JPH0443743B2 - - Google Patents
Info
- Publication number
- JPH0443743B2 JPH0443743B2 JP61202739A JP20273986A JPH0443743B2 JP H0443743 B2 JPH0443743 B2 JP H0443743B2 JP 61202739 A JP61202739 A JP 61202739A JP 20273986 A JP20273986 A JP 20273986A JP H0443743 B2 JPH0443743 B2 JP H0443743B2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- joint
- cable
- robot
- joint shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000003921 oil Substances 0.000 description 11
- 210000000707 wrist Anatomy 0.000 description 7
- 238000005192 partition Methods 0.000 description 5
- 239000010687 lubricating oil Substances 0.000 description 4
- 238000011109 contamination Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は産業用ロボツトの関節構造に関するも
のであり、特に水平多関節型ロボツトに利用され
るものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a joint structure for an industrial robot, and is particularly applicable to a horizontal multi-joint type robot.
溶接作業、自動車の組立てなどの作業に、従来
は５軸、あるいは６軸のロボツトが使用され、三
次元的にロボツトのハンドを移動させて種々のサ
ービスを行つていたが、最近、半導体装置の組立
てや、簡単なパレタイジングの作業では、各腕が
二次元的に移動する水平関節型ロボツトが使用さ
れるようになつてきた。
Conventionally, five- or six-axis robots were used for tasks such as welding and automobile assembly, and the robot's hand moved three-dimensionally to perform various services, but recently, semiconductor devices Horizontally articulated robots, whose arms move two-dimensionally, have come to be used for assembly and simple palletizing work.
この種ロボツトは床上に設置された基台上に、
駆動モータにより回動自在なポストを設け、該ポ
ストの先端に第１のアームを水平方向に固着し、
さらに第１のアームの先端にも水平方向に回動自
在に第２のアームを設け、第２のアームの先端に
手首を設けた構造である。この種水平関節型ロボ
ツトの第１のアーム中には第２のアームを回動駆
動するサーボモータが収納され、第２のアームの
中には手首を駆動するためのサーボモータが収納
されている。 This type of robot is placed on a base installed on the floor.
A post rotatable by a drive motor is provided, a first arm is fixed horizontally to the tip of the post,
Further, a second arm is provided at the tip of the first arm so as to be freely rotatable in the horizontal direction, and a wrist is provided at the tip of the second arm. A servo motor for rotationally driving the second arm is housed in the first arm of this type of horizontally articulated robot, and a servo motor for driving the wrist is housed in the second arm. .
そして各サーボモータに給電する電力ケーブル
や、手首などに設けられた各種センサからの信号
を伝える信号ケーブルの改善された配置形態とし
て実開昭59−69892号公報に示された考案が提案
されている。しかし該考案は、一方のアームに固
定された関節軸を兼ねた歯車軸を他方のアーム内
に突出して、該関節軸端の歯車を駆動すると共
に、該関節軸内に挿通孔を介してケーブルをアー
ム内に通したものである。 Then, the idea shown in Japanese Utility Model Application Publication No. 59-69892 was proposed as an improved arrangement of power cables that feed power to each servo motor and signal cables that transmit signals from various sensors installed on the wrist. There is. However, in this invention, a gear shaft that also serves as a joint shaft is fixed to one arm and protrudes into the other arm to drive a gear at the end of the joint shaft, and a cable is inserted through an insertion hole into the joint shaft. is passed through the arm.
実開昭59−69892号公報に示された多関節型ロ
ボツトに於けるケーブルの配置構造にあつては、
駆動ギアの潤滑油がケーブルを汚染し、結局アー
ム内部を汚染してアーム部の保守及び修理に不都
合を生じている。また、歯車軸のアーム内での回
動によつて、ケーブルはアーム内で捩られて損傷
を受け易い。
Regarding the cable arrangement structure in the articulated robot shown in Japanese Utility Model Application Publication No. 59-69892,
The lubricating oil of the drive gear contaminates the cable and eventually contaminates the inside of the arm, making maintenance and repair of the arm inconvenient. Furthermore, due to the rotation of the gear shaft within the arm, the cable is easily twisted and damaged within the arm.
本発明は、これら従来技術の欠陥を改善するも
のである。 The present invention ameliorates these deficiencies of the prior art.
