured in the inside of eccentric rocking type reduction gear at another distolateral outer peripheral face of spindle unit.
Prior art document
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 2006-297558 communique
In the industrial robot of recording at patent documentation 1, owing to being formed at inserting in the hole of spindle unit and inserting and be fixed with the output shaft of motor, therefore have because of being subject to the impact in the gap between the output shaft of motor and the patchhole of spindle unit, and make to be formed at the worry of axially toppling over of the axial output shaft with respect to motor of the gear of spindle unit.And, in this industrial robot, owing to being formed with gear from another distolateral outer peripheral face of the long spindle unit of the length of the outstanding part of motor body in than the output shaft of motor, and the distance between this gear and motor body is elongated, if therefore gear axially with respect to axially the toppling over of the output shaft of motor, the side-play amount of gear increases.If being formed at the side-play amount of the gear of spindle unit increases, the input gear that has the inside that is disposed at eccentric rocking type reduction gear cannot suitably mesh with the gear that is formed at spindle unit, thereby the power of motor cannot suitably be delivered to the worry of eccentric rocking type reduction gear.
Summary of the invention
Therefore, problem of the present invention is to provide a kind of industrial robot that disposes eccentric rocking type reduction gear or pinion gear decelerator and motor at joint portion, the power from motor suitably can be delivered to eccentric rocking type reduction gear or pinion gear decelerator.
In order to solve above-mentioned problem, industrial robot of the present invention is characterised in that, comprise first component, second component, motor and decelerator, described second component is connected with first component in the mode that can rotate, described motor configurations is in the joint portion that first component is connected with second component, described decelerator is disposed at described joint portion and the rotating speed of motor is slowed down and transmitted, decelerator is eccentric rocking type reduction gear or pinion gear decelerator, described eccentric rocking type reduction gear or described pinion gear decelerator have a plurality of input gears on the concentric circles being configured in centered by decelerator Zhou center, motor is fixed on any one party in first component or second component, the outlet side of decelerator is fixed on any the opposing party in first component or second component, on the output shaft of motor, be directly formed with the output shaft gear with a plurality of input gear engagements.
In industrial robot of the present invention, be directly formed at the output shaft of motor with the output shaft gear of a plurality of input gears engagement of eccentric rocking type reduction gear or pinion gear decelerator.Therefore, in the present invention, can eliminate the axial axial inclination of output with respect to motor of output shaft gear, thus the side-play amount that can dwindle output shaft gear.And, in the present invention, because output shaft gear is directly formed at the output shaft of motor, so can shorten the distance between output shaft gear and motor body.That is, can shorten the bearing of output shaft of the inside that is configured in motor body and the distance between output shaft gear.Therefore, suppose, even if the output shaft of motor self tilts, also can reduce the side-play amount of output shaft gear.Like this, in the present invention, owing to can dwindling the side-play amount of output shaft gear, therefore can make a plurality of input gears and the output shaft gear of eccentric rocking type reduction gear or pinion gear decelerator suitably mesh, thereby the power from motor suitably can be delivered to eccentric rocking type reduction gear or pinion gear decelerator.
In the present invention, be preferably input gear be configured in decelerator axially on the end of motor side.If formed by this way, can further shorten and the output shaft gear of input gear engagement and the distance between motor body, thereby can further shorten the bearing of output shaft of the inside that is disposed at motor body and the distance between output shaft gear.Therefore, suppose, even if the output shaft of motor self tilts, the side-play amount that also can further dwindle output shaft gear.
In addition, for solving above-mentioned problem, industrial robot of the present invention is characterised in that, comprise bedframe, convolution framework, the first motor and the first decelerator, described convolution framework is connected with bedframe in the mode that can rotate, described the first motor configurations is in the first joint portion that bedframe is connected with convolution framework, described the first decelerator is disposed at the first joint portion, and the rotating speed of the first motor is slowed down and transmitted, the first decelerator is eccentric rocking type reduction gear or pinion gear decelerator, described eccentric rocking type reduction gear or described pinion gear decelerator have a plurality of the first input gears on the concentric circles being configured in centered by the first decelerator Zhou center, the first motor is fixed on any one party in bedframe or convolution framework, the outlet side of the first decelerator is fixed on any the opposing party in bedframe or convolution framework, on the output shaft of the first motor, be directly formed with the first output shaft gear with a plurality of the first input gear engagements.
In industrial robot of the present invention, be directly formed at the output shaft of the first motor with the first output shaft gear of a plurality of first input gears engagements of eccentric rocking type reduction gear or pinion gear decelerator.Therefore, in the present invention, can eliminate the axial axial inclination of output with respect to the first motor of the first output shaft gear, in addition the distance between the first output shaft gear and the first motor body can be shortened, thereby the bearing of output shaft of the inside that is disposed at the first motor body and the distance between the first output shaft gear can be shortened.Therefore, in the present invention, can dwindle the side-play amount of the first output shaft gear, consequently can make a plurality of the first input gears and first output shaft gear of eccentric rocking type reduction gear or pinion gear decelerator suitably mesh, thereby the power from the first motor suitably can be delivered to eccentric rocking type reduction gear or pinion gear decelerator.
