JPH0326479U

JPH0326479U -

Info

Publication number: JPH0326479U
Application number: JP8646389U
Authority: JP
Priority date: 1989-07-25
Filing date: 1989-07-25
Publication date: 1991-03-18

Description

[Brief explanation of the drawing]

第１図はこの考案に係わる水平多関節ロボツト
の一実施例の構成を概略的に示す正面図；第２図
は第１図に示す水平多関節ロボツトの構成を詳細
に示す上面図；第３図は第１図に示す水平多関節
ロボツトに採用される回転摩擦駆動装置の構成を
示す縦断面図；第４図は第３図に示す回転摩擦駆
動装置の構成を示す平面断面図；第５図は第１乃
至第３の伝達機構の構成を詳細に示す縦断面図；
第６図は第２及び第３の駆動モータの取り付け状
態を示す平面図；第７図はこの考案に係わる水平
多関節ロボツトの第２の実施例の構成における第
１乃至第３の伝達機構の構成を取り出して示す縦
断面図；そして、第８図はこの考案に係わる水平
多関節ロボツトの第３の実施例の構成における第
１乃至第３の伝達機構の構成を取り出して示す縦
断面図である。図中、１０……多関節ロボツト、１２……基台
、１４……回転摩擦駆動装置、１６……支柱、１
８……第１の水平アーム、２０……第２の水平ア
ーム、２２……垂直アーム、２２ａ……ボールね
じ溝、２２ｂ……スプライン溝、２４……コンプ
ライアンス装置、２６……フインガ装置、２８…
…第１の駆動モータ、３０……第１の伝達機構、
３２……第２の駆動モータ、３４……第３の駆動
モータ、３６……第２の伝達機構、３８……第３
の伝達機構、４０……固定支持台、４０ａ……本
体、４０ｂ……周壁部、４２……クロスローラベ
アリング、４４……回転体、４４ａ……膨出部、
４６……出力フランジ部材、４６ａ……透孔、４
８……圧接ハウジング、５０……駆動ハウジング
、５２ａ〜５２ｄ……接続ロツド、５４……取付
ステイ、５６……第４の駆動モータ、５８……モ
ータ軸、６０……カツプリングジヨイント、６２
……駆動軸、６４ａ，６４ｂ……ベアリング、６
６……駆動ローラ、６８……ローラ支持部材、７
０，７２……圧接ローラ、７４……ばね機構、７
４ａ……板ばね、７６……取付ステイ、７８……
第１のロータリエンコーダ、７８ａ……検出端、
８０……固定軸、８２……カツプリングジヨイン
ト、８４……第２のロータリエンコーダ、８６…
…タコジエネレータ、１００……クロスローラベ
アリング、１０２……支持部材、１０４……減速
機構、１０４ａ……駆動軸、１０６……張力調整
ねじ、１０８……エンドレスベルト、１１０……
駆動プーリ、１１２……従動プーリ、１１４，１
１６……止め具、１１８……キー、１２０……駆
動プーリ、１２２ａ，１２２ｂ……ベアリング、
１２４……第１の伝達軸、１２６……第１の中間
プーリ、１２８……第２の中間プーリ、１３０，
１３２……キー、１３４ａ，１３４ｂ……ベアリ
ング、１３６……ボールねじ用ナツト、１３８…
…従動プーリ、１４０……第１のタイミングベル
ト、１４２……第２のタイミングベルト、１４４
……取付板、１４６……ボルト、１４８……取付
穴、１５０……張力調整部材、１５２……減速機
構、１５２ａ……駆動軸、１５４……キー、１５
６……駆動プーリ、１５８ａ，１５８ｂ……ベア
リング、１６０……第２の伝達軸、１６２……第
３の中間プーリ、１６４……第４の中間プーリ、
１６６，１６８……キー、１７０……クロスロー
ラベアリング、１７２……スプライン用ナツト、
１７４……従動プーリ、１７６……第３のタイミ
ングプーリ、１７８……第４のタイミングプーリ
、１８０……取付板、１８２……ボルト、１８４
……取付用穴、１８６……張力調整部材である。 Fig. 1 is a front view schematically showing the structure of an embodiment of the horizontal multi-joint robot according to this invention; Fig. 2 is a top view showing in detail the structure of the horizontal multi-joint robot shown in Fig. 1; The figure is a longitudinal sectional view showing the configuration of the rotary friction drive device employed in the horizontal articulated robot shown in FIG. 1; FIG. 4 is a plan sectional view showing the configuration of the rotary friction drive device shown in FIG. 3; The figure is a longitudinal cross-sectional view showing in detail the configuration of the first to third transmission mechanisms;
FIG. 6 is a plan view showing the mounting state of the second and third drive motors; FIG. 7 is a plan view of the first to third transmission mechanisms in the configuration of the second embodiment of the horizontal articulated robot according to this invention. FIG. 8 is a vertical cross-sectional view showing the configuration of the first to third transmission mechanisms in the third embodiment of the horizontal articulated robot according to the invention. be. In the figure, 10...multi-joint robot, 12...base, 14...rotary friction drive device, 16...pillar, 1
8...First horizontal arm, 20...Second horizontal arm, 22...Vertical arm, 22a...Ball screw groove, 22b...Spline groove, 24...Compliance device, 26...Finger device, 28 …
...first drive motor, 30...first transmission mechanism,
32... Second drive motor, 34... Third drive motor, 36... Second transmission mechanism, 38... Third
Transmission mechanism, 40...Fixed support base, 40a...Main body, 40b...Peripheral wall portion, 42...Cross roller bearing, 44...Rotating body, 44a...Bulging portion,
46...Output flange member, 46a...Through hole, 4
8... Pressure contact housing, 50... Drive housing, 52a-52d... Connection rod, 54... Mounting stay, 56... Fourth drive motor, 58... Motor shaft, 60... Coupling joint, 62
... Drive shaft, 64a, 64b ... Bearing, 6
6... Drive roller, 68... Roller support member, 7
0,72...pressure roller, 74...spring mechanism, 7
4a...Plate spring, 76...Mounting stay, 78...
First rotary encoder, 78a...detection end,
80...Fixed shaft, 82...Coupling joint, 84...Second rotary encoder, 86...
... Tachometer generator, 100 ... Cross roller bearing, 102 ... Support member, 104 ... Reduction mechanism, 104a ... Drive shaft, 106 ... Tension adjustment screw, 108 ... Endless belt, 110 ...
Drive pulley, 112... Driven pulley, 114,1
16...Stopper, 118...Key, 120...Drive pulley, 122a, 122b...Bearing,
124...first transmission shaft, 126...first intermediate pulley, 128...second intermediate pulley, 130,
132...Key, 134a, 134b...Bearing, 136...Ball screw nut, 138...
...Followed pulley, 140...First timing belt, 142...Second timing belt, 144
...Mounting plate, 146...Bolt, 148...Mounting hole, 150...Tension adjustment member, 152...Deceleration mechanism, 152a...Drive shaft, 154...Key, 15
6... Drive pulley, 158a, 158b... Bearing, 160... Second transmission shaft, 162... Third intermediate pulley, 164... Fourth intermediate pulley,
166, 168...Key, 170...Cross roller bearing, 172...Spline nut,
174... Driven pulley, 176... Third timing pulley, 178... Fourth timing pulley, 180... Mounting plate, 182... Bolt, 184
...Mounting hole, 186...Tension adjustment member.