本発明は、例えば第１Ａ図の如くケーブルをア
ーム内に入れることにより、ケーブルを他のもの
と干渉しないようにし、第１Ｂ図に示す如くアー
ムとアームとの接合関節部を一方のアームから突
出固定した中空部を有する関節軸に、一端のラツ
パ状に拡開した水平リムで他方アーム内部に固定
した支持筒の他端を嵌合して構成すると共に、関
節駆動ギアを、関節軸外周のオイルシールで密封
した室内で潤滑し、関節軸及び支持筒の各貫通孔
を通してケーブルをアーム内に挿通配設すること
により、従来ロボツトの問題点を解決するもので
ある。
The present invention prevents the cable from interfering with other objects by putting the cable in the arm as shown in FIG. 1A, for example, and by protruding the connecting joint between the arms from one arm as shown in FIG. 1B. The joint shaft has a fixed hollow part, and the other end of the support cylinder is fixed inside the other arm with a horizontal rim at one end that expands like a latch, and the other end of the support cylinder is fitted. The problems of conventional robots are solved by lubricating the robot in a sealed chamber with an oil seal and inserting the cable into the arm through each through hole in the joint shaft and support cylinder.
従つて、ケーブルはポスト基部から先端アーム
の手首まで全てアーム内を通すことが出来ると共
に、関節駆動ギア部の油はオイルシールでハウジ
ング内に密封されてケーブルを汚すこともなく、
アームの内部及び外部に対する油汚染が防止出
来、更にケーブルの損傷も防止出来る。 Therefore, the cable can pass all the way through the arm from the base of the post to the wrist of the tip arm, and the oil from the joint drive gear is sealed inside the housing with an oil seal, preventing the cable from getting dirty.
Oil contamination inside and outside the arm can be prevented, and damage to the cable can also be prevented.
第１Ａ図は、本発明の一実施例のロボツトを、
その関節構造の詳細を省略して示したものであ
り、その関節構造の詳細は第１Ｂ図で明確にして
あります。
FIG. 1A shows a robot according to an embodiment of the present invention.
The details of the joint structure are omitted and the details of the joint structure are clearly shown in Figure 1B.
第１Ａ図及び第２図から明らかな如く、基台部
１１を有するポスト１の上部には、第１のアーム
２を、所定回転範囲内で回転可能にその一端を支
承した。ポスト１から水平方向に延びる第１のア
ーム２の先端部には、水平方向に所定範囲内で回
動可能に第２のアーム３を支承し、第２のアーム
３の先端部には主首４を設けた。 As is clear from FIGS. 1A and 2, a first arm 2 is rotatably supported at one end on the upper part of the post 1 having a base portion 11 within a predetermined rotation range. A first arm 2 extending horizontally from the post 1 supports a second arm 3 at its distal end so as to be rotatable within a predetermined range in the horizontal direction. 4 was established.
ポスト１内には、第１のアーム２連繋軸８を駆
動するサーボモータ１０を、第１のアーム２内に
は、第２のアームを連繋する関節軸５を駆動する
サーボモータ２０を、第２のアーム３内には手首
４を駆動するサーボモータ３０をそれぞれ設け、
ポスト基部から手首に致るまでロボツトに所定の
動作を制御するケーブルを全て内蔵挿通した。例
えば、第１のアーム２と第２のアーム３との関節
構造は第１Ｂ図から明らかな如く、第２のアーム
３基部上方に立設固定し、上端をベベルギヤ５１
とし、芯部を中空貫通孔H3とした関節軸５を軸
受２５によつて第１のアーム２の先端下部に回動
自在に支承し、第１のアーム端壁２２の内側受片
２２′を仕切壁２３の内側受片２３′とで、中央に
中空貫通孔H2を有する支持筒２４の上面のラツ
パ状に拡開した水平リム２４′を固定支持すると
共に、支持筒下端を関節軸内に嵌合した。そし
て、仕切壁２３から突出し、且つサーボモータ２
０で駆動されるピニオン２１をギア５１と噛合し
て関節軸５をＸ−Ｘ軸のまわりに回転可能とし、
ギア５１上端内周と支持筒２４下端外周との間に
オイルシール２６を施し、軸受２５下部の関節軸
５外周と第１のアーム下端内周との間にもオイル
シール２７を施し、ギヤ５１とピニオン２１との
噛合部分、即ち関節駆動ギアを、アーム側壁と仕
切壁との各内面W1と支持筒２４外周壁W2とで囲
われ、オイルシールで密封された室Ｒに閉じ込め
て潤滑油Ｌを付与した。なお仕切壁２３の上部に
はケーブル挿通用の貫通孔H1を設けた。 Inside the post 1 is a servo motor 10 that drives the first arm 2 connecting shaft 8, and inside the first arm 2 is a servo motor 20 that drives the joint shaft 5 that connects the second arm. A servo motor 30 for driving the wrist 4 is provided in each of the arms 3 of 2,
All the cables that control the robot's predetermined movements are inserted into the robot from the base of the post to the wrist. For example, the joint structure of the first arm 2 and the second arm 3 is as shown in FIG.