In addition, in order to solve above-mentioned problem, industrial robot of the present invention is characterised in that, comprise bedframe, convolution framework, the first arm, the second motor and the second decelerator, described convolution framework is connected with bedframe in the mode that can rotate, the base end side of described the first arm can be take the mode of the axial rotation that second direction be to rotate with described the first arm and is connected with the framework that circles round, what described second direction and convolution framework rotated with respect to bedframe is axially first direction quadrature, described the second motor configurations is in the second joint portion that convolution framework is connected with the first arm, described the second decelerator is disposed at second joint portion, and the rotating speed of the second motor is slowed down and transmitted, the second decelerator is eccentric rocking type reduction gear or pinion gear decelerator, described eccentric rocking type reduction gear or described pinion gear decelerator have a plurality of the second input gears on the concentric circles being configured in centered by the second decelerator Zhou center, the second motor is fixed on any one party in convolution framework or the first arm, the outlet side of the second decelerator is fixed on any the opposing party in convolution framework or the first arm, on the output shaft of the second motor, be directly formed with the second output shaft gear with a plurality of the second input gear engagements.
In industrial robot of the present invention, be directly formed at the output shaft of the second motor with the second output gear of a plurality of second input gears engagements of eccentric rocking type reduction gear or pinion gear decelerator.Therefore, in the present invention, can eliminate the axial axial inclination of output with respect to the second motor of the second output shaft gear, in addition the distance between the second output shaft gear and the second motor body can be shortened, thereby the bearing of output shaft of the inside that is disposed at the second motor body and the distance between the second output shaft gear can be shortened.Therefore, in the present invention, can dwindle the side-play amount of the second output shaft gear, consequently, can make a plurality of the second input gears and second output shaft gear of eccentric rocking type reduction gear or pinion gear decelerator suitably mesh, thereby the power from the second motor suitably can be delivered to eccentric rocking type reduction gear or pinion gear decelerator.
In the present invention, be preferably on convolution framework and be formed with the first recess and the second recess, opposite side facing to the second direction depression of the side of described the first recess the second direction of convolution framework, a side depression facing to second direction of the opposite side of described the second recess the second direction of convolution framework, and in the first recess, configure at least a portion of the second motor, in the second recess, dispose at least a portion of the second decelerator.By forming by this way, can be by the miniaturization of second joint portion in second direction.And, due to can be by the miniaturization of second joint portion in second direction, required moment when the framework that therefore can reduce to circle round rotates with respect to bedframe.
In the present invention, be preferably industrial robot and there is the first motor that is disposed at the joint portion that bedframe is connected with convolution framework, the first arm is configured in face one side of opposite side in the second direction of convolution framework, and, when the direction from the first imaginary plane quadrature is observed, it is that the first output shaft is by the position of the first arm one side that the second decelerator is configured in than the output shaft of the first motor in second direction, and the imaginary extended line of the first output shaft and the output shaft of the second motor i.e. the second output shaft intersect, above-mentioned the first imaginary plane consists of first direction and second direction.By forming by this way, easily obtain the balance of second joint portion in second direction.Therefore, can be suppressed at circle round while rotating with respect to the bedframe vibration of framework of convolution framework.
In addition, in order to solve above-mentioned problem, industrial robot of the present invention is characterised in that, comprise bedframe, convolution framework, the first arm, the second arm, three-motor and the 3rd decelerator, described convolution framework is connected with bedframe in the mode that can rotate, the base end side of described the first arm can be take the mode of the axial rotation that second direction be to rotate with the first arm and is connected with convolution framework, and described second direction is axially first direction quadrature with the framework that circles round with respect to bedframe rotation.The base end side of described the second arm can take with the second arm the mode that third direction is the axial rotation of rotating, can be installed on rotationally the front of the first arm, described third direction is parallel with second direction, described three-motor is disposed at the 3rd joint portion that the first arm is connected with the second arm, described the 3rd decelerator is disposed at the 3rd joint portion, and the rotating speed of three-motor is slowed down and transmitted, the 3rd decelerator is eccentric rocking type reduction gear or pinion gear decelerator, described eccentric rocking type reduction gear or described pinion gear decelerator have a plurality of the 3rd input gears on the concentric circles being configured in centered by the 3rd decelerator Zhou center, three-motor is fixed on any one party in the first arm or the second arm, the outlet side of the 3rd decelerator is fixed on any the opposing party in the first arm or the second arm, on the output shaft of three-motor, be directly formed with the 3rd output shaft gear with a plurality of the 3rd input gear engagements.
