JPH0513794B2 - - Google Patents
Info
- Publication number
- JPH0513794B2 JPH0513794B2 JP61061636A JP6163686A JPH0513794B2 JP H0513794 B2 JPH0513794 B2 JP H0513794B2 JP 61061636 A JP61061636 A JP 61061636A JP 6163686 A JP6163686 A JP 6163686A JP H0513794 B2 JPH0513794 B2 JP H0513794B2
- Authority
- JP
- Japan
- Prior art keywords
- reduction
- gear
- stage
- transmission means
- shaft member
- 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
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000000052 comparative effect Effects 0.000 description 5
- 238000003466 welding Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000005284 excitation Effects 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は産業ロボツトの関節駆動用減速装置に
関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a reduction gear for driving the joints of an industrial robot.
（従来の技術）
産業ロボツトにおいては、一般に、作業に適し
た出力トルクを得るため、アーム等の駆動系（あ
るいは制御系という）には電動サーボモータまた
は電動パルスモータとこの出力を低速高トルクに
変換する減速装置とを用いている。(Prior art) In industrial robots, in order to obtain an output torque suitable for the work, the drive system (or control system) of the arm etc. is generally equipped with an electric servo motor or an electric pulse motor, and this output is controlled at low speed and high torque. It uses a speed reduction device to convert.
また、産業ロボツトに用いる減速装置は、例え
ば、減速比１／120程度の大減速比を有している
こと、また、歯車間のガタ、すなわち、いわゆる
バツクラツシユが小さいこと、さらに、慣性を小
さくするため軽量であること等が要求される。 In addition, reduction gears used for industrial robots must have a large reduction ratio, for example, about 1/120, have little play between gears, or so-called backlash, and must have low inertia. Therefore, it is required to be lightweight.
これらの要求を満たすために、従来の産業ロボ
ツトは１段の減速で大減速比が得られ、また、累
積バツクラツシユが小さく、さらに、小型軽量の
減速装置が使用されている。このような、従来の
減速装置としては、例えば、特開昭59−190541号
公報に開示されているような調和歯車装置言わ
ば、撓み噛合式の遊星歯車装置および特開昭59−
106744号公報に開示されているような偏心揺動型
の遊星歯車装置がある。 In order to meet these demands, conventional industrial robots have been able to obtain a large reduction ratio with one stage of reduction, have small cumulative backlash, and have used small and lightweight reduction gears. Examples of such conventional reduction gears include, for example, a harmonic gear device, a so-called flexible mesh type planetary gear device, as disclosed in Japanese Patent Application Laid-Open No. 59-190541, and a
There is an eccentric oscillation type planetary gear device as disclosed in Japanese Patent No. 106744.
従来、ロボツトの制御系においては、前記電動
モータと前記減速装置との組合せが用いられてい
るが、例えば、ロボツトの本体の第１アームに前
記電動サーボモータが取付けられ、電動サーボモ
ータの出力が、前記偏心揺動型の遊星歯車装置を
介してロボツトの第２アームに連結される。 Conventionally, a combination of the electric motor and the reduction gear has been used in a robot control system. For example, the electric servo motor is attached to the first arm of the robot body, and the output of the electric servo motor is , is connected to the second arm of the robot via the eccentric oscillating planetary gear device.
電動サーボモータの回転数は減速装置で大幅に
減速され、得られた低速高トルクの回転力を有す
る出力が第２アームを回動し、作業する。一般
に、ロボツトアーム自体は剛性が高いためその固
有振動数は高い。しかしながら、ロボツト全体と
して見たとき、回動部近辺のロボツトの固有振動
数は一般に剛性の低い減速装置で決まり、減速装
置と同程度に低い。したがつて、制御系全体の固
有ねじり振動数f0は一般に数ヘルツの低くなり減
速装置に入力する電動モータの回転数が低い領域
でロボツトに最も大きな共振現象が生じる。その
結果、ロボツトのハンド部に振動を生じ、ロボツ
トによる作業のうち溶接、シーリング、組立等、
一般に電動モータの低回転数領域で行われる作業
において、正確な作業軌跡を得られない等の問題
が起こる。 The rotational speed of the electric servo motor is significantly reduced by a reduction gear, and the resulting output having low speed, high torque rotational force rotates the second arm to perform work. Generally, the robot arm itself has high rigidity, so its natural frequency is high. However, when looking at the robot as a whole, the natural frequency of the robot near the rotating part is generally determined by the reduction gear with low rigidity, and is as low as the reduction gear. Therefore, the natural torsional frequency f 0 of the entire control system is generally as low as several hertz, and the greatest resonance phenomenon occurs in the robot in the region where the rotation speed of the electric motor input to the reduction gear is low. As a result, vibrations occur in the robot's hand, which causes some of the robot's work, such as welding, sealing, and assembly, to occur.
Generally, when work is performed in a low rotational speed range of an electric motor, problems such as not being able to obtain an accurate work trajectory occur.
このような問題点に対し、特開昭58−211881号
公報には、発生した振動を打ち消すように電動モ
ータの速度指令信号を変化させる電気的制御方式
が提案されている。しかしながら、このような方
式においてはフイードバツクゲインを大きくする
と系が不安定となり、特に剛性の低いロボツト駆
動系においては、逆に発振し易くなるという問題
点を生じるため、ゲインを大きくできず、したが
つて、充分な振動打ち消し効果を得られない。ま
た、特開昭59−175986号公報には高張力を与えた
タイミングベルトで減速機を駆動し、該ベルトで
振動を吸収する方式のものが提案されている。し
かしながら、この方式においてはタイミングベル
トが破断するという危険がある。 To address these problems, Japanese Patent Application Laid-Open No. 58-211881 proposes an electrical control method that changes the speed command signal of the electric motor so as to cancel out the generated vibrations. However, in this type of system, increasing the feedback gain makes the system unstable, which causes the problem that it tends to oscillate, especially in robot drive systems with low rigidity, so it is not possible to increase the gain. Therefore, a sufficient vibration canceling effect cannot be obtained. Furthermore, Japanese Patent Application Laid-Open No. 59-175986 proposes a system in which a reduction gear is driven by a timing belt with high tension and vibrations are absorbed by the belt. However, in this method there is a risk that the timing belt will break.
また、特開昭59−115189号公報には減速機の主
軸にねばりとおもりから成る吸振器を取り付ける
方式が提案されている。しかし、この方式におい
ては遠心力により吸振器が破損したり、ロボツト
の負荷荷重に対応しておもり等を調整しなければ
ならないという問題点がある。 Furthermore, Japanese Patent Application Laid-Open No. 59-115189 proposes a method of attaching a vibration absorber made of a sticky material and a weight to the main shaft of a reduction gear. However, this method has problems such as damage to the vibration absorber due to centrifugal force and the need to adjust weights and the like in response to the load on the robot.
（発明の目的）
そこで、本発明は、単一の遊星歯車装置により
必要な減速比を満足できる産業ロボツトの関節駆
動用減速装置において、最も大きな振動がロボツ
トに生じる時のポイントを、ロボツトによる作業
のうち溶接作業等のように正確な作業軌跡を要す
る作業の領域外にシフトさせることができる産業
ロボツトの関節駆動用減速装置を提供することを
目的とする。(Purpose of the Invention) Therefore, the present invention aims to improve the point when the largest vibration occurs in the robot in a reduction gear for driving the joints of an industrial robot that can satisfy the necessary reduction ratio with a single planetary gear device. It is an object of the present invention to provide a deceleration device for driving the joints of an industrial robot, which can be shifted to areas outside of work areas that require accurate work trajectories, such as welding work.
（発明の構成）
本発明は、人力軸部材および出力軸部材と、内
歯歯車、該内歯歯車に噛み合う外歯歯車および該
外歯歯車に係合して外歯歯車を駆動するカム軸を
有する型式で、前記入力軸部材と出力軸部材の間
に介在する遊星歯車装置を備えた産業ロボツトの
関節駆動用減速装置において、前記入力軸部材か
ら出力軸部材までの総減速比を、遊星歯車装置単
体の実在する減速比の範囲内に設定するととも
に、前記型式の遊星歯車装置の入力側に前記型式
とは異なる型式の前段回転伝導手段を設け、該前
段回転伝導手段の出力軸を後段回転伝導手段とし
ての前記遊星歯車装置の入力軸に結合し、前段回
転伝導手段と後段回転伝導手段とにより前記総減
速比を満足するようにしたことを特徴とするもの
である。(Structure of the Invention) The present invention includes a human-powered shaft member, an output shaft member, an internal gear, an external gear that meshes with the internal gear, and a camshaft that engages with the external gear and drives the external gear. In a joint drive reduction gear for an industrial robot, which has a planetary gear interposed between the input shaft member and the output shaft member, the total reduction ratio from the input shaft member to the output shaft member is determined by the planetary gear. In addition to setting the reduction ratio within the range of the actual reduction ratio of the device, a front-stage rotation transmission means of a different type from the above-mentioned type is provided on the input side of the planetary gear device of the above-mentioned type, and the output shaft of the front-stage rotation transmission means is set to the rear-stage rotation. The present invention is characterized in that it is connected to the input shaft of the planetary gear device as a transmission means, and the total reduction ratio is satisfied by the first-stage rotation transmission means and the second-stage rotation transmission means.
（実施例）
以下、本発明に係る産業ロボツトの関節駆動用
減速装置を図面に基づいて説明する。第１図ない
し第３図は、特許請求の範囲第１項および第２項
の本発明の一実施例を示す図である。(Example) Hereinafter, a joint drive reduction device for an industrial robot according to the present invention will be explained based on the drawings. 1 to 3 are diagrams showing an embodiment of the present invention according to claims 1 and 2. FIG.
まず、構成について説明する。第１図は本発明
に係る産業ロボツトの関節駆動用減速装置を用い
たロボツトの制御系の全体概略説明図である。１
は産業ロボツトの駆動源である電動モータであ
り、電動モータ１のフランジ２は本発明に係る減
速装置３の筒体４に固定されている。筒体４はロ
ボツトの第１アーム５の先端部５ａに固定されて
いる。電動モータ１の出力の回転軸７は減速装置
３の入力回転軸（入力軸部材）８に連結され、減
速装置３の出力は軸（出力軸部材）１０に伝達さ
れ軸１０の先端は円筒体１１の中心を貫通し、ロ
ボツトの被駆動部１２、すなわち、第２アームに
固定されている。第２アーム１２の基部の筒状体
１３と第１アーム５の先端部５ａの下面から下方
に突出する円筒型の突出体１５との間には一対の
ベアリング１６は介装されている。突出体１５の
内周面の円筒体１１の中央部の外周面との間には
一対のベアリング１７が介装されている。円筒体
１１の上部および下部の内面と軸１０との間には
それぞれ一対のベアリング１８が介装されてい
る。したがつて、減速装置３は駆動部１の回転数
を減速してロボツトの被駆動部すなわち第２アー
ム１２を回動させる。 First, the configuration will be explained. FIG. 1 is an overall schematic explanatory diagram of a control system of a robot using a reduction gear for driving joints of an industrial robot according to the present invention. 1
is an electric motor that is a drive source of an industrial robot, and a flange 2 of the electric motor 1 is fixed to a cylinder 4 of a speed reduction device 3 according to the present invention. The cylinder 4 is fixed to the tip 5a of the first arm 5 of the robot. The output rotation shaft 7 of the electric motor 1 is connected to the input rotation shaft (input shaft member) 8 of the reduction gear device 3, and the output of the reduction gear device 3 is transmitted to the shaft (output shaft member) 10, and the tip of the shaft 10 is a cylindrical body. 11 and is fixed to the driven part 12 of the robot, that is, the second arm. A pair of bearings 16 are interposed between the cylindrical body 13 at the base of the second arm 12 and a cylindrical protrusion 15 that protrudes downward from the lower surface of the tip 5a of the first arm 5. A pair of bearings 17 are interposed between the inner circumferential surface of the protruding body 15 and the outer circumferential surface of the central portion of the cylindrical body 11 . A pair of bearings 18 are interposed between the upper and lower inner surfaces of the cylindrical body 11 and the shaft 10, respectively. Therefore, the speed reducer 3 reduces the rotational speed of the drive section 1 and rotates the driven section of the robot, that is, the second arm 12.
