JP2020192661A - robot - Google Patents

Abstract

To make both improvement in durability of a robot and improvement in workability compatible.SOLUTION: Six joint parts 2 and 3 include a first-type joint part 3 including a motor 10 and a first rotation regulating mechanism 30 for regulating rotation of the motor 10 and a second-type joint part 2 including a motor 10 and a second rotation regulating mechanism 70 for regulating rotation of the motor 10. The first rotation regulating mechanism 30 regulates rotation of the motor 10 by inserting a regulating pin 32 (a first member) into a space between a plurality of protrusion parts 31a (protrusions) formed on an outer periphery part of a rotation-side regulating member 31 (a first rotating body) supported by a rotation shaft 17 of the motor 10. The second rotation regulating mechanism 70 regulates rotation of the motor 10 by friction force generated by contacting a movable plate 74 (a second member) with an end face in a direction of a rotation shaft 17 of a friction plate 72 (a second rotating body) supported by the rotation shaft 17 of the motor 10.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot equipped with a rotary actuator having a motor, a rotation regulating mechanism for regulating the rotation of a stopped motor, and a plurality of joints and an arm connected to the joints.

As a conventional industrial robot, a base as a support member, a first arm connected to the base via a joint, a second arm connected to the tip side of the first arm via a joint, and a joint. Some include a wrist portion connected to the tip end side of the second arm via the portion. Further, in this type of industrial robot, the joint portion itself includes a motor having a rotor and a stator, a speed reducer connected to the motor, and a safety brake for maintaining the stopped state of the rotor. Is configured as a rotary actuator.

Then, as a rotary actuator mounted on such an industrial robot, one provided with a motor and a rotation regulation mechanism for regulating the rotation of a stopped motor is known (see, for example, Patent Document 1). ..

In the rotary actuator mounted on the robot of Patent Document 1, the rotation regulation mechanism engages with a disk-shaped rotation side regulation member fixed to the rotor of the motor and the rotation side regulation member to regulate the rotational movement thereof. It includes a pin-shaped regulating member and a drive mechanism for moving the regulating member in the axial direction of the rotor. Further, a plurality of protrusions protruding outward in the radial direction of the rotor are provided on the peripheral edge of the rotation side regulating member. Then, at the tip of the regulating member, an annular regulating portion is provided which enters between adjacent protrusions in the circumferential direction and regulates the rotational movement of the rotating side regulating member.

Japanese Unexamined Patent Publication No. 2017-189081

The rotary actuator mounted on the robot of Patent Document 1 has a structure in which a protrusion and a regulation portion engage (collide) to stop and hold the rotor. Therefore, for example, when the restricting portion enters between the protrusions when the motor rotates, the rotational force is directly transmitted to the restricting portion until the rotor stops, and a burden is applied as an impact force. As a result, an excessive force acts on one point where the protrusion and the regulation portion collide, and these protrusions and the regulation portion may be damaged or deformed. In addition, it may be desired to use the engagement between the protrusion and the regulation portion not only for holding the rotor but also for braking the rotor in an emergency. In this case, when the regulating portion enters between the protrusions during the rotation of the motor, there is a possibility that the protrusion or the regulating portion is dented, or the regulating portion jumps over the protrusion and cannot be stopped immediately. In such a case, a robot having a plurality of joints may perform unexpected movements, and there is room for improvement in terms of durability and workability.

The present invention has been made in view of the above circumstances, and by using a compact and lightweight first rotation regulating mechanism and a large braking torque and highly durable second rotation regulating mechanism in combination, the position of the joint portion It is an object of the present invention to provide a robot capable of introducing a rotation regulation mechanism suitable for each case and improving both durability and workability of the robot.

(1)
A robot having a plurality of joints and an arm connected to the joints.
The plurality of joints include at least one first joint including a motor and a first rotation regulating mechanism that regulates the rotation of the motor, and at least one including a motor and a second rotation regulating mechanism that regulates the rotation of the motor. Including two second joints,
The first rotation regulating mechanism is a mechanism that regulates the rotation of the motor by inserting a first member between a plurality of protrusions formed on the outer peripheral portion of the first rotating body supported by the rotating shaft of the motor. And
The second rotation regulating mechanism regulates the rotation of the motor by a frictional force generated by bringing the second member into contact with the end surface of the second rotating body supported by the rotating shaft of the motor in the direction of the rotating shaft. A robot that is a mechanism.

In the robot (1), at least two types of robots that use a small and lightweight first rotation regulation mechanism and a second rotation regulation mechanism with large braking torque and high durability and have different stopping or braking mechanisms and characteristics from each other. The robot is composed of a rotation control mechanism. As a result, the type of rotation regulation mechanism is appropriately selected according to the position of each joint based on the required torque of each joint of the robot and the characteristics and balance of the entire robot such as the overall size and weight of each joint. The entire robot can be optimized in terms of stopping and braking the parts. That is, it is possible to introduce a regulation mechanism suitable for each position of the joint portion, and it is possible to improve the durability and workability of the robot at the same time.

(2)
(1) The robot described
Among the plurality of joint portions, the joint portion arranged on the most distal end side is the first joint portion, and the joint portion arranged on the most proximal side is the second joint portion.

Here, in a robot having a plurality of joints and an arm connected to the joints, weight reduction is generally required on the tip side of the robot. For this reason, the joint portion arranged on the most tip side is suitable for the first joint portion configured to include a small and lightweight first rotation regulation mechanism. On the other hand, the base end side (root side) of the robot may be fixed to a fixed surface such as a ceiling surface or the ground, and in such a case, the required torque of the joint portion on the base end side becomes large. For this reason, the joint portion arranged on the most proximal side is suitable for the second joint portion configured to include a second rotation regulating mechanism having a large braking torque and high durability. That is, as in (2), by appropriately selecting and introducing a rotation regulation mechanism according to the position of the tip end side or the base end side of the robot, the entire robot is optimized more appropriately from the characteristics and balance of the entire robot. be able to.

(3)
(1) The robot described
Of the plurality of joints, the joint for determining the three-dimensional position of the arm arranged on the most distal side is the second joint, and the joint connected to the distal end of the arm is the first. A robot that is a joint.

Here, in a robot having a plurality of joints and an arm connected to the joints, the required torque for determining the three-dimensional position (mainly the position of the position and posture) of the arm on the tip side of the robot is generally. growing. For this reason, a second joint portion having a large brake torque and a high durability second rotation regulating mechanism is suitable as the joint portion for that purpose. On the other hand, since the joint portion connected to the tip end side of the arm is mainly for determining the posture, the required torque for determining the position of the arm does not need to be so large. For this reason, as the joint portion connected to the tip end side of the arm, the first joint portion configured to include a small and lightweight first rotation regulation mechanism is suitable. That is, as in (3), by appropriately selecting and introducing the rotation regulation mechanism according to the contribution of each arm to the position determination or posture determination, the entire robot is more appropriately optimized from the characteristics and balance of the entire robot. Can be transformed into.

(4)
(1) The robot described
Among the plurality of joint portions, a robot in which a joint portion having an output torque equal to or lower than a threshold value is the first joint portion, and a joint portion having an output torque exceeding the threshold value is the second joint portion.

With the configuration as shown in (4), in a robot having a plurality of joints and an arm connected to the joints, a rotation regulation mechanism is appropriately selected and introduced according to the magnitude of the output torque required for each joint. As a result, the entire robot can be optimized more appropriately from the characteristics and balance of the entire robot.

(5)
The robot according to any one of (2) to (4).
Includes two said arms
Six joints are included as the plurality of joints.
Of the six joints, the three joints arranged on the distal end side are the first joints, and the three joints arranged on the proximal end are the second joints, respectively.

When the robot of (5) has six joints, the required torque does not need to be so large for all three joints arranged on the tip side, so that a compact and lightweight first rotation regulation mechanism is included. The first joint to be constructed is suitable. On the other hand, the required torque of all three joints arranged at the proximal end is larger than that of the three joints on the distal end side. Therefore, as the three joints arranged at the base end, the second joint is suitable because it includes a second rotation regulation mechanism having a large braking torque and high durability.

(6)
The robot according to any one of (1) to (5).
The second joint portion includes a housing for accommodating the motor and the second rotation regulation mechanism.
A hole for passing an electric wire is provided at an end of the housing in a direction orthogonal to the rotation axis direction of the motor.
A robot in which a reinforcing member for reinforcing the hole is formed in the hole.

Here, when the second rotation regulation mechanism is mounted on a predetermined joint portion, the outer shape of the joint portion tends to be enlarged, and the housing is also enlarged accordingly. Therefore, if the configuration is as shown in (6), a reinforcing member is formed in the hole for passing the electric wire even when the second rotation regulation mechanism is mounted and the housing of the joint is enlarged. The strength of the housing can be increased. As a result, it is possible to suppress vibration of the robot itself during operation of the robot.