In industrial robot of the present invention, be directly formed at the output shaft of three-motor with the 3rd output shaft gear of a plurality of the 3rd input gears engagements of eccentric rocking type reduction gear or pinion gear decelerator.Therefore, in the present invention, can eliminate the axial axial inclination of output with respect to three-motor of the 3rd output shaft gear, in addition the distance between the 3rd output shaft gear and three-motor main body can be shortened, thereby the bearing of output shaft of the inside that is disposed at three-motor main body and the distance between the 3rd output shaft gear can be shortened.Therefore, in the present invention, can reduce the side-play amount of the 3rd output shaft gear, consequently, can make a plurality of the 3rd input gears and the 3rd output shaft gear of eccentric rocking type reduction gear or pinion gear decelerator suitably mesh, thereby the power from three-motor suitably can be delivered to eccentric rocking type reduction gear or pinion gear decelerator.
In the present invention, be preferably and on the second arm, be formed with the 3rd recess and the 4th recess, opposite side facing to the third direction depression of the side of described the 3rd recess from the third direction of the second arm, a side depression facing to third direction of the opposite side of described the 4th recess from the third direction of the second arm, and in the 3rd recess, dispose at least a portion of three-motor, in the 4th recess, dispose at least a portion of the 3rd decelerator.By forming by this way, can be by the 3rd joint portion miniaturization on third direction.And, due on third direction, can be by the 3rd joint portion miniaturization, required moment when the framework that therefore can reduce to circle round rotates with respect to bedframe.
In the present invention, be preferably industrial robot and there is the first motor that is disposed at the first joint portion that bedframe is connected with convolution framework, the first arm is configured in face one side of the opposite side on the third direction of the second arm, and when the direction from the second imaginary plane quadrature is observed, it is that the first output shaft is by the position of the first arm one side than the output shaft of the first motor that the 3rd decelerator is configured on third direction, and the imaginary extended line of the first output shaft and the output shaft of three-motor i.e. the 3rd output shaft intersect, described the second imaginary plane consists of first direction and third direction.By forming by this way, easily obtain the balance of the 3rd joint portion on third direction.Therefore, can be suppressed at circle round while rotating with respect to the bedframe vibration of framework of convolution framework.
As mentioned above, in the present invention, in eccentric rocking type reduction gear or pinion gear decelerator and motor configurations, in the industrial robot of joint portion, the power from motor suitably can be delivered to eccentric rocking type reduction gear or pinion gear decelerator.
Accompanying drawing explanation
Fig. 1 is for the side view of the schematic configuration of the industrial robot that embodiments of the present invention are related is described.
Fig. 2 is the rearview from the E-E direction indication industrial robot of Fig. 1.
Fig. 3 is the figure for the structure of the first joint portion shown in key diagram 1.
Fig. 4 is the figure for the structure of the second joint portion shown in key diagram 1.
Fig. 5 is the figure for the structure of the 3rd joint portion shown in key diagram 1.
(symbol description)
1 robot (industrial robot)
2 bedframes (first component)
3 convolution frameworks (first component, second component)
3a recess (the first recess)
3b recess (the second recess)
4 first arms (first component, second component)
5 second arms (second component)
5a recess (the 3rd recess)
5b recess (the 4th recess)
11 joint portions (the first joint portion)
12 motor (the first motor)
12a output shaft (the first output shaft)
12b output shaft gear (the first output shaft gear)
13 joint portions (second joint portion)
14 motor (the second motor)
14a output shaft (the second output shaft)
14b output shaft gear (the second output shaft gear)
15 joint portions (the 3rd joint portion)
16 motor (three-motor)
16a output shaft (the 3rd output shaft)
16b output shaft gear (the 3rd output shaft gear)
30 decelerators (the first decelerator)
30a input gear (the first input gear)
31 decelerators (the second decelerator)
31a input gear (the second input gear)
32 decelerators (the 3rd decelerator)
32a input gear (the 3rd input gear)
The specific embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described.
(schematic configuration of industrial robot)
Fig. 1 is for the side view of the schematic configuration of the related industrial robot of embodiments of the present invention 1 is described.Fig. 2 is the rearview from the E-E direction indication industrial robot 1 of Fig. 1.
The industrial robot 1 of present embodiment (hereinafter to be referred as " robot 1 ") is for having the vertical articulated robot of a plurality of joint portions.Specifically, the welding robot that robot 1 is joint type, more particularly, is the welding robot of so-called six axle joint types.This robot 1 comprises bedframe 2, convolution framework 3, the first arm 4, the second arm 5 and wrist portion 6, described bedframe 2 is fixed in the installation surface of regulation, described convolution framework 3 is connected with bedframe 2 in the mode that can rotate, described the first arm 4 is connected with convolution framework 3 in the mode that can rotate, described the second arm 5 is connected with the first arm 4 in the mode that can rotate, and described wrist portion 6 is connected with the second arm 5 in the mode that can rotate.Wrist portion 6 comprises convolution portion 8, swing part 9 and instrument installation portion 10, described convolution portion 8 is connected with the second arm 5 in the mode that can rotate, described swing part 9 is connected with convolution portion 8 in the mode that can rotate, and described instrument installation portion 10 is connected with swing part 9 in the mode that can rotate.
The mode that can rotate centered by the second axis A2 with first axle A1 quadrature by the first arm 4 (that is, what can take the second axis A2 is axially that second direction is the mode of the axial rotation of rotation), makes the base end side of the first arm 4 be connected with convolution framework 3.Joint portion 13 places in the second joint portion as convolution framework 3 is connected with the first arm 4 dispose the motor 14 as the second motor.Concrete structure about joint portion 13 will be described below.
The mode that can rotate centered by the 3rd axis A3 parallel with the second axis A2 by the second arm 5 (, what can take the 3rd axis A3 is axially that third direction is the mode of the axial rotation of rotation), the base end side of the second arm 5 is connected with the front of the first arm 4.Joint portion 15 places at the 3rd joint portion as the first arm 4 is connected with the second arm 5 dispose the motor 16 as three-motor.Concrete structure about joint portion 15 will be described below.
The mode that can rotate centered by the four axistyle A4 with the 3rd axis A3 quadrature by convolution portion 8 (that is, what can take four axistyle A4 is axially the mode of the axial rotation of rotation), makes the base end side of convolution portion 8 be connected with the front of the second arm 5.At the second arm 5, be fixed with motor 20, convolution portion 8 utilizes the power of motor 20 with respect to the second arm 5, to rotate centered by four axistyle A4.
The mode that can rotate centered by the 5th axis A5 with four axistyle A4 quadrature by swing part 9 (that is, what can take the 5th axis A5 is axially the mode of the axial rotation of rotation), makes the base end side of swing part 9 be connected with the front of convolution portion 8.In convolution portion 8, be fixed with motor 21, swing part 9 utilizes the power of motor 21, centered by the 5th axis A5, with respect to convolution portion 8, rotates.
The mode that can rotate centered by the 6th axis A6 with the 5th axis A5 quadrature by instrument installation portion 10 (, what can take the 6th axis A6 is axially the mode of the axial rotation of rotation), the base end side of instrument installation portion 10 is connected with the front of swing part 9.At swing part 9, be fixed with motor 22, instrument installation portion 10 utilizes the power of motor 22 with respect to swing part 9, to rotate centered by the 6th axis A6.
The retainer 24 that keeps welding gun 23 can be installed on instrument installation portion 10.And, on the second arm 5, wire rod feedway 25 from wire rod for welding to welding gun 23 that carry can be installed.
(structure of joint portion)
Fig. 3 is the figure for the structure of the joint portion 11 shown in key diagram 1.Fig. 4 is the figure for the structure of the joint portion 13 shown in key diagram 1.Fig. 5 is the figure for the structure of the joint portion 15 shown in key diagram 1.
At joint portion 11, dispose above-mentioned motor 12 and the decelerator 30 of the first decelerator of transmitting as the rotating speed of motor 12 is slowed down.Decelerator 30 is eccentric rocking type reduction gear (RV decelerator), and has a plurality of input gear 30a on the concentric circles being configured in centered by decelerator 30Zhou center.The decelerator 30 of present embodiment has centered by decelerator 30Zhou center and three input gear 30a that configure with 120 ° of tooth pitches.Input gear 30a is horizontal gear.
At joint portion 13, dispose above-mentioned motor 14 and the decelerator 31 of the second decelerator of transmitting as the rotating speed of motor 14 is slowed down.Decelerator 31 is identical with decelerator 30, is eccentric rocking type reduction gear (RV decelerator), and has a plurality of input gear 31a on the concentric circles being configured in centered by decelerator 31Zhou center.The decelerator 31 of present embodiment has centered by decelerator 31Zhou center and three input gear 31a that configure with 120 ° of tooth pitches.Input gear 31a is horizontal gear.
If using the second axis A2 is axially that the side (left side of Fig. 4) of second direction is as " left side " side, using the opposite side of second direction (right side of Fig. 4) as " right side " side, as shown in Figure 4, in convolution, be formed with on framework 3 as the recess 3a of the first recess with as the recess 3b of the second recess, described recess 3a is from the left surface (being the face of the side second direction) of convolution framework 3 towards right side depression, and described recess 3b caves in towards left side from the right flank (being the face of the opposite side second direction) of convolution framework 3.Recess 3a is connected by the internal diameter through hole 3c less than the internal diameter of recess 3a and recess 3b with recess 3b.And the first arm 4 is configured in the right side of convolution framework 3.
The decelerator 31Yi Qizhou center mode consistent with the second axis A2 configures.And decelerator 31 is configured in the outstanding side of output shaft 14a.That is, decelerator 31 is configured in the right side of motor 14.The almost configured in one piece of decelerator 31 is in recess 3b.The shell 31b of decelerator 31 is fixed on convolution framework 3.The outlet side of decelerator 31 is fixed on the first arm 4.Specifically, the right-hand member side of the output shaft 31c of the outlet side part of formation decelerator 31 is outstanding a little from the right flank of convolution framework 3, and the right-hand member of output shaft 31c is fixed on the base end side of the first arm 4.