減速装置３は第２図および第３図に示すよう
に、前段回転伝導手段としての第１段減速部２０
と後段回転伝導手段としてと第２段減速部２１と
から構成され、電動モータ１の回転数を減速する
第１段減速部２０と、第１段減速部２０の出力軸
に結合した第２段減速部の入力軸であるカム軸２
４を有し、第１段減速部の出力回転数をさらに減
速する第２段減速部２１と、を備えている。第２
段減速部２１は固定している内歯歯車２２と、内
歯歯車２２に噛み合う外歯歯車２３と、外歯歯車
２３に嵌合して外歯歯車２３を揺動させながら駆
動回転させるカム軸２４と、を有する偏心揺動型
の遊星歯車装置によつて構成されている。また、
内歯歯車２２はピン歯２６を用いたピン歯車２７
で構成され、かつ外歯歯車２３の歯数より１つだ
け多い歯数を有している。また、第１段減速部２
０は第２段減速部２１の入力側に設けられ、第２
段減速部２１の型式とはわざわざ異なる型式の平
行軸歯車装置である通常の平歯歯車により構成さ
れ、駆動源の回転出力が入力されている。 As shown in FIGS. 2 and 3, the speed reduction device 3 includes a first stage speed reduction section 20 as a front stage rotation transmission means.
A first-stage reduction unit 20 that reduces the rotational speed of the electric motor 1, and a second-stage reduction unit 20 that is connected to the output shaft of the first-stage reduction unit 20. Camshaft 2, which is the input shaft of the reduction section
4, and a second stage reduction section 21 that further reduces the output rotational speed of the first stage reduction section. Second
The stage reduction unit 21 includes a fixed internal gear 22, an external gear 23 that meshes with the internal gear 22, and a camshaft that engages the external gear 23 and drives and rotates the external gear 23 while swinging it. 24 and is constituted by an eccentric oscillating planetary gear device. Also,
The internal gear 22 is a pin gear 27 using pin teeth 26.
The number of teeth is one more than that of the external gear 23. In addition, the first stage reduction section 2
0 is provided on the input side of the second stage reduction section 21, and the second
It is constituted by a normal spur gear which is a parallel shaft gear device of a different type from the type of the stage reduction section 21, and the rotational output of the drive source is inputted thereto.
第１段減速部２０の減速比と第２段減速部２１
の減速比は電動モータ１の通常制御回転数、この
実施例においては、ロボツトの通常作業時、例え
ば、溶接ロボツトに主作業たる溶接作業を行わし
める時のモータ回転数の範囲内でロボツトすなわ
ち、第１アーム５および第２アーム１２と、第２
段減速部２１との共振が起きないように選択して
いる。一般に、ロボツトの必要減速比は１／50〜
１／300であり、この実施例においては、電動モ
ータ１の通常制御回転数が０〜1000rpmで、第１
段（前段）減速部２０の減速比が１／２〜１／
５、また、第２段（後段）減速部２１の減速比が
１／25〜１／60で、減速装置３の全体の減速比は
必要減速比の１／120になるように選択されてい
る。一方、遊星歯車装置単体が現実にとり得る減
速比は当該歯車の歯の許容応力等から自ずとその
上限、下限が定まるものであり、本願の「外歯歯
車に係合して外歯歯車を駆動するカム軸を有する
型式の遊星歯車装置」においては、実在物として
の上限は１／320程度で、下限は１／10程度であ
る。したがつて、本実施例における総減速比１／
120は、第２段減速部２１としての遊星歯車装置
単体の実在する減速比の範囲１／10程度〜１／
320程度内に設定されている。 Reduction ratio of first stage reduction section 20 and second stage reduction section 21
The reduction ratio is within the range of the normally controlled rotational speed of the electric motor 1, in this embodiment, the motor rotational speed when the robot performs normal work, for example, when the welding robot performs the main welding work, that is, the first arm 5 and the second arm 12;
It is selected so that resonance with the stage reduction section 21 does not occur. Generally, the required reduction ratio for robots is 1/50~
1/300, and in this embodiment, the normal control rotation speed of the electric motor 1 is 0 to 1000 rpm, and the first
The reduction ratio of the stage (first stage) reduction section 20 is 1/2 to 1/2.