A joint shaft 5 having a hollow through hole H3 as a core is rotatably supported at the lower end of the first arm 2 by a bearing 25, and an inner receiving piece 22' of the first arm end wall 22 and the inner receiving piece 23' of the partition wall 23, fixedly support the horizontal rim 24' which is widened in the shape of a flap on the upper surface of the support tube 24 which has a hollow through hole H2 in the center, and also connects the lower end of the support tube to the joint shaft. Fitted inside. Then, it protrudes from the partition wall 23 and the servo motor 2
The pinion 21 driven by 0 meshes with the gear 51 to enable the joint shaft 5 to rotate around the X-X axis,
An oil seal 26 is provided between the inner circumference of the upper end of the gear 51 and the outer circumference of the lower end of the support tube 24, and an oil seal 27 is also provided between the outer circumference of the joint shaft 5 at the lower part of the bearing 25 and the inner circumference of the lower end of the first arm. The meshing portion between the pinion 21 and the joint drive gear is enclosed in a chamber R surrounded by the inner surfaces W1 of the arm side wall and the partition wall, and the outer circumferential wall W2 of the support tube 24, and sealed with an oil seal for lubrication. Oil L was applied. Note that a through hole H 1 for cable insertion is provided in the upper part of the partition wall 23 .
また、本実施例では、外形、寸法、材質等は従
前の水平多関節ロボツトと同様に構成した。 Further, in this embodiment, the external shape, dimensions, material, etc. are configured in the same manner as the conventional horizontal articulated robot.
第２図から明らかな如く、第１のアーム上板
２′及び第２のアーム下板３′はビスにより着脱自
在としたので、ケーブルを各アーム内部に挿通
し、コネクタ７で各サーボモータに接続した後、
各板２′，３′を閉塞止着した。なお第１Ａ図に示
すように各アーム毎にサーボモータへの給電をコ
ネクタ７にて分岐して、保守・点検の便宜を考慮
した。そして、ポスト１より手首４に至る各種ケ
ーブル６は、アームの作動によつて捩れが与えら
れても支障のないような十分な余裕をもつて、各
軸８，５，９，の中空部やアーム内を通した。 As is clear from FIG. 2, the first arm upper plate 2' and the second arm lower plate 3' are detachable using screws, so the cables are inserted into each arm and connected to each servo motor using the connector 7. After connecting,
Each plate 2', 3' was closed and fixed. As shown in FIG. 1A, the power supply to the servo motor for each arm is branched at the connector 7 to facilitate maintenance and inspection. The various cables 6 extending from the post 1 to the wrist 4 are connected to the hollow portions of each shaft 8, 5, 9 with sufficient margin so that there is no problem even if the cables 6 are twisted by the operation of the arm. Passed through the arm.
得られたロボツトでは、関節部は中空部を有す
る関節軸がオイルシールで密封されたハウジング
内で駆動されるため、アーム内部やアーム外部に
油を漏出させることなくギヤ機構を潤滑出来て、
ロボツト内外を常に清浄に保持出来、更に各種ケ
ーブルもアーム外に露出していないため外部より
の電気的、機械的な障害を受けることも皆無とな
つた。 In the resulting robot, the joint shaft has a hollow part and is driven within a housing sealed with an oil seal, so the gear mechanism can be lubricated without oil leaking inside or outside the arm.
The inside and outside of the robot can be kept clean at all times, and since the various cables are not exposed outside the arm, there is no electrical or mechanical interference from the outside.
また、関節軸及び支持筒がそれぞれのアームに
固定されているため、両アームの相対回動時に
も、ケーブルの捩れは接合関節部の貫通孔H2，
H3内で処理吸収されて、支持筒のラツパ状拡開
リムの縁でのすべり作用とあいまつて、ケーブル
の損傷が防止出来た。 In addition, since the joint shaft and support tube are fixed to each arm, even when the arms rotate relative to each other, twisting of the cable is prevented by the through hole H 2 of the joint joint.
The processing and absorption within H 3 , combined with the sliding action at the edge of the flange-like expanding rim of the support tube, prevented damage to the cable.
なお第１のアーム２とポスト１との連繋軸８を
上部方向に繰出す装置を設けて、第１のアーム２
の高さを調節可能に実施することも可能であり、
又ポスト１の下部に別個に基台を設けて回動可能
に構成し、ポスト１と第１のアーム２とは互いに
固定して、ポスト１の回動によつて第１のアーム
２を回動させるように実施することも可能であ
る。 Note that a device is provided to feed out the connecting shaft 8 between the first arm 2 and the post 1 in an upward direction, so that the first arm 2
It is also possible to make the height adjustable,
Further, a base is separately provided at the bottom of the post 1 so as to be rotatable, and the post 1 and the first arm 2 are fixed to each other, so that the first arm 2 can be rotated by the rotation of the post 1. It is also possible to implement it so that it moves.
以上詳細に説明したように本発明は、多関節型
ロボツトの接合関節部を中空部を有する関節軸
と、一端にラツパ状拡開リムを備えた支持筒とを
嵌合した形態に構成して、ケーブル類を該中空部
に挿入し関節軸の駆動部を密閉室内で潤滑し、さ
らに、アーム内を配線のケーブル類は蓋で覆つた
ので、ロボツト外部にケーブル類が全く露出する
ことなく、ロボツトの内外部を潤滑油で汚染する
こともなく、ロボツトの作業中のケーブルの干渉
や、ケーブルの外部張設による支障がなくなり、
ケーブルを潤滑油で汚染することもなく、ケーブ
ルをアームの回動で損傷することなく、作業効率
が向上する。
As explained in detail above, the present invention has a structure in which the connecting joint part of a multi-jointed robot is constructed by fitting a joint shaft having a hollow part and a support cylinder having a tapple-shaped expanding rim at one end. The cables were inserted into the hollow part and the drive part of the joint shaft was lubricated in the sealed chamber, and the wiring cables inside the arm were covered with a lid, so no cables were exposed to the outside of the robot. There is no contamination of the inside or outside of the robot with lubricating oil, and there is no interference with cables during robot work or problems caused by external cable tensioning.
Work efficiency is improved without contaminating the cable with lubricating oil and without damaging the cable due to rotation of the arm.
また、本発明によれば、各アームに設けたサー
ボモータの修理・交換やケーブル自体の交換に際
し、該当アームの蓋を用いて作業が可能であり、
潤滑油による汚染の全くないアーム内でコネクタ
以後の電気回路の処理ですむので、従来のように
ケーブルを切断することなく、清浄に保たれたア
ーム内で容易に作業ができ、保守・管理が容易に
なり、経済性も向上する。 Further, according to the present invention, when repairing or replacing the servo motor provided on each arm or replacing the cable itself, it is possible to perform the work using the lid of the corresponding arm,
The electrical circuits after the connector can be processed inside the arm, which is completely free of contamination from lubricating oil, so work can be done easily inside the clean arm without cutting the cables as in the conventional case, making maintenance and management easier. This makes it easier and more economical.
第１Ａ図は、本発明ロボツトの一実施例の概略
説明図。第１Ｂ図は、本発明ロボツトの一実施例
に於ける関節部拡大断面図。第２図は、第１Ａ図
のロボツトの斜視図。
１…ポスト、２…第１のアーム、２１…ピニオ
ン、２２…端壁、２３…仕切板、２４…支持筒、
２５…軸受、２６，２７…オイルシール、３…第
２のアーム、５…関節軸、６…ケーブル。
FIG. 1A is a schematic explanatory diagram of an embodiment of the robot of the present invention. FIG. 1B is an enlarged sectional view of a joint in an embodiment of the robot of the present invention. FIG. 2 is a perspective view of the robot of FIG. 1A. DESCRIPTION OF SYMBOLS 1... Post, 2... First arm, 21... Pinion, 22... End wall, 23... Partition plate, 24... Support cylinder,
25...Bearing, 26, 27...Oil seal, 3...Second arm, 5...Joint shaft, 6...Cable.