(7)
The robot according to any one of (1) to (6).
The second joint portion has a configuration in which a speed reducer, the motor, the second rotation regulation mechanism, and a detector for optically detecting the rotation position of the motor are arranged in order from the torque output direction side.
A coil holder is provided between the second rotating body of the second rotation regulating mechanism and the detector to accommodate a coil that generates a magnetic force for moving the second member in the rotation axis direction of the motor. The robot that is being

With the configuration as shown in (7), the coil holder is arranged between the second rotating body of the second rotation regulating mechanism and the detector, so that the second rotating body is used with the use of the second rotation regulating mechanism. Even when the friction powder is generated, the coil holder acts as a barrier to prevent the friction powder from invading the detector side. By suppressing this intrusion, it is possible to prevent the operation of the detector from being affected.

(8)
(7) The robot described
A robot in which the gap between the coil holder and the rotor of the motor is a distance that suppresses the passage of abrasion powder that may occur due to the contact between the second member and the second rotating body.

With the configuration as shown in (8), the gap between the coil holder and the rotor of the motor is set to a distance that suppresses the passage of friction powder, so that the friction powder is further suppressed from entering the detector side. be able to.

(9)
The robot according to any one of (1) to (8).
The second joint portion includes a magnet holder that is fixed to the rotation shaft of the motor and supports the magnet of the motor.
A polygonal hole is formed in the second rotating body of the second rotation regulating mechanism.
The second rotating body is a robot fixed to the magnet holder via an attachment that fits into the polygonal hole.

With the configuration as shown in (9), when assembling and producing the second rotation regulation mechanism, it is necessary to provide a magnetizing process after shrink fitting and fixing, or to appropriately replace the processes according to the arrangement order of the constituent members. It can be facilitated in the process.

According to the present invention, a compact and lightweight first rotation regulation mechanism and a second rotation regulation mechanism having a large brake torque and high durability are used in combination to introduce a rotation regulation mechanism suitable for each joint position. This makes it possible to improve the durability and workability of the robot at the same time.

It is a front view of the industrial robot which concerns on embodiment of this invention. (A) is a perspective view of the industrial robot shown in FIG. 1, and (B) is a perspective view showing a state in which the industrial robot shown in (A) is operating. It is a vertical cross-sectional view of the 4th joint part, the 5th joint part and the 6th joint part shown in FIG. It is an enlarged view for demonstrating the structure of part G shown in FIG. 3, (A) is an enlarged view which shows the state which the regulation pin is in a regulation release position, and (B) is the state which the regulation pin is in a regulation position. It is an enlarged view which shows. It is a top view of the rotation side regulation member and the regulation pin shown in FIG. It is a vertical sectional view of the 1st joint part, the 2nd joint part and the 3rd joint part shown in FIG. It is H sectional view of FIG. FIG. 6 is an arrow view of FIG.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.

(Outline configuration of industrial robot)
First, the configuration of the industrial robot 1 according to the embodiment of the present invention will be outlined with reference to FIGS. 1 and 2. FIG. 1 is a front view of the industrial robot 1 according to the embodiment of the present invention. 2 (A) is a perspective view of the industrial robot 1 shown in FIG. 1, and FIG. 2 (B) is a perspective view showing how the industrial robot 1 shown in FIG. 2 (A) is operating.

As shown in FIGS. 1 and 2, the industrial robot 1 of this embodiment (hereinafter, also referred to as “robot 1”) is an articulated robot used for assembling or manufacturing a predetermined product, and is an assembly line or a manufacturing line. It is installed and used in. The robot 1 of the present embodiment includes a plurality of joint portions 2 and 3 and a plurality of arms 4 connected to the plurality of joint portions 2 and 3. In this embodiment, the robot 1 includes six joints 2 and 3 and two arms 4.

In the following description, when each of the six joints 2 and 3 is represented separately, the three arranged on the base end side of the robot 1 for each of the six joints 2 and 3 are referred to as "the first". The "type 2 joint portion 2" and the three arranged on the tip side thereof are referred to as the "type 1 joint portion 3". Further, each of the "second type joints 2" is also referred to as "first joint 2A", "second joint 2B" and "third joint 2C" in order from the proximal end side of the robot 1. Each of the "first type joints 3" is also referred to as a "fourth joint 3A", a "fifth joint 3B" and a "sixth joint 3C" in order from the base end side of the robot 1. Further, in the following description, when each of the two arms 4 is represented separately, for each of the two arms 4, the "first arm 4A" and the "second arm 4B" are sequentially described from the base end side of the robot 1. ".

Further, the robot 1 further includes a support member 5 that is rotatably connected to the first joint portion 2A. The support member 5 has a flange portion 5a and is formed in a cylindrical shape with a flange. A through hole (not shown) penetrating the support member 5 in the axial direction is formed on the inner peripheral side of the support member 5. The flange portion 5a is formed in an annular shape, and forms a bottom surface portion as a base of the robot 1. The support member 5 is firmly connected and fixed to a fixed surface such as a ground or ceiling surface in a production factory via a flange portion 5a. Further, the arm 4 is formed in an elongated cylindrical shape.

In the robot 1, the first joint portion 2A and the second joint portion 2B are connected so as to be relatively rotatable, and the second joint portion 2B and the base end of the first arm 4A are fixed. Further, the tip of the first arm 4A and the third joint portion 2C are fixed, and the third joint portion 2C and the fourth joint portion 3A are connected so as to be relatively rotatable. Further, the fourth joint portion 3A and the base end of the second arm 4B are connected so as to be relatively rotatable, the tip of the second arm 4B and the fifth joint portion 3B are fixed, and the fifth joint portion 3B and the sixth joint portion 3B are fixed. The joint portion 3C is connected so as to be relatively rotatable. Further, a hand, a tool, or the like can be attached to the sixth joint portion 3C so as to be relatively rotatable.

That is, the robot 1 of this embodiment adopts a serial link structure, and the fourth joint portion 3A, the fifth joint portion 3B, and the sixth joint portion 3C are arranged on the tip side of the robot 1, and the sixth joint portion 3C. Is placed on the most tip side. The first joint portion 2A, the second joint portion 2B, and the third joint portion 2C are arranged on the proximal end side of the robot 1, and the first joint portion 2A is arranged on the proximal end side. Further, due to the joint configuration of the robot 1 described above, the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C are three-dimensional positions (in other words, in other words, the second arm 4B) arranged on the most tip side. It is a joint portion 2 for determining (mainly the position) of the position and posture. The fourth joint portion 3A, the fifth joint portion 3B, and the sixth joint portion 3C are joint portions 3 connected to the tip end side of the second arm 4B.

Here, in the present embodiment, as described below, each of the joint portions 2 and 3 is configured as a rotary actuator including a motor 10. Further, the joint portions 2 and 3 are equipped with rotation regulating mechanisms 30 and 70 that regulate the rotation of each of the motors 10. Two types of mechanisms are adopted as the rotation regulating mechanisms 30 and 70. The first rotation regulating mechanism 30 is a pin contact type, and the second rotation regulating mechanism 70 is an electromagnetic type. The second type joint part 2 of the first joint part 2A, the second joint part 2B and the third joint part 2C is equipped with the second rotation regulation mechanism 70, and the fourth joint part 3A, the fifth joint part 3B and the sixth joint part 3A. The first rotation regulating mechanism 30 is mounted on the first type joint portion 3 of the joint portion 3C.

Hereinafter, the specific configurations of the first type joint portion 3 and the second type joint portion 2 will be further described. As shown in FIG. 1, in the present embodiment, the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C are formed in the second type joint portion 2 having the same size, and the first type joint is formed. In the portion 3, the fourth joint portion 3A, the fifth joint portion 3B, and the sixth joint portion 3C are formed in the same size. Further, the sizes of the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C are provided to be larger than the sizes of the fourth joint portion 3A, the fifth joint portion 3B, and the sixth joint portion 3C. .. That is, the second type joint portion 2 is larger than the first type joint portion 3. However, the size and rotation regulation mechanism 30 of the first joint part 2A, the second joint part 2B and the third joint part 2C, and the fourth joint part 3A, the fifth joint part 3B and the sixth joint part 3C are It is configured in the same manner except that 70 is different. First, the configuration of the first type joint portion 3 will be described.

(Structure of type 1 joint)
Next, with reference to FIGS. 3 to 5, the configuration of the first type joint portion 3, that is, the fourth joint portion 3A, the fifth joint portion 3B, and the sixth joint portion 3C on which the first rotation regulation mechanism 30 is mounted. This will be described in detail. FIG. 3 is a vertical cross-sectional view of the first type joint portion 3 shown in FIG. FIG. 4 is an enlarged view for explaining the configuration of the G portion shown in FIG. 3, and FIG. 4 (A) is an enlarged view showing a state in which the regulation pin 32 (regulation member) is in the regulation release position. FIG. 4B is an enlarged view showing a state in which the regulation pin 32 is in the regulation position. FIG. 5 is a plan view of the rotation side regulation member 31 and the regulation pin 32 shown in FIG.
In the following description, for convenience of explanation, the Z1 direction side of FIG. 3 is referred to as the "upper" side, and the opposite side, the Z2 direction side, is referred to as the "lower" side. Further, the X1 direction side in FIG. 3 is the "left" side, and the opposite side, the X2 direction side, is the "right" side.

As shown in FIG. 3, the first type joint portion 3 includes a motor 10, a speed reducer 20 connected to the motor 10, a position detection mechanism 60 (detector) for detecting the rotational position of the motor 10, and a position detection mechanism 60 (detector). A circuit board B to which the motor 10 and the position detection mechanism 60 are electrically connected, and a case body 80 (housing) for accommodating the motor 10, the speed reducer 20, the position detection mechanism 60, and the circuit board B are included. The first type joint portion 3 itself is configured as a rotary actuator.

The motor 10 is a hollow motor having a through hole formed in the center in the radial direction, and includes a hollow magnet holder 12. Further, the motor 10 includes a rotor 11 and a stator 14. Further, the speed reducer 20 is a hollow speed reducer in which a through hole is formed in the center in the radial direction. The motor 10 and the speed reducer 20 are arranged so as to overlap each other in the vertical direction. Specifically, the motor 10 is arranged on the upper side, and the speed reducer 20 is arranged on the lower side. Further, the motor 10 and the speed reducer 20 are arranged coaxially.

The speed reducer 20 of this embodiment is a hollow wave gear device, and includes a rigid internal gear 21, a flexible external gear 22, a wave generating unit 23, and a cross roller bearing 26. The wave generation unit 23 includes a hollow input shaft 24 connected to the magnet holder 12 of the motor 10 and an elastic bearing 25 attached to the outer peripheral side of the input shaft 24. In this embodiment, the rigid internal gear 21 is the output shaft of the speed reducer 20.

Further, the first type joint portion 3 is inserted into the first rotation regulating mechanism 30 that regulates the rotation of the stopped rotor 11 and the inner peripheral side of the magnet holder 12 of the motor 10 and the input shaft 24 of the speed reducer 20. A cylindrical rotating shaft 17 (rotating shaft of the motor) and an output side member 18 fixed to the rigid internal gear 21 are further provided. Similarly, the first rotation regulation mechanism 30 and the rotation shaft 17 are housed in the case body 80.

As described above, the motor 10 includes a rotor 11, a stator 14, and a rotating shaft 17. The rotor 11 includes a magnet holder 12 and a driving magnet 13 fixed to the magnet holder 12. The magnet holder 12 is integrally fixed to the rotating shaft 17 of the motor 10 to fix the driving magnet 13. Further, the magnet holder 12 is formed in a substantially cylindrical shape elongated in the vertical direction, and is arranged so that the axial direction and the vertical direction of the magnet holder 12 coincide with each other. That is, the vertical direction is the axial direction of the magnet holder 12 and the axial direction of the rotor 11. The drive magnet 13 is formed in a cylindrical shape. The length of the drive magnet 13 (length in the vertical direction) is set shorter than that of the magnet holder 12, and the drive magnet 13 is fixed to the outer peripheral surface of the lower end side portion of the magnet holder 12.

The stator 14 is formed in a substantially cylindrical shape as a whole, and is arranged on the outer peripheral side (diameter outer side) of the driving magnet 13 so as to cover the outer peripheral surface of the driving magnet 13. The upper end side portion of the magnet holder 12 projects upward from the upper end surface of the stator 14. The stator 14 includes a drive coil (not shown) and a stator core (not shown) having a plurality of salient poles around which the drive coil is wound via an insulator. The salient pole of the stator core is formed so as to project toward the inner peripheral side, and the tip surface of the salient pole faces the outer peripheral surface of the driving magnet 13. The motor 10 is fixed to the case body 80. Specifically, the outer peripheral surface of the stator 14 is fixed to the case body 80.

As described above, the speed reducer 20 includes a rigid internal gear 21, a flexible external gear 22, a wave generating unit 23, and a cross roller bearing 26. The rigid internal gear 21 is formed in a flat and substantially cylindrical shape, and is arranged so that the axial direction and the vertical direction of the rigid internal gear 21 coincide with each other. That is, the vertical direction is the axial direction of the rigid internal gear 21 which is the output shaft of the speed reducer 20. The rigid internal gear 21 is fixed to the inner ring 26a of the cross roller bearing 26. The outer ring 26b of the cross roller bearing 26 is fixed to the lower end side portion of the case body 80, and the rigid internal gear 21 is rotatably held by the lower end side portion of the case body 80 via the cross roller bearing 26. There is.

The flexible external gear 22 has a flange portion 22a at the upper end and is formed in a substantially tubular shape with a flange. The flange portion 22a is formed in a substantially annular shape, and the outer peripheral side portion of the flange portion 22a is fixed to the case body 80. That is, the speed reducer 20 is fixed to the case body 80. Further, the rigid internal gear 21 constitutes a lower end side portion of the speed reducer 20. The flange portion 22a of the flexible external gear 22 constitutes an upper end side portion of the speed reducer 20. Internal teeth are formed on the inner peripheral surface of the rigid internal gear 21. External teeth that mesh with the internal teeth of the rigid internal gear 21 are formed on the outer peripheral surface of the flexible external gear 22 on the lower end side.

As described above, the wave generation unit 23 includes an input shaft 24 and a wave bearing 25. The input shaft 24 is formed in an elongated tubular shape in the vertical direction as a whole, and is arranged so that the axial direction and the vertical direction of the input shaft 24 coincide with each other. Further, the portion of the input shaft 24 other than the lower end side portion is formed in an elongated substantially cylindrical shape. The lower end side portion of the input shaft 24 has a circular shape of the inner peripheral surface when viewed from the axial direction of the input shaft 24, and the shape of the outer peripheral surface when viewed from the axial direction of the input shaft 24 is formed. The elliptical portion 24a has an elliptical shape.

The upper end side portion of the input shaft 24 of the wave generating portion 23 is inserted and fixed to the inner peripheral side of the lower end side portion of the magnet holder 12 of the motor 10. Specifically, the upper end side portion of the input shaft 24 is inserted and fixed to the inner peripheral side of the portion of the magnet holder 12 to which the driving magnet 13 is fixed. The magnet holder 12 and the input shaft 24 are arranged coaxially. Further, the upper end side portion of the input shaft 24 is fixed to the magnet holder 12 by adhesion.

The central portion of the input shaft 24 in the vertical direction is rotatably supported by the bearing 16. The bearing 16 is a ball bearing. The bearing 16 is attached to the bearing holding member 15, and the bearing holding member 15 is fixed to the case body 80. That is, the input shaft 24 is rotatably supported by the bearing 16 attached to the case body 80 via the bearing holding member 15. The bearing holding member 15 is formed in an annular shape and a flat plate shape, and is fixed to the case body 80 so as to overlap the flange portion 22a of the flexible external gear 22 in the vertical direction.

The wave bearing 25 is a ball bearing having a flexible inner ring (not shown) and an outer ring (not shown). The wave bearing 25 is arranged along the outer peripheral surface of the elliptical portion 24a and is bent in an elliptical shape. The lower end portion of the flexible external tooth gear 22 on which the external teeth are formed is arranged on the outer peripheral side of the wave bearing 25 so as to surround the wave bearing 25, and this portion is bent in an elliptical shape. The external teeth of the flexible external gear 22 mesh with the internal teeth of the rigid internal gear 21 at two positions in the long axis direction of the lower end side portion of the flexible external gear 22 that bends in an elliptical shape. ..

The output side member 18 has a flange portion 18a and a tubular portion 18b, and is formed in a substantially cylindrical shape with a flange. The output side member 18 is arranged so that the axial direction and the vertical direction of the output side member 18 coincide with each other, and a through hole 18c penetrating in the vertical direction is formed on the inner peripheral side of the output side member 18. ing. The flange portion 18a is formed in a flat plate shape and an annular shape, and is connected to the lower end of the tubular portion 18b. The flange portion 18a is fixed to the rigid internal gear 21 so that the upper surface of the flange 18a comes into contact with the lower surface of the rigid internal gear 21. Further, the flange portion 18a is arranged below the lower end of the case body 80, and is arranged outside the case body 80.

A small diameter portion 18d having an outer diameter smaller than that of the lower end side portion of the tubular portion 18b is formed on the upper end side of the tubular portion 18b, and a circle orthogonal to the vertical direction is formed on the outer peripheral side of the upper end side portion of the tubular portion 18b. An annular stepped surface 18e is formed. The small diameter portion 18d is inserted into the inner peripheral side of the lower end side portion of the rotating shaft 17, and the lower end surface of the rotating shaft 17 faces the stepped surface 18e. Further, the through hole 18c leads to the inner peripheral side of the rotating shaft 17. The upper end side portion of the tubular portion 18b is arranged on the inner peripheral side of the lower end side portion of the input shaft 24 of the speed reducer 20. A bearing 19 is arranged between the outer peripheral surface of the tubular portion 18b and the inner peripheral surface of the lower end side portion of the input shaft 24. The bearing 19 is a ball bearing.

The rotating shaft 17 is configured as a rotating shaft of the motor 10, and is rotationally driven via the magnet holder 12. The rotating shaft 17 is formed in a cylindrical shape elongated in the vertical direction, and is arranged so that the axial direction and the vertical direction of the rotating shaft 17 coincide with each other. As described above, the rotating shaft 17 is inserted into the inner peripheral side of the magnet holder 12 and the input shaft 24. The upper end surface of the rotating shaft 17 is arranged above the upper end surface of the magnet holder 12, and the lower end surface of the rotating shaft 17 is arranged above the lower end surface of the input shaft 24. Further, as described above, the small diameter portion 18d of the output side member 18 is inserted into the inner peripheral side of the lower end side portion of the rotating shaft 17, and the lower end surface of the rotating shaft 17 faces the stepped surface 18e. The lower end side of 17 is held by the output side member 18.

The upper end side of the rotating shaft 17 is held by the holding member 50. The holding member 50 is fixed to the support column 51, and the support column 51 is fixed to the case body 80. That is, the holding member 50 is fixed to the case body 80 via the support column 51. The holding member 50 includes a cylindrical holding portion 50a that holds the upper end side of the rotating shaft 17. The holding portion 50a is arranged so that the axial direction and the vertical direction of the holding portion 50a coincide with each other, and a through hole 50b penetrating in the vertical direction is formed on the inner peripheral side of the holding portion 50a.

A large diameter portion 50c having an inner diameter larger than that of the upper end side of the holding portion 50a is formed on the lower end side of the holding portion 50a, and a circle orthogonal to the vertical direction is formed on the inner peripheral side of the lower end side portion of the holding portion 50a. An annular stepped surface 50d is formed. The upper end side of the rotating shaft 17 is inserted into the inner peripheral side of the large diameter portion 50c, and the upper end surface of the rotating shaft 17 faces the stepped surface 50d. Further, the through hole 50b leads to the inner peripheral side of the rotating shaft 17.

The position detection mechanism 60 is arranged above the stator 14 of the motor 10. The position detection mechanism 60 includes a slit plate 61 fixed to the upper end side of the magnet holder 12 and a sensor 62. The sensor 62 is a transmissive optical sensor including a light emitting element and a light receiving element arranged so as to face each other. The sensor 62 is fixed to a fixing member 35 as an encoder holder.

The fixing member 35 is fixed to the case body 80. That is, the sensor 62 is fixed to the case body 80 via the fixing member 35. The slit plate 61 of the position detection mechanism 60 is formed in a thin flat plate shape and in an annular shape. A plurality of slit holes (not shown) are formed in the slit plate 61 at regular intervals in the circumferential direction of the slit plate 61. The slit plate 61 is fixed to the magnet holder 12 of the motor 10 so that a part of the slit plate 61 in the circumferential direction is arranged between the light emitting element and the light receiving element of the sensor 62.

The case body 80 includes a case body 81 in which both upper and lower ends are opened, and a cover 82 for closing the opening on the upper end side of the case body 81. The opening on the lower end side of the case body 81 is closed by the speed reducer 20. An opening 81a that opens in a direction orthogonal to the vertical direction is formed on the side surface of the case body 81. That is, the case body 80 is formed with an opening 81a that opens in a direction orthogonal to the vertical direction. The opening 81a is formed so as to penetrate the side surface portion of the case body 81.

Further, a through hole 82a in which a pin 43 is arranged is formed on the upper surface portion of the cover 82, which constitutes the drive mechanism 40 of the first rotation regulation mechanism 30 described below. That is, a through hole 82a is formed in the case body 80. The through hole 82a is formed so as to penetrate the upper surface portion of the cover 82 in the vertical direction, and the inside and the outside of the case body 80 communicate with each other through the through hole 82a. Further, the through hole 82a is formed in a substantially round hole shape.

As shown in FIGS. 3 and 4, the first rotation regulating mechanism 30 is provided in the first type joint portion 3 to hold the stopped rotor 11 at the stopped position, and is provided on the case body 80. It is contained. The first rotation regulation mechanism 30 engages with the flat and substantially annular rotation side regulation member 31 (first rotating body) and the rotation side regulation member 31 to rotate the rotation side regulation member 31 in the circumferential direction. It includes a regulation pin 32 (first member) that regulates the movement of the side regulation member 31 and a drive mechanism 40 that moves the regulation pin 32 in the vertical direction along the axial direction of the rotor 11. That is, the first rotation regulating mechanism 30 of the present embodiment is regulated between the plurality of protrusions 31a (projections) described below formed on the outer peripheral portion of the rotation side regulating member 31 supported by the magnet holder 12 of the motor 10. It is a mechanism that regulates the rotation of the motor 10 by inserting the pin 32.

The drive mechanism 40 has a compression coil spring 42 as an urging member for urging the regulation pin 32 upward, and a solenoid 41 for moving the regulation pin 32 downward via the plunger 41a.

The solenoid 41 is fixed to the case body 80 so that the plunger 41a of the solenoid 41 protrudes downward when the solenoid 41 is energized. The upper end (other end) of the plunger 41a projects upward from the main body 41b of the solenoid 41. The plunger 41a of the solenoid 41 abuts and presses the regulation pin 32 at the lower end (one end) of the plunger 41a to move the regulation pin 32 along the axial direction of the rotor 11 to the regulation release position described below. .. A pin 43 is fixed to the upper end of the plunger 41a projecting upward from the main body 41b.

The pin 43 has a columnar shaft portion 43a and an annular flange portion 43b extending radially outward from one end of the shaft portion 43a, and is formed in a cylindrical shape with a flange. That is, the pin 43 is fixed to the upper end portion of the plunger 41a so that the axial direction and the vertical direction of the pin 43 coincide with each other and the flange portion 43b is arranged on the lower side. Further, the pin 43 is arranged coaxially with the plunger 41a. The shaft portion 43a of the pin 43 is arranged in the through hole 82a of the case body 80. The outer diameter of the shaft portion 43a is set to be slightly smaller than the inner diameter of the through hole 82a.
A recess is formed on the lower surface of the flange portion 43b of the pin 43 for inserting and fixing the upper end portion of the plunger 41a.

As shown in FIG. 3, the rotation side regulation member 31 is fixed to the upper end surface of the magnet holder 12 of the rotor 11 so that the thickness direction and the vertical direction of the rotation side regulation member 31 coincide with each other, and the position detection mechanism It is located above 60. As shown in FIG. 5, on the outer peripheral surface of the rotation side regulation member 31, a plurality of protrusions 31a protruding outward in the radial direction of the rotation side regulation member 31 are constant along the circumferential direction of the rotation side regulation member 31. It is formed at intervals of. In this embodiment, 12 protrusions 31a are formed at a pitch of 30 ° with respect to the center of the rotation side regulating member 31. Further, the protrusion 31a is formed so that the shape when viewed from the vertical direction is a substantially isosceles trapezoidal shape.
The number of protrusions 31a formed on the rotation-side regulating member 31 is not particularly limited, and may be 11 or less, or 13 or more.

As shown in FIGS. 3 and 4, the regulation pin 32 is a columnar member having a uniform cross-sectional shape perpendicular to the axial direction (vertical direction) of the rotor 11, and the regulation pin 32 is in the axial direction and the vertical direction. Are arranged so that they match. The regulation pin 32 is fixed to the plunger 41a arranged above the regulation pin 32. Specifically, the regulation pin 32 is fixed in contact with the lower end portion of the plunger 41a.

As shown in FIG. 4, a recess 32a that is recessed toward the upper side is formed on the lower end surface of the regulation pin 32, and the upper end side portion of the compression coil spring 42 of the drive mechanism 40 is arranged in the recess 32a. Has been done. In this embodiment, the regulation pin 32 is formed in a columnar shape, but the present invention is not limited to this.

The regulation pin 32 is arranged on the outer peripheral side of the rotation side regulation member 31 when viewed from the vertical direction. Specifically, as shown in FIG. 5, when viewed from the vertical direction, a part of the regulation pin 32 rotates rather than the virtual circle VC connecting the tip surfaces of the plurality of protrusions 31a of the rotation side regulation member 31. The regulation pin 32 is arranged so as to be arranged inside the side regulation member 31 in the radial direction. As shown in FIGS. 3 and 4, the linear bush 33 is also formed in a columnar shape having a uniform cross section perpendicular to the vertical direction, so that the axial direction and the vertical direction of the linear bush 33 coincide with each other. Is located in.

The linear bush 33 is arranged so as to be entirely inserted into a recess 35a (see FIG. 4) formed on the upper surface of the fixing member 35. The lower end surface of the linear bush 33 is in contact with the bottom surface of the recess 35a. Further, on the bottom surface of the recess 35a, a recess 35b in which the lower end side portion of the compression coil spring 42 of the drive mechanism 40 is arranged is formed so as to be recessed downward. A regulation pin 32 is entirely inserted and arranged on the inner peripheral side of the linear bush 33.

Further, in the present embodiment, the solenoid 41 of the drive mechanism 40 is in a non-energized state when the motor 10 is stopped, and is in an energized state when the motor 10 is driven. As shown in FIG. 4B, when the solenoid 41 is not energized, the regulation pin 32 is arranged between the protrusions 31a of the rotation side regulation member 31 by the urging force of the compression coil spring 42 of the drive mechanism 40. The regulation pin 32 is rising. Therefore, the rotation of the stopped rotor 11 is restricted by the engagement between the protrusion 31a of the rotation side regulation member 31 and the regulation pin 32. On the other hand, when the solenoid 41 is energized, as shown in FIG. 4A, the plunger 41a protrudes downward and is regulated until the regulation pin 32 is disengaged from between the protrusions 31a of the rotation side regulation member 31. The pin 32 descends. Therefore, the rotor 11 can rotate.

In this way, the drive mechanism 40 has a regulation position (position shown in FIG. 4B) in which the regulation pin 32 is arranged between the protrusions 31a of the rotation side regulation member 31 and a protrusion of the rotation side regulation member 31. The regulation pin 32 is moved from between 31a to the regulation release position (position shown in FIG. 4A) where the regulation pin 32 is disengaged. Further, the compression coil spring 42 of the drive mechanism 40 urges the regulation pin 32 toward the regulation position. The solenoid 41 moves the regulation pin 32 at the regulation position toward the regulation release position.
When the regulation pin 32 is in the regulation release position, the plunger 41a of the drive mechanism 40 arranged on the outer peripheral side of the rotation side regulation member 31 is arranged at a position not to come into contact with the protrusion 31a of the rotation side regulation member 31. ..

As shown in FIG. 3, the circuit board B is a rigid substrate such as a glass epoxy substrate, and is formed in a flat plate shape. The circuit board B is fixed to the case body 80 so that the thickness direction and the vertical direction of the circuit board B coincide with each other. Further, the circuit board B is fixed to the upper end side of the case body 80, and is arranged above the rotation side regulating member 31. The upper end of the rotating shaft 17 is arranged above the upper surface of the circuit board B.

A motor drive circuit for driving the motor 10 and a signal transmission circuit for outputting a signal input to the circuit board B to the outside of the circuit board B are mounted on the circuit board B. Further, at least two connectors are mounted on the circuit board B. The wiring connected to one of the two connectors is routed so as to pass through the inner peripheral side of the rotating shaft 17, and then is drawn out from the through hole 18c of the output side member 18. The wiring connected to the other connector is drawn out from the opening 81a of the case body 80.

(Structure of type 2 joint)
Next, with reference to FIGS. 6 to 8, regarding the configuration of the second type joint portion 2, that is, the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C on which the second rotation regulation mechanism 70 is mounted. This will be described in detail. FIG. 6 is a vertical cross-sectional view of the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C shown in FIG. FIG. 7 is a sectional view taken along the line HH of FIG. FIG. 8 is a view taken along the line I of FIG.
In the following description, for convenience of explanation, the Z1 direction side of FIG. 6 is referred to as the "upper" side, and the opposite side, the Z2 direction side, is referred to as the "lower" side, as in FIG. Further, the X1 direction side in FIG. 6 is the "left" side, and the opposite side, the X2 direction side, is the "right" side. Further, the Y1 direction side of FIGS. 7 and 8 is referred to as the "rear" side, and the opposite side of Y2 is referred to as the "front" side.

As shown in FIG. 6, the second type joint portion 2 includes a motor 10, a speed reducer 20 connected to the motor 10, a position detection mechanism 60 for detecting the rotational position of the motor 10, the motor 10 and a position. The circuit board B to which the detection mechanism 60 is electrically connected, the motor 10, the speed reducer 20, the case body 80 for accommodating the position detection mechanism 60 and the circuit board B, and the joint portion 2 are included. It is itself configured as a rotary actuator. Further, the second type joint portion 2 is inserted into the second rotation regulating mechanism 70 that regulates the rotation of the stopped rotor 11 and the inner peripheral side of the magnet holder 12 of the motor 10 and the input shaft 24 of the speed reducer 20. A tubular rotating shaft 17 and an output side member 18 fixed to the rigid internal gear 21 are further provided. Similar to the first type joint portion 3, the motor 10 and the second rotation regulating mechanism 70 are housed in the case body 80.
The second type joint portion 2 has a second rotation regulation mechanism 70 instead of the first rotation regulation mechanism 30 of the first type joint portion 3, and the portion other than the second rotation regulation mechanism is the first type. It is configured in the same manner as the joint portion 3. Therefore, in the configuration of the second type joint portion 2, the same or equivalent parts as those of the first type joint portion 3 are designated by the same or equivalent reference numerals in the drawings, and the description thereof will be omitted or simplified.

The second rotation regulation mechanism 70 is provided in the second type joint portion 2 to hold the stopped rotor 11 at the stopped position, and is housed in the case body 80 (housing). Unlike the first rotation regulation mechanism 30, the second rotation regulation mechanism 70 is an electromagnetic type, specifically, an electromagnetic brake mechanism, and examples of the electromagnetic brake mechanism include a non-excitation operation type and an excitation operation type. .. As described above, the first rotation restricting mechanism 30 is not mounted on the second type joint portion 2, and a predetermined space is provided between the fixing member 35 and the motor 10 in the vertical direction, and the second rotation regulation is performed in the space. The mechanism 70 is arranged. The second rotation regulation mechanism 70 is fixed to the lower side of the fixing member 35. That is, the second type joint portion 2 has a configuration in which the speed reducer 20, the motor 10, the second rotation regulation mechanism 70, and the position detection mechanism 60 are arranged in order from the torque output direction side. The fixing member 35 of the second type joint portion 2 is not provided with the recess 35a and the recess 35b shown in FIG.

The second rotation control mechanism 70 includes a flat plate-shaped and substantially annular yoke 71 (coil holder), a flat plate-shaped and substantially annular friction plate 72 (second rotating body), a friction plate 72, and a magnet holder of the motor 10. A flat and annular hub 73 (attachment) that regulates the movement of the friction plate 72 and the magnet holder 12 in the circumferential direction, and an upper end surface of the friction plate 72 (end surface in the direction of the rotation axis 17) that is interposed between the 12 A movable plate 74 (second member) that regulates the movement of the friction plate 72 in the circumferential direction by making surface contact (contact) with the friction plate 72. That is, the second rotation regulation mechanism 70 rotates the motor 10 by the frictional force generated by bringing the movable plate 74 into contact with the upper end surface of the friction plate 72 supported by the magnet holder 12 (rotation shaft 17) of the motor 10. It is a mechanism to regulate.

The yoke 71 is fitted and fixed in a peripheral groove formed on the lower end surface of the fixing member 35 in the circumferential direction, and as a result, between the friction plate 72 of the second rotation regulating mechanism 70 and the position detecting mechanism 60. Be placed. Further, the yoke 71 has an accommodating groove 71a formed on the lower end surface thereof in the circumferential direction, a substantially annular coil 71b accommodated in the accommodating groove 71a, and a movable plate 74 attached to the friction plate 72. It is configured to have a plurality of springs (not shown) that force.

When the coil 71b is energized, the coil 71b generates a magnetic force for moving the movable plate 74 upward (in the direction of the rotation axis of the motor 10). Further, the spring is inserted into a hole provided in the yoke 71, and the lower end thereof is brought into contact with the movable plate 74. Further, the gap between the yoke 71 and the rotor 11 (magnet holder 12) of the motor 10 is set to a distance that suppresses the passage of abrasion powder that may occur due to the contact between the movable plate 74 and the friction plate 72. This makes it possible to prevent the friction powder from entering the position detection mechanism 60 side.
The spring is not particularly limited, and examples thereof include a coil spring.

As shown in FIG. 7, the outer shape of the hub 73 is formed in a substantially rectangular shape (polygon), and the inner shape thereof is formed in an annular shape corresponding to the outer shape of the magnet holder 12. Further, as shown in FIG. 6, an annular stepped surface 12a orthogonal to the vertical direction is formed on the outer peripheral side of the intermediate portion in the vertical direction of the magnet holder 12. The hub 73 is fitted into the magnet holder 12 in its inner shape, and faces the stepped surface 12a of the magnet holder 12 at its lower end surface. As a result, the hub 73 is firmly fixed to the magnet holder 12.

As shown in FIGS. 6 and 7, a substantially rectangular (polygonal) hole 72a is formed in the friction plate 72 corresponding to the outer shape of the hub 73. The hub 73 is internally fitted in the substantially rectangular hole 72a. That is, the friction plate 72 is supported by the magnet holder 12 via a hub 73 that fits into the substantially rectangular hole 72a.
In this embodiment, the hole 72a of the friction plate 72 is formed in a substantially rectangular shape, but the present invention is not limited to this. It may be a polygon, and other than a rectangle, a triangle, a pentagon, a hexagon, a trapezoid, or the like can be mentioned. The hole 72a may have a spline shape.

As shown in FIG. 6, the movable plate 74 is made of a magnetic material, is inserted into the magnet holder 12, and is inserted between the yoke 71 and the friction plate 72 so as to be movable in the axial direction of the magnet holder 12, that is, in the vertical direction. Is done. The movable plate 74 is arranged between the yoke 71 and the friction plate 72 so as not to rotate in the circumferential direction of the rotating shaft 17. The movable plate 74 abuts on the lower end surface of the yoke 71 when moving upward, and abuts on the upper end surface of the friction plate 72 when moving downward. The second rotation regulation mechanism 70 has a configuration in which a connecting body of the hub 73 and the friction plate 72, a movable plate 74, and a yoke 71 are arranged in order from the torque output direction.

Further, in the present embodiment, the coil 71b of the yoke 71 of the second rotation regulation mechanism 70 is in the non-energized state when the motor 10 is stopped, and is in the energized state when the motor 10 is driven. Further, if an abnormality occurs during the operation of the second type joint portion 2, the coil 71b of the yoke 71 is switched to the non-energized state even when the motor 10 is driven, and the second type joint portion 2 is abnormally stopped. That is, when the coil 71b of the yoke 71 is not energized, no magnetic force is generated, and the movable plate 74 moves downward and comes into contact with the friction plate 72 due to the urging force of the spring of the yoke 71. Due to this contact, the friction plate 72 is restricted from moving in the circumferential direction, and as a result, the rotation of the rotor 11 is restricted. On the other hand, when the yoke 71 is energized, a magnetic force is generated to move the movable plate 74 upward against the urging force of the spring. By this movement, the contact state between the friction plate 72 and the movable plate 74 is released, and a gap is formed. Therefore, the rotor 11 can rotate.

In this way, the second rotation regulation mechanism 70 moves the movable plate 74 between the regulation position where the friction plate 72 and the movable plate 74 come into contact with each other and the regulation release position where the movable plate 74 separates from the friction plate 72. .. The spring of the yoke 71 urges the movable plate 74 toward the regulated position. When the coil 71b of the yoke 71 is energized, the movable plate 74 in the regulated position is moved toward the regulated release position.

Further, in the present embodiment, the second rotation regulating mechanism 70 is mounted on the second type joint portion 2 as described above. The second rotation regulation mechanism 70 is an electromagnetic type, and its occupied volume and weight are larger than those of the pin contact type of the first rotation regulation mechanism 30. Therefore, the case body 80 of the second type joint portion 2 is provided larger than the first type joint portion 3. Then, as shown in FIG. 8, on the side surface of the case body 80 of the second type joint portion 2 (the end portion in the direction orthogonal to the rotation axis direction of the motor 10), a substantially rectangular opening 81b is formed in the upper portion thereof. (Hole) is formed. The opening 81b is opened in a direction orthogonal to the vertical direction, and an electric wire is passed through the opening 81b. Further, the opening 81b is formed with a reinforcing member 81c extending in the vertical direction in a substantially rectangular front-rear intermediate portion and crossing the upper end edge and the lower end edge of the opening 81b. The reinforcing member 81c reinforces the strength of the opening 81b.

(Connecting structure of type 1 joint, type 2 joint and arm)
The connection structure of the second type joint portion 2, the first type joint portion 3, and the arm 4 of the robot 1 according to the present embodiment will be described again with reference to FIG.

As described above, the support member 5 and the first joint portion 2A are connected so as to be relatively rotatable, and the first joint portion 2A and the second joint portion 2B are connected so as to be relatively rotatable. Further, the second joint portion 2B and the base end of the first arm 4A are fixed, the tip of the first arm 4A and the third joint portion 2C are fixed, and the third joint portion 2C and the fourth joint portion 3A are fixed. They are connected so that they can rotate relative to each other. Further, the fourth joint portion 3A and the base end of the second arm 4B are connected so as to be relatively rotatable, the tip of the second arm 4B and the fifth joint portion 3B are fixed, and the fifth joint portion 3B and the sixth joint portion 3B and the sixth joint portion 3B are fixed. The joint portion 3C is connected so as to be relatively rotatable. Specifically, for example, the joint portions 2, 3 and the arm 4 are connected as shown below so that the robot 1 can perform the operation shown in FIG. 2 (B).

In the following description, the axial direction of the rigid internal gear 21 of the first joint 2A is defined as the "axial direction of the first joint 2A", and the axial direction of the rigid internal gear 21 of the second joint 2B is defined as "axial direction". The axial direction of the second joint portion 2B ”. Further, the axial direction of the rigid internal gear 21 of the third joint 2C is set to "the axial direction of the third joint 2C", and the axial direction of the rigid internal gear 21 of the fourth joint 3A is set to "the fourth joint 3A". Axial direction of. " Further, the axial direction of the rigid internal gear 21 of the 5th joint 3B is defined as the "axial direction of the 5th joint 3B", and the axial direction of the rigid internal gear 21 of the 6th joint 3C is "the 6th joint 3C". Axial direction of. "

First, the support member 5 and the first joint portion 2A are connected by fixing the end face of the support member 5 on the side where the flange portion 5a is not formed to the flange portion 18a of the first joint portion 2A. There is. That is, the support member 5 and the first joint portion 2A are connected so that the axial direction of the first joint portion 2A and the axial direction of the support member 5 coincide with each other. The first joint portion 2A and the second joint portion 2B are connected so that the axial direction of the first joint portion 2A and the axial direction of the second joint portion 2B are orthogonal to each other. Further, the side surface of the case body 81 of the first joint portion 2A where the opening 81b is formed is fixed to the flange portion 18a of the second joint portion 2B.

The second joint portion 2B and the first arm 4A are connected so that the axial direction of the second joint portion 2B and the longitudinal direction (axial direction) of the first arm 4A are orthogonal to each other. Further, the base end of the first arm 4A is fixed to the side surface of the case body 81 of the second joint portion 2B where the opening 81b is formed. The first arm 4A and the third joint portion 2C are connected so that the longitudinal direction of the first arm 4A and the axial direction of the third joint portion 2C are orthogonal to each other. Further, the tip of the first arm 4A is fixed to the side surface of the case body 81 of the third joint portion 2C where the opening 81b is formed.

The third joint portion 2C and the fourth joint portion 3A are connected so that the axial direction of the third joint portion 2C and the axial direction of the fourth joint portion 3A are orthogonal to each other. Further, the side surface of the case body 81 of the fourth joint portion 3A where the opening 81a is formed is fixed to the flange portion 18a of the third joint portion 2C. More specifically, the fourth joint portion is attached to the flange portion 18a of the third joint portion 2C via the connecting member 6 fixed to the side surface where the opening 81a of the case body 81 of the fourth joint portion 3A is formed. The side surface of the case body 81 of 3A on which the opening 81a is formed is fixed. The connecting member 6 includes a flange portion 5a fixed to the flange portion 18a of the third joint portion 2C, and is formed in a cylindrical shape with a flange.

The fourth joint portion 3A and the second arm 4B are connected so that the axial direction of the fourth joint portion 3A and the longitudinal direction of the second arm 4B coincide with each other. Further, the base end of the second arm 4B is fixed to the flange portion 18a of the fourth joint portion 3A.
At the base end of the second arm 4B, a flange portion 4a for fixing the base end of the second arm 4B is formed on the flange portion 18a of the fourth joint portion 3A, and the flange of the fourth joint portion 3A. The portion 18a and the flange portion 4a are fixed to each other.

The second arm 4B and the fifth joint portion 3B are connected so that the longitudinal direction of the second arm 4B and the axial direction of the fifth joint portion 3B are orthogonal to each other. Further, the tip of the second arm 4B is fixed to the side surface of the case body 81 of the fifth joint portion 3B where the opening 81a is formed. The fifth joint portion 3B and the sixth joint portion 3C are connected so that the axial direction of the fifth joint portion 3B and the axial direction of the sixth joint portion 3C are orthogonal to each other. Further, the side surface of the case body 81 of the sixth joint portion 3C where the opening 81a is formed is fixed to the flange portion 18a of the fifth joint portion 3B.

By connecting the first type joint portion 3, the second type joint portion 2 and the arm 4 in this way, the second type joint portion 2 supports the second arm 4B and the first type joint portion 3, so that the second type joint portion 2 supports the second arm 4B and the first type joint portion 3. The output torque (required torque) of the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C of the second type joint portion 2 is large. On the other hand, since the first type joint portion 3 does not have a mechanism requiring support on the tip side thereof as compared with the second type joint portion 2, the fourth joint portion 3A and the fifth of the first type joint portion 3 The required torque of the joint portion 3B and the sixth joint portion 3C can be smaller than that of the second type joint portion 2. That is, of the six joint portions 2, 3, the joint portions 2 and 3 whose output torque is equal to or less than the threshold value are the fourth joint portion 3A, the fifth joint portion 3B, and the sixth joint portion 3C of the first type joint portion 3. is there. The joint portions 2 and 3 whose output torque exceeds the threshold value are the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C of the second type joint portion 2.

(Main effect of this form)
As described above, in the present embodiment, the plurality of joint portions 2 and 3 (six in the present embodiment) are the first type joint portions including the motor 10 and the first rotation regulating mechanism 30 that regulates the rotation of the motor 10. 3 and a second type joint portion 2 including a motor 10 and a second rotation regulating mechanism 70 that regulates the rotation of the motor 10. The first rotation regulation mechanism 30 has a regulation pin 32 between a plurality of protrusions 31a (projections) formed on the outer periphery of the rotation side regulation member 31 (first rotating body) supported by the rotation shaft 17 of the motor 10. It is a mechanism that regulates the rotation of the motor 10 by inserting the (first member). The second rotation regulating mechanism 70 brings the movable plate 74 (second member) into contact with the end surface of the friction plate 72 (second rotating body) supported by the rotating shaft 17 of the motor 10 in the direction of the rotating shaft 17. It is a mechanism that regulates the rotation of the motor 10 by the generated frictional force.

Two types of rotation regulation mechanisms 30, 70, which are compact and lightweight, and the second rotation regulation mechanism 70, which has a large braking torque and high durability, are used in combination to have different stopping or braking mechanisms and characteristics. The robot 1 is configured to include the above. As a result, the rotation regulation mechanism 30 can be adjusted according to the positions of the joints 2 and 3 based on the required torque of the joints 2 and 3 of the robot 1 and the characteristics and balance of the robot 1 as a whole such as the overall size and weight. The 70 types can be appropriately selected to optimize the entire robot 1 in terms of stopping and braking each of the joints 2 and 3. That is, it is possible to introduce a regulation mechanism suitable for each position of the joint portions 2 and 3, and it is possible to improve the durability and workability of the robot 1 at the same time.

Further, in the present embodiment, the joint portions 2 and 3 arranged on the most distal end side among the plurality of joint portions 2 and 3 are the first type joint portions 3 (first joint portions) having the first rotation regulation mechanism 30. is there. The joint portion arranged on the most proximal side is the second type joint portion 2 (second joint portion) having the second rotation regulation mechanism 70.

Here, in the robot 1 having the plurality of joints 2 and 3 and the arm 4 connected to the joints 2 and 3, the tip side of the robot 1 is generally required to be lightweight. For this reason, as the joint portion 3 arranged on the most distal end side, the first type joint portion 3 (first joint portion) configured to include the small and lightweight first rotation regulation mechanism 30 is suitable. On the other hand, the base end side (root side) of the robot 1 may be fixed to a fixed surface such as a ceiling surface or the ground, and in such a case, the required torque of the joint portion 2 on the base end side becomes large. .. For this reason, the joint portion 2 arranged on the most proximal side includes the second type joint portion 2 (second joint portion) including the second rotation regulation mechanism 70 having a large braking torque and high durability. Is suitable. That is, by appropriately selecting and introducing the rotation regulation mechanisms 30 and 70 according to the positions of the tip end side and the base end side of the robot 1 in this way, the entire robot 1 can be more appropriately selected from the characteristics and balance of the entire robot 1. It can be optimized.

Further, in the present embodiment, the joint portions 2 and 3 for determining the three-dimensional position of the arm 4 arranged on the most tip side among the plurality of joint portions 2 and 3 are the second type joint portions 2 (second joint portions). ). The joint portion connected to the tip end side of the arm 4 is the first type joint portion 3 (first joint portion).

Here, in the robot 1 having the plurality of joints 2 and 3 and the arm 4 connected to the joints 2 and 3, the three-dimensional position (mainly the position in the position posture) of the arm 4 on the tip side of the robot 1 is set. The required torque to determine is generally large. Therefore, as the joint portion 2 for that purpose, the second type joint portion 2 (second joint portion) configured to include the second rotation regulation mechanism 70 having a large braking torque and high durability is suitable. On the other hand, since the joint portion 3 connected to the tip end side of the arm 4 is mainly for determining the posture, the required torque for determining this posture does not need to be so large. For this reason, as the joint portion 3 connected to the tip end side of the arm 4, the first type joint portion 3 (first joint portion) including the compact and lightweight first rotation regulation mechanism 30 is suitable. ing. That is, by appropriately selecting and introducing the rotation regulation mechanisms 30 and 70 according to the degree of contribution of each arm 4 to the position determination or the posture determination, the robot 1 as a whole can be further selected from the characteristics and balance of the robot 1 as a whole. It can be optimized appropriately.

Further, in the present embodiment, of the plurality of joint portions 2 and 3, the joint portion 3 whose output torque is equal to or less than the threshold value is the first type joint portion 3 (first joint portion). The joint portion 2 whose output torque exceeds the threshold value is the second type joint portion 2 (second joint portion).

Therefore, in the robot 1 having the plurality of joints 2 and 3 and the arm 4 connected to the joints 2 and 3, the rotation regulating mechanism 30 and the rotation regulating mechanism 30 are according to the magnitude of the output torque required for each of the joints 2 and 3. By appropriately selecting and introducing 70, the entire robot 1 can be optimized more appropriately from the characteristics and balance of the entire robot 1.

Further, in this embodiment, two arms 4 are included, and six joint portions 2 and 3 are included as a plurality of joint portions 2 and 3. Of the six joints 2 and 3, the three joints 3 arranged on the distal end side are the first type joints 3 (first joints), respectively. The three joints 2 arranged on the proximal end side are the second type joints 2 (second joints), respectively.

When the six joints 2 and 3 are provided as in this embodiment, the required torque does not need to be so large for all the three joints 3 arranged on the tip side, so that the small and lightweight first rotation regulation mechanism 30 The first type joint part 3 (first joint part) which is composed of the above is suitable. On the other hand, the required torques of the three joints 2 arranged at the proximal end are larger than those of the three joints 3 on the distal end side. Therefore, as the three joints 2 arranged at the base end, the second type joint 2 (second joint) including the second rotation regulation mechanism 70 having a large braking torque and high durability is suitable. ing.

Further, in the present embodiment, the second type joint portion 2 (second joint portion) includes a case body 80 (housing) for accommodating the motor 10 and the second rotation regulation mechanism 70. An opening 81a (hole) through which an electric wire is passed is provided at an end of the case 80 in a direction orthogonal to the rotation axis direction of the motor 10, and a reinforcing member 81c for reinforcing the opening 81b is provided in the opening 81b. It is formed.

Here, when the second rotation regulating mechanism 70 is mounted on a predetermined joint portion 2, the outer shape of the joint portion 2 tends to be enlarged, and the case body 80 (housing) is also enlarged accordingly. Therefore, with this configuration, even if the case body 80 of the joint portion 2 is increased in size by mounting the second rotation regulating mechanism 70, the reinforcing member 81c is formed in the opening 81b for passing the electric wire. The strength of the case body 80 of the joint portion 2 can be increased. As a result, it is possible to suppress vibration of the robot 1 itself during operation of the robot 1. In addition, such a reinforcing member may be provided in the opening for passing the electric wire provided in the case body 80 of the joint portion 3.

Further, in the present embodiment, the second type joint portion 2 (second joint portion) optically photographs the rotation positions of the speed reducer 20, the motor 10, the second rotation regulation mechanism 70, and the motor 10 in order from the torque output direction side. The position detection mechanism 60 (detector) for detecting the target is arranged. A coil 71b that generates a magnetic force for moving the friction plate 72 in the rotation axis direction of the motor 10 is accommodated between the friction plate 72 (second rotating body) of the second rotation regulation mechanism 70 and the position detection mechanism 60. A yoke 71 is provided.

In this way, since the yoke 71 is disposed between the friction plate 72 (second rotating body) of the second rotation regulating mechanism 70 and the position detecting mechanism 60 (detector), the second rotation regulating mechanism 70 Even when the friction powder of the friction plate 72 is generated during use, the yoke 71 acts as a barrier to prevent the friction powder from invading the position detection mechanism 60 side. By suppressing this intrusion, it is possible to prevent the position detection mechanism 60 from being affected by its operation.

Further, in the present embodiment, the gap between the yoke 71 and the rotor 11 (magnet holder 12) of the motor 10 may be worn due to the contact between the movable plate 74 (second member) and the friction plate 72 (second rotating body). It is a distance that suppresses the passage of powder.

Therefore, since the gap between the yoke 71 and the rotor 11 is set to a distance that suppresses the passage of friction powder, it is possible to further suppress the friction powder from entering the position detection mechanism 60 (detector) side. Can be done.

Further, in the present embodiment, the second type joint portion 2 (second joint portion) includes a magnet holder 12 fixed to the rotating shaft 17 of the motor 10 and supporting the driving magnet 13 of the motor 10. A hole 72a having a substantially rectangular shape (an example of a polygon) is formed in the friction plate 72 (second rotating body) of the second rotation regulating mechanism 70. The friction plate 72 is supported by the magnet holder 12 via a hub 73 that fits into the substantially rectangular hole 72a.

Therefore, at the time of assembling and producing the second rotation regulation mechanism 70, it is easy to provide a magnetizing process after shrink fitting and fixing, or to appropriately replace the processes according to the arrangement order of the constituent members in terms of the work process. can do.

(Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications can be carried out without changing the gist of the present invention.

In the above-described embodiment, the compression coil spring 42 of the first rotation regulation mechanism 30 urges the regulation pin 32 upward, and the solenoid 41 moves the regulation pin 32 downward, but the present invention is not limited to this. For example, the compression coil spring 42 may urge the regulation pin 32 downward, and the solenoid 41 may move the regulation pin 32 upward. Further, in the above-described embodiment, the regulation pin 32 is urged by the compression coil spring 42 of the first rotation regulation mechanism 30, but the present invention is not limited to this. For example, the regulation pin 32 may be urged by another spring member such as a tension coil spring.

In the above-described embodiment, the protrusion 31a of the rotation-side regulating member 31 is formed so as to project outward in the radial direction of the rotor 11, but the present invention is not limited to this. For example, the protrusion 31a may be formed so as to protrude inward in the radial direction of the rotor 11.

In the above-described embodiment, the pin 43 is fixed to the upper end of the plunger 41a of the drive mechanism 40, but the present invention is not limited to this. For example, the pin 43 may not be fixed to the upper end of the plunger 41a. In this case, the length of the upper end portion of the plunger 41a protruding upward from the main body portion 41b of the solenoid 41 is long, and the upper end portion of the plunger 41a is arranged in the through hole 82a of the case body 80. ing. Further, when the regulation pin 32 is in the regulation position, the upper end portion of the plunger 41a projects to the outside of the case body 80, and the upper end portion of the plunger 41a projecting to the outside of the case body 80 faces the inside of the case body 80. When pressed, the regulation pin 32 at the regulation position moves to the regulation release position.

When the pin 43 is not fixed to the upper end of the plunger 41a of the drive mechanism 40, the upper end of the plunger 41a may be arranged inside the case body 80 when the regulation pin 32 is in the regulation position. In this case, the through hole 82a may not be formed in the cover 82.

In the above-described embodiment, the rigid internal gear 21 is the output shaft of the speed reducer 20, but the present invention is not limited to this. For example, the flexible external gear 22 may be the output shaft of the speed reducer 20. In this case, the rigid internal gear 21 is fixed to the case body 80 and the inner ring 26a of the cross roller bearing 26, and the flexible external gear 22 is fixed to the outer ring 26b of the cross roller bearing 26 and the flange portion 18a of the output side member 18. Will be done. Further, in the above-described embodiment, the speed reducer 20 is a hollow wave gearing device, but the speed reducer 20 is not limited thereto. For example, the speed reducer 20 may be a hollow speed reducer other than the hollow wave gearing device. Further, the speed reducer 20 may be a speed reducer other than the hollow speed reducer. Further, in the above-described embodiment, the motor 10 is a hollow motor, but the motor 10 is not limited to this. For example, the motor 10 may be a motor other than the hollow motor. Further, in the above-described form, the motor 10 is a so-called inner rotor type motor, but the motor 10 is not limited to this. For example, the motor 10 may be an outer rotor type motor.

In the above-described embodiment, the robot 1 includes, but is not limited to, six joints 2 and 3. For example, the number of joints 2 and 3 included in the robot 1 may be 5 or less, or 7 or more. Further, in the above-described embodiment, the robot 1 includes two arms 4, but the robot 1 is not limited to this. For example, the number of arms 4 included in the robot 1 may be one or three or more. Further, in the above-described embodiment, the joint portions 2 and 3 of the robot 1 are composed of a rotary actuator having a motor 10 and a speed reducer 20, but the present invention is not limited to this. For example, the rotary actuator may be used in addition to the joints 2 and 3 of the robot 1. In addition, the rotary actuator may be used as a drive unit of a θ stage (rotary stage). Further, in the above-described embodiment, the robot 1 is an industrial robot, but the robot 1 can be applied to various uses. For example, the robot 1 may be a service robot.

1 Industrial robot (robot)
2 Type 2 Joint 2A 1st Joint 2B 2nd Joint 2C 3rd Joint 3 Type 1 Joint 3A 4th Joint 3B 5th Joint 3C 6th Joint 4 Arm 4A 1st Arm 4B 1st 2 Arm 4a Flange part 5 Support member 5a Flange part 6 Connecting member 6a Flange part 10 Motor 11 Rotor 12 Magnet holder 12a Step surface 13 Drive magnet (magnet)
14 Steader 15 Bearing holding member 16 Bearing 17 Rotating shaft 18 Output side member 18a Flange part 18b Cylinder part 18c Through hole 18d Small diameter part 18e Step surface 19 Bearing 20 Reducer 21 Rigid internal gear 22 Flexible external gear 22a Flange 23 Wave generating part 24 Input shaft 24a Elliptical part 25 Wave bearing 26 Cross roller bearing 26a Inner ring 26b Outer ring 30 First rotation regulation mechanism 31 Rotation side regulation member (first rotation body)
31a protrusion (protrusion)
32 Regulation pin (first member)
32a Recess 33 Linear bush 35 Fixing member 35a Recess 35b Recess 40 Drive mechanism 41 Solenoid 41a Plunger 41b Main body 42 Compression coil spring 43 Pin 43a Shaft 43b Flange 50 Holding member 50a Holding 50b Through hole 50c Large diameter 50d Step surface 51 Support column 60 Position detection mechanism (detector)
61 Slit plate 62 Sensor 70 Second rotation regulation mechanism 71 York 71a Accommodating groove 71b Coil 72 Friction plate (second rotating body)
72a Hole 73 Hub 74 Movable plate (second member)
80 Case body (housing)
81 Case body 81a Opening 81b Opening (hole)
81c Reinforcing member 82 Cover 82a Through hole

Claims (9)

A robot having a plurality of joints and an arm connected to the joints.
The plurality of joints include at least one first joint including a motor and a first rotation regulating mechanism that regulates the rotation of the motor, and at least one including a motor and a second rotation regulating mechanism that regulates the rotation of the motor. Including two second joints,
The first rotation regulating mechanism is a mechanism that regulates the rotation of the motor by inserting a first member between a plurality of protrusions formed on the outer peripheral portion of the first rotating body supported by the rotating shaft of the motor. And
The second rotation regulating mechanism regulates the rotation of the motor by a frictional force generated by bringing the second member into contact with the end surface of the second rotating body supported by the rotating shaft of the motor in the direction of the rotating shaft. A robot that is a mechanism. The robot according to claim 1.
Among the plurality of joint portions, the joint portion arranged on the most distal end side is the first joint portion, and the joint portion arranged on the most proximal side is the second joint portion. The robot according to claim 1.
Of the plurality of joints, the joint for determining the three-dimensional position of the arm arranged on the most distal side is the second joint, and the joint connected to the distal end of the arm is the first. A robot that is a joint. The robot according to claim 1.
Among the plurality of joint portions, a robot in which a joint portion having an output torque equal to or lower than a threshold value is the first joint portion, and a joint portion having an output torque exceeding the threshold value is the second joint portion. The robot according to any one of claims 2 to 4.
Includes two said arms
Six joints are included as the plurality of joints.
Of the six joints, the three joints arranged on the distal end side are the first joints, and the three joints arranged on the proximal end are the second joints, respectively. The robot according to any one of claims 1 to 5.
The second joint portion includes a housing for accommodating the motor and the second rotation regulation mechanism.
A hole for passing an electric wire is provided at an end of the housing in a direction orthogonal to the rotation axis direction of the motor.
A robot in which a reinforcing member for reinforcing the hole is formed in the hole. The robot according to any one of claims 1 to 6.
The second joint portion has a configuration in which a speed reducer, the motor, the second rotation regulation mechanism, and a detector for optically detecting the rotation position of the motor are arranged in order from the torque output direction side.
A coil holder is provided between the second rotating body of the second rotation regulating mechanism and the detector to accommodate a coil that generates a magnetic force for moving the second member in the rotation axis direction of the motor. The robot that is being The robot according to claim 7.
A robot in which the gap between the coil holder and the rotor of the motor is a distance that suppresses the passage of abrasion powder that may occur due to the contact between the second member and the second rotating body. The robot according to any one of claims 1 to 8.
The second joint portion includes a magnet holder that is fixed to the rotation shaft of the motor and supports the magnet of the motor.
A polygonal hole is formed in the second rotating body of the second rotation regulating mechanism.
The second rotating body is a robot fixed to the magnet holder via an attachment that fits into the polygonal hole.

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