Claims

[Claims for Utility Model Registration] (1) A column that is rotatably supported around a vertical axis; a first horizontal arm that is pivoted at the tip of the first horizontal arm; a second horizontal arm that is rotatably supported in a horizontal plane at the tip of the first horizontal arm; , a vertical arm supported movably along a vertical axis and rotatably about the vertical axis; a first motor for rotatably driving the second horizontal arm; a second motor for driving the vertical arm to move along the vertical axis, and a third motor for driving the vertical arm to rotate around the vertical axis, and the first to third motors are connected to the first horizontal arm. A horizontally articulated robot characterized by the fact that it is attached. (2) The first motor is housed in the support column and is attached to the lower surface of the first horizontal arm so that the drive shaft protrudes into the first horizontal arm, and the second and second motor 2. The horizontal articulated robot according to claim 1, wherein the three motors are attached to the upper surface of the first horizontal arm so that their respective drive shafts protrude into the first horizontal arm. (3) A first transmission mechanism is provided that passes through the first horizontal arm and transmits the driving force of the first drive motor to the second horizontal arm, and the first and second A claim characterized in that second and third transmission mechanisms are provided to transmit the driving forces of the second and third drive motors to the vertical arm, respectively, while penetrating inside the horizontal arm. The horizontally articulated robot according to item 2. (4) The second motor is arranged in a vertically aligned position with the first motor, and the third motor is arranged in the vicinity of the second motor. The horizontally articulated robot according to claim 2, characterized in that: