JPH0246359B2 - ROBOTSUTONOSOSA SOCHI - Google Patents

Description

[Detailed description of the invention] <Industrial application field> The present invention relates to a robot operating device.

<Prior art> Conventionally, a first, second, and third
rotatably supports a rotating shaft of the drive means, and transmits rotation from each drive means to the operating head via each rotating shaft,
Some operate the operating head over a hemispherical operating area.

However, in such conventional devices, the first, second, and third rotating shafts and the driving means are connected by a transmission gear train, and the first, second, and third rotating shafts are connected to the operating head. Since these are connected by a rotation transmission gear train, backlash occurs in each gear train. With the arrangement, it is not possible to move and adjust each rotating shaft in the radial direction to eliminate backlash.
Due to the backlash of the gear train, accurate position control of the operating head was not possible.

<Object of the Invention> The present invention has been made in order to eliminate such conventional problems, and its purpose is to eliminate the backlash of the gear train and improve the operation head and the mounting of the operation head. It is about positioning the body in the correct position.

<Configuration of the Invention> The present invention has been made to achieve the above object, and has a multiple sleeve configuration in which the first, second, and third rotating shafts are sequentially inserted into the inner hole thereof so as to be displaceable in the radial direction. , at least one end of the second and third rotating shafts is rotatably supported by a bearing body that is independent of the arm that supports the first rotating shaft, and the second and third rotating shafts are rotatably supported on this bearing body. Operation of a robot, characterized in that an adjustment mechanism is provided for moving the third rotating shaft in the radial direction to adjust the meshing between the gear attached to the end of the third rotating shaft and the gear constituting the transmission gear train. Regarding equipment.

<Example> Hereinafter, an example of the present invention will be described based on the drawings. In FIG. 1, reference numeral 10 denotes an arm of the robot, and a hollow first rotating shaft 11 is rotatably supported on the arm 10 by a bearing so as to be rotatable about a hollow axis l1. This first rotating shaft 1
A rear casing 5 is fixed to the tip of the rear casing 1, and the central axis l1 is attached to the rear casing 15.
A tilting shaft 16 is attached at an angle with respect to the shaft. The front casing 17 is attached to this inclined shaft 16.
is rotatably supported on the front casing 17 about the tilt axis l2, and a mounting body 18 is rotatably supported on the front casing 17 so as to be rotatable about the central axis l1. This mounting body 18 has a mounting hole 1 in the center.
9, and an operating hand (not shown) is attached to this attachment hole 19.

Further, a hollow second rotating shaft 12 is inserted into the rear casing 15 so as to be rotatable about the central axis m1 that is deflected by ε1 in the radial direction with respect to the central axis l1, and to adjust its eccentricity ε1. has been done. This second rotating shaft 12 protrudes into the rear casing 15, and its tip end is connected to the front casing 17 via a gear train. That is, a bevel gear 26 is fixed to the tip of the second rotating shaft 12, and this bevel gear 26 is meshed with a bevel gear 27 fixed to the lower surface of the front casing 17. Therefore, the rotation of the second rotating shaft 12 is transmitted to the front casing 17 via the bevel gear 26 and the bevel gear 27, and the front casing 17 is aligned with the inclined axis l2.
It is designed to rotate around the center.

Further, the second rotating shaft 12 has a third rotating shaft 13.
is inserted so that it can rotate about a central axis n1 that is deflected by ε2 in the radial direction with respect to the central axis m1, and the eccentricity ε2 thereof can be adjusted.
This third rotating shaft 13 is connected to the mounting body 18 via a bevel gear 30 fixed to its tip, bevel gears 31 and 32 supported on the inclined shaft 16, and a bevel gear 33. The rotation of these gears 30, 31, 32, 33
The power is transmitted to the mounting body 18 via the mounting body 18, and the mounting body 18 is rotated about the central axis l1.

On the other hand, a housing 49 is fixed to the rear end of the arm 10 as shown in FIG.
Inside are first, second, and third drive motors 50, 5.
1 and 52 as well as a transmission gear train 53 are built-in. This transmission gear train 53 is composed of a combination of a large number of gears, and changes the speed of the rotation of the first, second, and third drive motors 50, 51, and 52, and changes the speed of the rotation of the first, second, and third drive motors 50, 51, and 52. Rotating shaft 12, third rotating shaft 1
3, respectively.

That is, a rotary sleeve 55 is rotatably supported on the housing 49, and a support shaft 56 is rotatably supported on the rotary sleeve 55 at a position eccentric from its axis as shown in FIG. This support shaft 56 has gears 57 on both ends thereof.
58 is fixed, and one gear 57 is connected to the first gear 58.
The other gear 58 is meshed with a gear 60 on the output shaft of the first drive motor 50. Therefore, the rotation of the first drive motor 50 is controlled by the gears 60, 58, 5.
7, 59 to the first rotating shaft 11,
It is designed to be rotated about this first rotating shaft 11 about a central axis l1.

Note that a semicircular notch 62 is formed in the rotating sleeve 55 as shown in FIG.
2 is in contact with a pair of adjustment screws 63. By adjusting this adjustment screw 63, the support shaft 56 is revolved around the axis of the rotating sleeve 55, and the gear 57 is rotated.
It is possible to adjust the backlash between gear 59 and gear 59.

Further, a transmission shaft 65 is disposed between the first rotating shaft 11 and the housing 49 on the central axis l1.
is rotatably supported. Gears 66 and 67 are fixed to both ends of the transmission shaft 65, and one gear 66 is connected to the gear 66 on the second rotating shaft 12.
8, and the other gear 67 is meshed with a gear 69 on the output shaft of the second drive motor 51. Therefore, the rotation of the second drive motor 51 is transmitted to the second rotation shaft 12 via the gears 69 and 67 and the gears 66 and 68 that constitute the planetary gear mechanism, and Center axis m1
It is designed to rotate around the center.

A conduction sleeve 71 is further disposed on the conduction shaft 65.
is rotatably supported. Gears 72 and 73 are integrally formed at both ends of the transmission sleeve 71, and one gear 72 is connected to the third rotating shaft 13.
The upper gear 73 meshes with the upper gear 74, and the other gear 73 meshes with the gear 75 on the output shaft of the third drive motor 52. Therefore, this third drive motor 52
The rotation is transmitted to the third rotating shaft 13 through the gears 75, 73 and the gears 72, 74 constituting the planetary gear mechanism, so that the third rotating shaft 13 is rotated about the central axis n1. It's summery.

The gear 5 is provided on the side end surface of the first rotating shaft 11.
9, the bearing bodies 80, 81 are fixed bolts 82,
83. This bearing body 80,
As shown in FIGS. 3 to 5, 81 has a cylindrical shape with grooves 84 and 85 at appropriate locations on the circumference, and has elastic deformation portions 86 and 87 at the tips thereof, respectively.
Elastically deformable bearing portions 88 and 89 are formed through the bearing portions 88 and 89, and the rear end portions of the second rotating shaft 12 and the third rotating shaft 13 are rotatably supported on the bearing portions 88 and 89, respectively. .

Therefore, when the fixing bolt 83 is loosened, the push bolt 9 provided in the split grooves 84 and 85 can be removed.
0 and 91 and the tension bolts 92 and 93, the bearing parts 88 and 89 are respectively displaced in the radial direction.
4. The backlash between the gears 72 can be adjusted individually.

In addition, in FIG. 6, 94, 95, and 96 are adjustment screws. By adjusting these adjustment screws 94, 95, 96, the mounting positions of the first drive motor 50, second drive motor 51, and third drive motor 52 are adjusted, and between the gears 60, 58, the gears 69, 67 The backlash between gears 75 and 73 can be adjusted.

Since the device of the present invention is configured as described above, by rotating the first drive motor 50, this rotation is in principle transferred to the first rotating shaft 11 via the gears 60, 58, 57, and 59. As a result, the first rotating shaft 11 is rotated about the central axis l1, and by rotating the second drive motor 51, this rotation is transmitted to the gears 69, 67, 66, 68, and , the second rotating shaft 12 is the central axis m
Rotate around 1, and further gears 26, 27
as a result, the front casing 17 is rotated about the central axis l2. By combining these two rotational movements, the operating area of the operating head mounted on the mounting body 18 can be made into a substantially spherical surface, and by further rotating the third drive motor 52, this rotation can be controlled by the gear 75. , 73, 72, 74, and directs the third rotating shaft 13 to the central axis n1.
, and then gears 30, 31, 3
2 and 33, the deceleration is transmitted to the mounting body 18, and the mounting body 18 and the operating head are rotated about the normal line of the spherical surface.