From with the first imaginary plane (, the face parallel with the paper of Fig. 4) direction of quadrature (, while the direction vertical with the paper of Fig. 4) observing, decelerator 31 is configured in the position by the first arm 4 one sides (that is, right side) than first axle A1 in second direction.That is,, when the direction from the first imaginary plane quadrature is observed, decelerator 31 is configured in the position on the right side than the output shaft 12a of motor 12.This first imaginary plane by first axle A1 be axially first direction and the second axis A2 be axially that second direction forms.And when the direction from the first imaginary plane quadrature is observed, the output shaft 14a of first axle A1 and motor 14 intersects.That is,, when the direction from the first imaginary plane quadrature is observed, the imaginary extended line of the output shaft 12a of the motor 12 consistent with first axle A1 and output shaft 14a intersect.
At joint portion 15, dispose above-mentioned motor 16 and the decelerator 32 of the 3rd decelerator that transmits as the rotating speed of motor 16 is slowed down.Decelerator 32 is identical with decelerator 30, is eccentric rocking type reduction gear (RV decelerator), and has a plurality of input gear 32a on the concentric circles being configured in centered by decelerator 32Zhou center.The decelerator 32 of present embodiment has centered by decelerator 32Zhou center and three input gear 32a that configure with 120 ° of tooth pitches.Input gear 32a is horizontal gear.
If using the 3rd axis A3 is axially that the side (left side of Fig. 5) of third direction is as " left side " side, using the opposite side of third direction (right side of Fig. 5) as " right side " side, as shown in Figure 5, on the second arm 5, be formed with as the recess 5a of the 3rd recess with as the recess 5b of the 4th recess, described recess 5a from the left surface of the second arm 5 (, the face of the side on third direction) towards right side, cave in, described recess 5b caves in towards left side from the right flank (that is, the face of the opposite side on third direction) of the second arm 5.Recess 5a is connected by the internal diameter through hole 5c less than the internal diameter of recess 5a, recess 5b with recess 5b.And the first arm 4 is configured in the right side of the second arm 5.
The decelerator 32Yi Qizhou center mode consistent with the 3rd axis A3 configures.And decelerator 32 is configured in the outstanding side of output shaft 16a.That is, decelerator 32 is configured in the right side of motor 16.More than half partial configuration of decelerator 32 is in recess 5b, and the remainder of decelerator 32 is outstanding towards right side from the right flank of the second arm 5.The shell 32b of decelerator 32 is fixed on the second arm 5.The outlet side of decelerator 32 is fixed on the first arm 4.Specifically, the right-hand member of the output shaft 32c of the outlet side part of formation decelerator 32 is fixed on the front of the first arm 4.
From with the second imaginary plane (, the face parallel with the paper of Fig. 5) direction of quadrature (, while the direction vertical with the paper of Fig. 5) observing, decelerator 32 is configured in the position by the first arm 4 one sides (that is, right side) than first axle A1 on third direction.That is,, when the direction from the second imaginary plane quadrature is observed, decelerator 32 is configured in the position on the right side than the output shaft 12a of motor 12.This second imaginary plane by first axle A1 be axially first direction and the 3rd axis A3 be axially that third direction forms.And when the direction from the second imaginary plane quadrature is observed, the output shaft 16a of first axle A1 and motor 16 intersects.That is,, when the direction from the second imaginary plane quadrature is observed, the imaginary extended line of the output shaft 12a of the motor 12 consistent with first axle A1 and output shaft 16a intersect.
In addition, in the present embodiment, in joint portion 11, bedframe 2 is first component, and convolution framework 3 is that the mode rotating is the second component that bedframe 2 is connected with first component.And in joint portion 13, convolution framework 3 be first component, the first arm 4 is mode rotating and the first component second component that framework 3 is connected that circles round.And in joint portion 15, the first arm 4 is first component, the second arm 5 for the mode rotating and first component be the first arm 4 be connected second component.
(the main effect of present embodiment)
As described above, in the present embodiment, be directly formed at the output shaft 12a of motor 12 with the output shaft gear 12b of three input gear 30a engagement of decelerator 30.Therefore, in the present embodiment, can eliminate the axial axial inclination with respect to output shaft 12a of output shaft gear 12b, thus the side-play amount that can dwindle output shaft gear 12b.And, in the present embodiment, because output shaft gear 12b is directly formed at output shaft 12a, therefore the distance between output shaft gear 12b and the main body of motor 12 can be shortened, and the bearing (omitting diagram) of the output shaft 12a of the body interior that is disposed at motor 12 and the distance between output shaft gear 12b can be shortened.Particularly, in the present embodiment, the input gear 30a meshing due to output shaft gear 12b be configured in decelerator 30 axially on the end of motor 12 sides, therefore the distance between output shaft gear 12b and the main body of motor 12 can be further shortened, and the bearing of output shaft 12a of the body interior that is disposed at motor 12 and the distance between output shaft gear 12b can be further shortened.Therefore, in the present embodiment, suppose, even if output shaft 12a self tilts, the side-play amount that also can dwindle output shaft gear 12b.Like this, in the present embodiment, owing to can dwindling the side-play amount of output shaft gear 12b, therefore can make three input gear 30a and output shaft gear 12b suitably mesh, thereby the power from motor 12 suitably can be delivered to decelerator 30.
Equally, in the present embodiment, because the output shaft gear 14b of three the input gear 31a engagement with decelerator 31 is directly formed at the output shaft 14a of motor 14, therefore can eliminate the axial axial inclination with respect to output shaft 14a of output shaft gear 14b, in addition the distance between output shaft gear 14b and the main body of motor 14 can be shortened, and the bearing (omitting diagram) of the output shaft 14a of the body interior that is configured in motor 14 and the distance between output shaft gear 14b can be shortened.Particularly, in present embodiment, the input gear 31a meshing due to output shaft gear 14b be configured in decelerator 31 axially on the end of motor 14 sides, therefore the distance between output shaft gear 14b and the main body of motor 14 can be further shortened, and the bearing of output shaft 14a of the body interior that is disposed at motor 14 and the distance between output shaft gear 14b can be further shortened.Therefore, in the present embodiment, can dwindle the side-play amount of output shaft gear 14b, consequently, can make three input gear 31a and output shaft gear 14b suitably mesh, thereby the power from motor 14 suitably can be delivered to decelerator 31.
And, equally in the present embodiment, because the output shaft gear 16b of three the input gear 32a engagement with decelerator 32 is directly formed at the output shaft 16a of motor 16, therefore can eliminate the axial axial inclination with respect to output shaft 16a of output shaft gear 16b, in addition the distance between output shaft gear 16b and the main body of motor 16 can be shortened, and the bearing (omitting diagram) of the output shaft 16a of the body interior that is disposed at motor 16 and the distance between output shaft gear 16b can be shortened.Particularly, in present embodiment, the input gear 32a meshing due to output shaft gear 16b be configured in decelerator 32 axially on the end of motor 16 sides, therefore the distance between output shaft gear 16b and the main body of motor 16 can be further shortened, and the bearing of output shaft 16a of the body interior that is disposed at motor 16 and the distance between output shaft gear 16b can be further shortened.Therefore, in the present embodiment, can dwindle the side-play amount of output shaft gear 16b, consequently can make three input gear 32a and output shaft gear 16b suitably mesh, thereby the power from motor 16 suitably can be delivered to decelerator 32.
In the present embodiment, in the recess 3a that is formed at convolution framework 3, dispose a part for motor 14, in recess 3b, dispose the almost whole of decelerator 31.Therefore, in the present embodiment, the second axis A2 be axially in second direction, can be by joint portion 13 miniaturizations.Equally in the present embodiment, owing to disposing a part for motor 16 in the recess 5a being formed at the second arm 5, in recess 5b, dispose more than half part of decelerator 32, therefore the 3rd axis A3 be axially on third direction, can be by joint portion 15 miniaturizations.And, due in second direction, can be by joint portion 13 miniaturizations, and on third direction, can be by joint portion 15 miniaturizations, required moment when the framework 3 that therefore can reduce to circle round rotates with respect to bedframe 2.
In the present embodiment, when the vertical direction of the paper from Fig. 4 is observed, decelerator 31 is configured in than first axle A1 by the position of the first arm 4 one sides in second direction, and the imaginary extended line of output shaft 12a of the motor 12 consistent with first axle A1 is crossing with the output shaft 14a of motor 14.Therefore, in the present embodiment, easily obtain the balance of joint portion 13 in second direction.Equally in the present embodiment, when the vertical direction of the paper from Fig. 5 is observed, decelerator 32 is configured in than first axle A1 by the position of the first arm 4 one sides on third direction, and the imaginary extended line of output shaft 12a of the motor 12 consistent with first axle A1 is crossing with the output shaft 16a of motor 16.Therefore,, in this enforcement side, easily obtain the balance of joint portion 15 on third direction.Therefore, in the present embodiment, when convolution framework 3 rotates with respect to bedframe 2, the vibration of the framework 3 that can suppress to circle round.
(other embodiments)
Above-mentioned embodiment is an example of the preferred embodiment of the present invention, but the present invention is not limited thereto, and in not changing the scope of purport of the present invention, can carry out various changes and be implemented.
