JP2001191290A - Articulated module - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an articulated module having a driving mechanism built in a joint part of the articulated module. SOLUTION: In the articulated module constructed of a fixed side link 1, a rotation driving mechanism 15 mounted to the fixed side link 1, and a rotation side link 2 mounted to the fixed side link 1 freely rotationally and rotationally driven by means of the rotation driving mechanism 15, the rotation side link 2 is provided with a U-shaped frame, and the fixed side link 1 is positioned inside the U-shaped frame for rotationally supporting the U-shaped frame in its both ends.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joint module which is connected to form a multi-joint type manipulator.

[0002]

2. Description of the Related Art A joint module comprising a fixed side link, a rotary drive mechanism mounted on the fixed side link, and a rotary side link rotatably mounted on the fixed side link and driven to rotate by the rotary drive mechanism. It is known that a plurality of robots are connected to form an articulated robot. For example, JP-A-09-029661 discloses FIG.
A joint module as shown in FIG. In the figure, reference numeral 61 denotes a fixed side link, which rotatably supports a rotating side link 63 via a joint portion 62 and drives the rotating side link 63 by a built-in motor 64 with a speed reducer. At the end of the fixed side link 61, a mechanical guide 65a, a coupling mechanism 66a, and an electrical connector 67a are provided. A mechanical guide 65b, a coupling mechanism 66b, and an electrical connector 67b are also provided at the end of the rotation side link 63. The mechanical guides 65a and 65b, the coupling mechanisms 66a and 66b, and the electrical connectors 67a and 67a are structured to fit together. Such a joint module is provided with an independent drive mechanism for each joint, and is easily separated and connected. Therefore, by connecting a plurality of joint modules, a desired multi-joint manipulator can be freely configured.

[0003]

However, in such a conventional joint module, since the motor with a speed reducer is built in the fixed link, there is a problem that the link portion of the joint module becomes long. In addition, since the joint of the joint module is limited to the end of the link, the joint form at the time of connection is determined by the structure of the joint module itself, and there is a problem that the axis configuration of the robot to be configured is also limited. Was. Further, there is a problem that a transmission mechanism for transmitting the power of the motor with the speed reducer to the joint becomes complicated. Therefore, an object of the present invention is to provide a joint module in which a drive mechanism is incorporated in a joint of a joint module. It is another object of the present invention to provide a joint module provided with a plurality of coupling portions for coupling with another joint module.

[0004]

In order to solve the above-mentioned problems, a first aspect of the present invention provides a fixed-side link, a rotation drive mechanism attached to the fixed-side link, and a rotatable rotation of the fixed-side link. In the joint module including a rotating link that is attached and is driven to rotate by the rotation driving mechanism, the rotating link includes a U-shaped frame, and the fixed link is provided inside the U-shaped frame. In addition, the U-shaped frame is rotatably supported by both ends. According to a second aspect of the present invention, an outer shell of the fixed side link is formed integrally with a housing of the rotary drive mechanism. According to a third aspect of the present invention, a bearing for rotatably supporting the rotation shaft on the load side is omitted by directly fixing the rotation shaft of the rotation drive mechanism to the U-shaped frame. The invention according to claim 4 includes a connecting portion for mutually connecting a joint module to the fixed side link and the rotating side link, and further includes a seat for attaching an additional connecting portion to the fixed side link or the rotating side link. Things. According to a fifth aspect of the present invention, a plurality of connecting portions for mutually connecting a joint module to the fixed side link or the rotating side link are provided. The invention according to claim 6 is provided with a connector for transmitting an electric signal to the coupling portion.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a sectional view of a joint module according to a first embodiment of the present invention. In the figure, reference numeral 1 denotes a fixed link incorporating a driving mechanism, and 2 denotes a rotating link that rotates with respect to the fixed link 1. Reference numeral 11 denotes a frame of the fixed side link 1. The frame 11 is a cylindrical case, and brackets 12 and 13 are attached to both ends thereof to form an outer shell of the fixed side link 11. 14
Is a motor stator, which is fixed inside the frame 11. Reference numeral 15 denotes a rotor of the motor, which is rotatably supported by the bracket 12 via a bearing 16 at an end on the non-load side thereof. That is, the case 11 and the brackets 12 and 13 also function as a motor housing. Thus, the outer shell of the fixed link 1 and the housing structure of the motor are shared to reduce the number of parts,
This is for reducing the size of the joint module. Here, a mechanism that directly connects a motor is selected as an example of the rotation drive mechanism. However, a motor with a reduction gear may be used, or another rotation actuator may be used. Needless to say, a sensor such as an encoder for detecting the rotation angle of the motor can be incorporated in the frame 11. The rotation side link 2 is a frame in which the members 21, 22, and 23 are combined in a U-shape. The member 21 is rotatably supported by the bracket 13 of the fixed side link 1 via a bearing 24. The member 23 is rotatably supported by the bracket 12 of the fixed side link 1 via a bearing 25. Thus, the rotating side link 2 has the U-shaped frame and is supported by the fixed side link 1 at both ends. Such a two-sided support structure is used to make the joint strong against the rotational moment. The rotor 15 of the motor is a member 2 at the load-side end.
1 and directly drives the rotation side link 2. In a general motor, the rotor is rotatably supported by both the non-load side and the load side brackets. However, the rotor 15 of the motor of the joint module of the present invention is not directly supported by the load side bracket 13 and Bearing 2 through 21
4 is supported by the bracket 13 for rotation. That is, by directly fixing the rotary shaft of the rotary drive mechanism to the U-shaped frame, the bearing for rotatably supporting the rotary shaft on the load side is omitted. The reason for adopting such a structure is to reduce the number of parts and reduce the size of the joint module by sharing the support structure of the rotary shaft and the support structure of the rotation side link of the rotary drive mechanism.