Claims (1)
関節軸を一方のアームから突出固定すると共に、
他方のアーム内には、一端がラツパ状に拡開した
水平リムを備えた支持筒を、該水平リムによつて
固定し、関節軸と支持筒とを嵌合連通した形態に
両アームの接合関節部を構成すると共に、関節駆
動ギアを関節軸外周のオイルシールで密封した室
内で潤滑し、支持筒及び関節軸の各貫通孔を通し
てケーブルをアーム内部に挿通配設したことを特
徴とする多関節型ロボツト。1. A joint shaft having a through hole and a driven gear on the outer periphery protrudes from one arm and is fixed,
Inside the other arm, a support cylinder having a horizontal rim with one end widened in a shape of a flap is fixed by the horizontal rim, and both arms are joined in such a manner that the joint shaft and the support cylinder are fitted and communicated with each other. In addition to configuring the joint part, the joint drive gear is lubricated in a chamber sealed with an oil seal on the outer periphery of the joint shaft, and a cable is inserted into the arm through each through hole of the support cylinder and the joint shaft. Articulated robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20273986A JPS6362686A (en) | 1986-08-30 | 1986-08-30 | Multi-joint type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20273986A JPS6362686A (en) | 1986-08-30 | 1986-08-30 | Multi-joint type robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6362686A JPS6362686A (en) | 1988-03-18 |
| JPH0443743B2 true JPH0443743B2 (en) | 1992-07-17 |
Family
ID=16462360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20273986A Granted JPS6362686A (en) | 1986-08-30 | 1986-08-30 | Multi-joint type robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6362686A (en) |
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| FR2900591B1 (en) * | 2006-05-02 | 2008-06-20 | Staubli Faverges Sca | STRUCTURE OF SCARA-TYPE ROBOT AND CORRESPONDING ROBOT |
| JP5505090B2 (en) * | 2009-12-25 | 2014-05-28 | 株式会社デンソーウェーブ | Industrial equipment joint structure |
| JP5505087B2 (en) * | 2009-12-25 | 2014-05-28 | 株式会社デンソーウェーブ | Industrial equipment joint structure |
| JP5505089B2 (en) * | 2009-12-25 | 2014-05-28 | 株式会社デンソーウェーブ | Industrial equipment joint structure |
| JP5505088B2 (en) * | 2009-12-25 | 2014-05-28 | 株式会社デンソーウェーブ | Industrial equipment joint structure |
| JP2012117609A (en) * | 2010-12-01 | 2012-06-21 | Nabtesco Corp | Gear transmission |
| WO2021144967A1 (en) * | 2020-01-17 | 2021-07-22 | ヤマハ発動機株式会社 | Module and vertical articulated robot arm device |
| WO2023053370A1 (en) * | 2021-09-30 | 2023-04-06 | ファナック株式会社 | Industrial robot with cable wiring structure |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60177886A (en) * | 1984-02-21 | 1985-09-11 | 日東精工株式会社 | Work unit of industrial robot |
| JPS61121889A (en) * | 1985-02-07 | 1986-06-09 | 新明和工業株式会社 | Industrial robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5969892U (en) * | 1982-11-01 | 1984-05-11 | アイシン精機株式会社 | Robot wiring fittings |
-
1986
- 1986-08-30 JP JP20273986A patent/JPS6362686A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60177886A (en) * | 1984-02-21 | 1985-09-11 | 日東精工株式会社 | Work unit of industrial robot |
| JPS61121889A (en) * | 1985-02-07 | 1986-06-09 | 新明和工業株式会社 | Industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014119110A (en) * | 2012-12-19 | 2014-06-30 | Sumitomo Heavy Ind Ltd | Center pipe structure of speed reducer |
| JP2019167966A (en) * | 2018-03-22 | 2019-10-03 | 株式会社ニッセイ | Orthogonal axis reduction gear and robot using orthogonal axis reduction gear |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6362686A (en) | 1988-03-18 |
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