In the above-described embodiment, the shell 30b of motor 12 and decelerator 30 is fixed on convolution framework 3, and the output shaft 30c of decelerator 30 is fixed on bedframe 2.In addition, for example, also motor 12 can be fixed on to bedframe 2 with shell 30b, output shaft 30c is fixed on to convolution framework 3.And, in the above-described embodiment, the shell 31b of motor 14 and decelerator 31 is fixed on convolution framework 3, and the output shaft 31c of decelerator 31 is fixed on the first arm 4, but also motor 14 and shell 31b can be fixed on to the first arm 4, output shaft 31c is fixed on to convolution framework 3.And, in the above-described embodiment, the shell 32b of motor 16 and decelerator 32 is fixed on the second arm 5, and the output shaft 32c of decelerator 32 is fixed on the first arm 4, but also motor 16 and shell 32b can be fixed on to the first arm 4, output shaft 32c is fixed on to the second arm 5.
In the above-described embodiment, when the vertical direction of the paper from Fig. 4 is observed, decelerator 31 is configured in the position on the right side than first axle A1.In addition, for example, when direction that also can be vertical at the paper from Fig. 4 is observed, a part for decelerator 31 is configured in to the keep left position of side than first axle A1.Equally, in the above-described embodiment, when the vertical direction of the paper from Fig. 5 is observed, decelerator 32 is configured in the position on the right side than first axle A1, but when direction that also can be vertical at the paper from Fig. 5 is observed, a part for decelerator 32 is configured in to the keep left position of side than first axle A1.
In the above-described embodiment, decelerator 30 has three input gear 30a, decelerator 31 has three input gear 31a, decelerator 32 has three input gear 32a, but also decelerator 30 has two input gear 30a, decelerator 31 has two input gear 31a, and decelerator 32 has two input gear 32a.And in the above-described embodiment, decelerator 30～32 is eccentric rocking type reduction gear, but decelerator 30～32 can be also pinion gear decelerator.
In the above-described embodiment, robot 1 is the robot of six axle joint types, but robot 1 both can be the robot of five axle joint types, also can be the robot of four axle joint types.And robot 1 also can be the robot of seven axle joint types.In this case, the first arm 4 is divided into two sections, simultaneously that the direction of the axial quadrature with the second axis A2 is axial as what rotate, a divided side's arm portion relatively rotates with respect to the opposing party's arm portion.And in the above-described embodiment, robot 1 is welding robot, but robot 1 also can be for painting, seal or the robot of other purposes such as assembling.And robot 1 also can be the horizontal articulated robot except vertical articulated robot etc.
Claims (9)
1. an industrial robot, is characterized in that, has:
First component;
Second component, it is connected with described first component in the mode that can rotate;
Motor, it is disposed at the joint portion that described first component is connected with described second component; And
Decelerator, it is disposed at described joint portion, and the rotating speed of described motor is slowed down and transmitted,
Described decelerator is eccentric rocking type reduction gear or pinion gear decelerator, and described eccentric rocking type reduction gear or described pinion gear decelerator have a plurality of input gears on the concentric circles being configured in centered by described decelerator Zhou center,
Described motor is fixed on any one party in described first component or described second component,
The outlet side of described decelerator is fixed on any the opposing party in described first component or described second component,
On the output shaft of described motor, be directly formed with the output shaft gear with a plurality of described input gear engagements.
2. industrial robot according to claim 1, is characterized in that,
Described input gear be configured in described accelerator axially on the end of described motor side.
3. an industrial robot, is characterized in that, has:
Bedframe;
Convolution framework, it is connected with described bedframe in the mode that can rotate;
The first motor, it is disposed at the first joint portion that described bedframe is connected with described convolution framework;
The first decelerator, it is disposed at described the first joint portion, and the rotating speed of described the first motor is slowed down and transmitted,
Described the first decelerator is eccentric rocking type reduction gear or pinion gear decelerator, and described eccentric rocking type reduction gear or described pinion gear decelerator have a plurality of the first input gears on the concentric circles being configured in centered by described the first decelerator Zhou center,
Described the first motor is fixed on any one party in described bedframe or described convolution framework,
The outlet side of described the first decelerator is fixed on any the opposing party in described bedframe or described convolution framework,
On the output shaft of described the first motor, be directly formed with the first output shaft gear with a plurality of described the first input gear engagements.
4. an industrial robot, is characterized in that, has:
Bedframe;
Convolution framework, it is connected with described bedframe in the mode that can rotate;
The first arm, the base end side of this first arm can be take the mode of the axial rotation that second direction be to rotate with the first arm and is connected with described convolution framework, and described second direction and described convolution framework are axially first direction quadrature with respect to described bedframe rotation;
The second motor, it is disposed at the second joint portion that described convolution framework is connected with described the first arm; And
The second decelerator, it is disposed at described second joint portion, and the rotating speed of described the second motor is slowed down and transmitted,
Described the second decelerator is eccentric rocking type reduction gear or pinion gear decelerator, and described eccentric rocking type reduction gear or described pinion gear decelerator have a plurality of the second input gears on the concentric circles being configured in centered by described the second decelerator Zhou center,
Described the second motor is fixed on any one party in described convolution framework or described the first arm,
The outlet side of described the second decelerator is fixed on any the opposing party in described convolution framework or described the first arm,
On the output shaft of described the second motor, be directly formed with the second output shaft gear with a plurality of described the second input gear engagements.