FIGS. 2A and 2B are external views of a joint module according to a second embodiment of the present invention, wherein FIG. 2A is a plan view, FIG. 2B is a front view, and FIG. 2C is a side view. In FIG. 2, reference numeral 3 denotes a joint module. The internal structure of the joint module 3 is the same as that of the first embodiment. Reference numeral 31 denotes a projection attached to the fixed link 1 of the joint module 3. Three
Reference numeral 2 denotes a notch provided in the rotation side link 2. The protrusion 31 and the notch 32 are sized and shaped so as to fit each other. The protrusion 31 has a through hole 33 and a notch 32.
Is provided with a tapped hole 34. Rotation side link 2
Is provided with another tap hole 35.

FIG. 3 is an explanatory view showing a state where the joint modules are vertically connected. In the figure, reference numerals 3a and 3b denote joint modules having the same shape as the joint module 3 described above, and the joint module 3b is connected to the joint module 3a. The projection 31 of the joint module 3b is fitted into the notch 32 of the joint module 3a, and the screw 36 is inserted through the through hole 33 of the projection 31 to form a tap hole 34 of the notch 32.
And tighten it up. That is, the projection 31 and the notch 34 function as a connecting portion that positions and connects the joint module 3 to each other.

FIG. 4 is a view showing a state where the joint module 3b is connected to the side surface of the joint module 3a. In the figure, reference numeral 41 denotes an adapter, which is fixed to the side surface of the rotation side link 2 of the joint module 3a using a tap hole 35 and a screw 42. A notch 43 having the same shape as the notch 34 is provided in the adapter 41. Joint module 3b
Is fixed by fitting the projection 31 into the notch 43 and tightening it up with the screw 36. That is, the adapter 41 functions as an additional connecting portion for connecting the joint module 3b to the side surface of the joint module 3a. Also tap hole 3
The side surface of the rotation side link 2 of the joint module 3a in which 5 is bored functions as a seat for attaching an additional joint. Further, the additional connecting portion for connecting the joint modules to each other is not limited to the one that is removably attached via the seat, but the one that is directly formed on the fixed side link 1 and the rotating side link 2. May be. That is, the fixed side link 1 or the rotating side link 2 may include a plurality of coupling portions.

FIG. 5 is a view showing a state where the joint module 3b is connected to the joint module 3a via an adapter. In the figure, reference numeral 44 denotes an adapter, which has a projection 45 at a lower end thereof and a notch 46 at an upper end thereof. The adapter 44 is fixed to the joint module 3a by fitting the projection 45 into the notch 34 of the joint module 3a. The joint module 3 b has the protrusion 31 fitted into the notch 46 of the adapter 44 and is fixed with the screw 36.
Since the projection 45 and the notch 46 are attached with their directions changed by 90 degrees, the rotation axis of the joint module 3a and the rotation axis of the joint module 3b are twisted at different directions by 90 degrees. Since the shapes and dimensions of the adapter 41 and the adapter 44 can be variously designed as required, the length between the joints and the direction in which the joint modules are connected can be changed. Nature can be achieved.