By the way, in such an operating device, since the second rotating shaft 12 and the third rotating shaft 13 are rotatably supported on the central axis m1 and the central axis n1, which are eccentric by ε2 with respect to the central axis l1, the attached body 18
In addition, the operating head attached thereto can be moved to the vicinity of the central axis l1, and can be operated in a wide operating range covering almost the entire spherical surface, excluding a portion on the rear casing 15 side.

Further, in the above operating device, a large number of gears are used as means for transmitting rotation to the first, second, and third rotating shafts 11, 12, and 13, and in particular, the second rotating shaft 12 and the third rotating shaft Two sets of planetary gear mechanisms consisting of gears 66, 68, 72, and 74 are used as means for transmitting rotation to 13, and backlash occurs in these planetary gear mechanisms. However, in the device of the present invention, the push bolts 90, 91 and the pull bolts 92, 93 are adjusted to make the bearing portions 88, 89
By elastically deforming the second rotating shaft 12 and the third
The axis position of one of the rotating shafts 13 is moved, thereby easily eliminating backlash between the gears 66 and 68 and between the gears 72 and 74.

Note that since the bearing spans of the second and third rotating shafts 12 and 13 are long, the displacement of the center positions of the second and third rotating shafts 12 and 13 due to this backlash adjustment will be the same as that of the second and third rotating shafts. This is absorbed by the elastic deformation of the shafts 12 and 13. Therefore, there is no need to move or adjust the bearings at the tips of the second and third rotating shafts 12 and 13 in conjunction with this backlash adjustment.

On the other hand, by replacing shim 35, bevel gear 2
6. Backlash between the bevel gears 27 can be removed, and backlash between the bevel gears 30 and 31 and between the bevel gears 32 and 33 can be removed by tightening the nut 36.

<Effects of the Invention> As detailed above, the device of the present invention has a multiple sleeve configuration in which the first, second, and third rotating shafts are sequentially inserted into the inner hole thereof so as to be displaceable in the radial direction. , at least one end of the third rotating shaft is rotatably supported on at least one end of the first rotating shaft by a bearing body that is independent of the arm that supports the first rotating shaft. The bearing body is provided with an adjustment mechanism that moves the second and third rotating shafts in the radial direction to adjust the meshing between the gears attached to the ends thereof and the gears constituting the transmission gear train. This structure has the advantage that backlash of the gear train can be eliminated and the operating head and the mounting body to which the operating head is mounted can be positioned at accurate positions.

[Brief explanation of drawings]

The drawings show embodiments of the present invention, and FIG. 1 is a longitudinal sectional view showing the tip of the arm of the robot of the invention, and FIG. 2 is a longitudinal sectional view showing the rear end of the arm of the robot of the invention. , FIG. 3 is a sectional view taken along the - line in FIG. 2, FIG. 4 is a sectional view taken along the - line in FIG. 3,
FIG. 5 is a view taken along the arrow in FIG. 4, and FIG. 6 is a sectional view taken along the - line in FIG. 2. 10... Arm, 11... First rotating shaft, 12
...Second rotation axis, 13...Third rotation axis, 15
... Rear casing, 17 ... Front casing, 18 ... Mounting body, 50 ... First drive motor, 51 ... Second drive motor, 52 ... Third drive motor, 53 ... Speed change gear Column, l1...center axis line, m1...center axis line, n1...center axis line.

Claims (1)

[Claims] 1 A first shaft which is inserted into the arm of the robot and is rotationally driven by the driving means via the transmission gear train.
A rear casing housing a rotation transmission gear train is integrally fixed to the tip of the first rotation shaft, and a transmission gear train is connected to the rear casing by each drive means. The second and third rotating shafts that are rotatably driven are inserted and supported through the second rotating shaft, and the tip of the second rotating shaft has the rear end about an inclined axis that is inclined with respect to the rotational axis of the first rotating shaft. A front casing rotatably supported on the casing is connected via the rotation transmission gear train, and a mounting body for mounting an operating head rotatably supported on the front casing is connected to the tip of the third rotating shaft. A robot operating device connected via a rotation transmission gear train has a multiple sleeve configuration in which the first, second, and third rotation shafts are sequentially inserted into inner holes thereof so as to be displaceable in the radial direction, At least one end of the second and third rotating shafts is rotatably supported by a bearing body that is independent of the arm that supports the first rotating shaft, and the second and third rotating shafts are rotatably supported on this bearing body. An operating device for a robot, characterized in that an adjustment mechanism is provided for moving the rotating shaft of No. 3 in the radial direction to adjust meshing between a gear attached to an end of the rotating shaft and a gear constituting the transmission gear train. .