5. industrial robot according to claim 4, is characterized in that,
On described convolution framework, be formed with the first recess and the second recess, opposite side facing to the described second direction depression of the side of described the first recess the described second direction of described convolution framework, a side depression facing to described second direction of the opposite side of described the second recess the described second direction of described convolution framework
In described the first recess, dispose at least a portion of described the second motor, in described the second recess, dispose at least a portion of described the second decelerator.
6. industrial robot according to claim 5, is characterized in that,
Comprise the first motor, this first motor configurations is in the first joint portion that described bedframe is connected with described convolution framework,
Described the first arm is configured in face one side of the opposite side in the described second direction of described convolution framework,
When the direction from the first imaginary plane quadrature is observed, it is that the first output shaft is by the position of described the first arm one side that described the second decelerator is configured in than the output shaft of described the first motor in described second direction, the imaginary extended line of described the first output shaft and the described output shaft of described the second motor i.e. the second output shaft intersect, and described the first imaginary plane consists of described first direction and described second direction.
7. an industrial robot, is characterized in that, comprising:
Bedframe;
Convolution framework, it is connected with described bedframe in the mode that can rotate;
The first arm, the base end side of this first arm can be take the mode of the axial rotation that second direction be to rotate with the first arm and is connected with described convolution framework, and described second direction and described convolution framework are axially first direction quadrature with respect to described bedframe rotation;
The second arm, the base end side of this second arm can be take the mode of the axial rotation that third direction be to rotate with the second arm and is connected with the front of described the first arm, and described third direction is parallel with described second direction;
Three-motor, it is disposed at the 3rd joint portion that described the first arm is connected with described the second arm; And
The 3rd decelerator, it is disposed at described the 3rd joint portion, and the rotating speed of described three-motor is slowed down and transmitted,
Described the 3rd decelerator is eccentric rocking type reduction gear or pinion gear decelerator, and described eccentric rocking type reduction gear or described pinion gear decelerator have a plurality of the 3rd input gears on the concentric circles being configured in centered by described the 3rd decelerator Zhou center,
Described three-motor is fixed on any one party in described the first arm or described the second arm,
The outlet side of described the 3rd decelerator is fixed on any the opposing party in described the first arm or described the second arm,
On the output shaft of described three-motor, be directly formed with the 3rd output shaft gear with a plurality of described the 3rd input gear engagements.
8. industrial robot according to claim 7, is characterized in that,
On described the second arm, be formed with the 3rd recess and the 4th recess, opposite side facing to the described third direction depression of the side of described the 3rd recess from the described third direction of described the second arm, a side depression facing to described third direction of the opposite side of described the 4th recess from the described third direction of described the second arm
In described the 3rd recess, dispose at least a portion of described three-motor, in described the 4th recess, dispose at least a portion of described the 3rd decelerator.
9. industrial robot according to claim 8, is characterized in that,
Have the first motor, this first motor configurations is in the first joint portion that described bedframe is connected with described convolution framework,
Described the first arm is configured in face one side of the opposite side on the described third direction of described the second arm,
When the direction from the second imaginary plane quadrature is observed, it is that the first output shaft is by the position of described the first arm side that described the 3rd decelerator is configured in than the output shaft of described the first motor on third direction, the imaginary extended line of described the first output shaft and the described output shaft of described three-motor i.e. the 3rd output shaft intersect, and described the second imaginary plane consists of described first direction and described third direction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-216443 | 2012-09-28 | ||
| JP2012216443A JP6050999B2 (en) | 2012-09-28 | 2012-09-28 | Industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103707316A true CN103707316A (en) | 2014-04-09 |
| CN103707316B CN103707316B (en) | 2016-08-10 |
Family
ID=50400850
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310370776.8A Expired - Fee Related CN103707316B (en) | 2012-09-28 | 2013-08-22 | Industrial robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6050999B2 (en) |
| KR (1) | KR101487097B1 (en) |
| CN (1) | CN103707316B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272403A (en) * | 2016-09-20 | 2017-01-04 | 安徽欢颜机器人有限公司 | A kind of punching press industry is with four axle robots |
| CN110216662A (en) * | 2019-07-18 | 2019-09-10 | 江苏金恒信息科技股份有限公司 | A kind of industrial machine human body |
| CN111473111A (en) * | 2019-01-23 | 2020-07-31 | 发那科株式会社 | Sealing structure of robot and robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114161395B (en) * | 2021-12-30 | 2022-05-31 | 佳木斯大学 | Mechanical pneumatic arm type robot with soft body |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR101487097B1 (en) | 2015-01-28 |
| CN103707316B (en) | 2016-08-10 |
| JP2014069269A (en) | 2014-04-21 |
| JP6050999B2 (en) | 2016-12-21 |
| KR20140042651A (en) | 2014-04-07 |
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