FIGS. 6A and 6B are external views of a joint module according to a third embodiment of the present invention, wherein FIG. 6A is a plan view, FIG. 6B is a front view, and FIG. 6C is a side view. In the figure, reference numeral 51 denotes a male connector for connection of electric signals attached to the rotating link 2 of the joint module 3, and reference numeral 52 denotes a female connector attached to the fixed link 1. The male connector 51 and the female connector 52 are connected by a signal line 53. When the joint modules 3 are mechanically connected to each other, the connectors are fitted to each other to connect the signal lines, so that a signal is transmitted between adjacent joint modules. This signal line can be used as an electric signal line of a sensor or an effector installed at the tip of a manipulator constituted by a joint module. If necessary, a signal processing circuit is connected to the female connector 52 of the fixed side link. Can be configured to transmit and receive signals such as a drive mechanism of a joint module. According to this embodiment, the electric signal line can be connected inside the mechanism of the joint module, and the number of signal cable lines to be drawn out of the mechanism of the module can be reduced.
Therefore, it is possible to reduce the number of signal cables routed outside the manipulator to be configured.

[0011]

As described above, according to the first aspect of the present invention, since the rotating side link is supported at both ends by the fixed side link, it is possible to obtain a joint module having a supporting structure which is strong against the rotating moment. effective. Further, the invention according to claim 2 has an effect that the number of parts can be reduced and the joint module can be downsized by sharing the outer shell of the fixed side link and the housing structure of the motor. Further, the invention according to claim 3 has an effect of reducing the number of parts of the joint module because the load-side support bearing of the output shaft of the drive mechanism and the support bearing of the rotation-side link are common. Further, in the invention according to claims 4 and 5, since a plurality of connecting portions for connecting the joint modules to each other are provided, it is possible to increase the variety of the joint structure of the manipulator constituted by the joint modules. effective. Also,
According to the sixth aspect of the present invention, since the connector for transmitting the electric signal is provided at the connection of the joint module, there is an effect that the electric connection is completed simultaneously with the mechanical connection of the joint module.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view of a joint module according to a first embodiment of the present invention.

2A and 2B are external views of a joint module according to a second embodiment of the present invention, wherein FIG. 2A is a plan view, FIG.
(C) is a side view.

FIG. 3 is an explanatory diagram showing a state where the joint modules shown in FIG. 2 are vertically coupled.

FIG. 4 is an explanatory diagram showing a state where another joint module is coupled to a side surface of the joint module shown in FIG. 2;

FIG. 5 is an explanatory view showing a state where the joint modules shown in FIG. 2 are vertically connected via an adapter.

6A and 6B are external views of a joint module showing a third embodiment of the present invention, wherein FIG. 6A is a plan view, FIG.
(C) is a side view.

FIG. 7 is a perspective view showing an example of a conventional joint module.

[Explanation of symbols]

1: Fixed side link 11: Frame 12: Bracket 13: Bracket 14: Stator 15: Rotor 16: Bearing 2: Rotating side link 21, 22, 23: Member 24, 25: Bearing 3, 3a, 3b: Joint module 31: protrusion 32: notch 33: through hole 34, 3
5: Tap hole 36: Screw 41: Adapter 42: Screw 43: Notch 44:
Adapter 45: Projection 46: Notch 51: Male connector 52: Female connector 53: Signal line 61: Fixed side link 62: Joint 63: Rotating side link 64: Motor with reduction gear 65a, 65b: Mechanical guide 66a, 66b : Coupling mechanism 67a, 67b: Electrical connector

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Yasuyuki Inoue 2-1, Kurosakiishi, Yawatanishi-ku, Kitakyushu-shi, Fukuoka F-term (reference) 3F060 GA05 GA13 GC01 GC03 HA02

Claims (6)

[Claims] An articulated module comprising a fixed link, a rotary drive mechanism attached to the fixed link, and a rotary link rotatably mounted on the fixed link and rotationally driven by the rotary drive mechanism. The joint module according to claim 1, wherein the rotation-side link includes a U-shaped frame, and the fixed-side link is inside the U-shaped frame and supports the U-shaped frame at both ends. . 2. The joint module according to claim 1, wherein an outer shell of the fixed-side link is formed integrally with a housing of the rotation drive mechanism. 3. A bearing for rotatably supporting the rotating shaft on a load side by directly fixing a rotating shaft of the rotating drive mechanism to the U-shaped frame. 3. The joint module according to 2. 4. A fixed link and a rotating link are provided with a joint for connecting a joint module to each other, and a seat for attaching an additional joint to the fixed link or the rotating link is provided. The joint module according to any one of claims 1 to 3, wherein: 5. The fixing device according to claim 1, wherein the fixed link or the rotating link includes a plurality of connecting portions for connecting joint modules to each other. Joint module. 6. The joint module according to claim 4, further comprising a connector for transmitting an electric signal to the coupling portion.