5. Also, the reduction ratio of the second stage (latter stage) reduction section 21 is selected to be 1/25 to 1/60, and the overall reduction ratio of the reduction gear device 3 is selected to be 1/120 of the required reduction ratio. . On the other hand, the upper and lower limits of the reduction ratio that can actually be achieved by a single planetary gear device are naturally determined by the allowable stress of the teeth of the gear, etc. For "planetary gear devices of the type having a camshaft," the upper limit as a real object is about 1/320, and the lower limit is about 1/10. Therefore, the total reduction ratio in this example is 1/
120 is the actual reduction ratio range of about 1/10 to 1/1 of the planetary gear unit as the second stage reduction section 21.
It is set within about 320.
ここに、総減速比を本実施例のように１／120
程度に設定する場合、前段減速機２０の減速比i1
が１／５未満（分母が大きくなることを意味す
る。以下同じ）または後段減速機２１の減速比i2
が１／25を超える（分母が小さくなることを意味
する。以下同じ）と、構造の簡単な平行軸減速機
を前段減速機２０に採用することによつては総減
速比を１／120程度よりも大きくすることは困難
となるので、設計的に不利となる。また、同様の
場合、後段減速機２１の減速比i2が１／60未満ま
たは前段減速機２０の減速比i1が１／２を超える
と、共振を防止できるロボツトの作業速度範囲が
狭くなる。 Here, the total reduction ratio is set to 1/120 as in this example.
When setting the speed reduction ratio i 1 of the front stage reducer 20 to
is less than 1/5 (meaning that the denominator becomes larger; the same applies hereinafter) or the reduction ratio i 2 of the subsequent reduction gear 21
exceeds 1/25 (meaning that the denominator becomes smaller; the same applies hereinafter), by adopting a parallel shaft reducer with a simple structure as the front stage reducer 20, the total reduction ratio can be reduced to about 1/120. It would be difficult to make it larger than this, which would be disadvantageous in terms of design. Furthermore, in a similar case, if the reduction ratio i 2 of the rear reduction gear 21 is less than 1/60 or the reduction ratio i 1 of the front reduction gear 20 exceeds 1/2, the working speed range of the robot that can prevent resonance will be narrowed. .
第２アーム１２の軸１０を中心としたねじりの
バネ定数は約37.5Kg・ｍ／分である（ここに、分
とは１度の１／60の角度のことである。）
次に作用について説明する。 The torsional spring constant of the second arm 12 about the axis 10 is approximately 37.5 kg・m/min (here, a minute is an angle of 1/60 of 1 degree).Next, regarding the action explain.
ロボツトの第２アーム１２を回動する場合、電
動モータ１の回転軸７は制御回転数０〜1000rpm
の範囲で変化する。電動モータ１の回転数は減速
装置３でほぼ１／120に減速され、出力軸１０は
第２アーム１２の出力軸１０を中心軸として回動
を始める。 When rotating the second arm 12 of the robot, the rotating shaft 7 of the electric motor 1 has a controlled rotation speed of 0 to 1000 rpm.
Varies within the range of . The rotational speed of the electric motor 1 is reduced to approximately 1/120 by the reduction gear 3, and the output shaft 10 begins to rotate about the output shaft 10 of the second arm 12 as the central axis.
本発明に係る減速装置は、第２図に示すよう
に、第１段（前段）減速部２０と第２段（後段）
減速部２１とを構成しており、かつ、第１段減速
部（平行軸歯車装置）２０の減速比は１／３およ
び第２段減速部２１（遊星歯車装置）の減速比は
１／40として、第１段減速部２０を設けることに
より、第２段減速部２１自体による加振周波数と
第２アーム１２の回動部近辺の固有振動数が一致
するときの電動モータ回転数を高くし、かつ、電
動モータ１の通常制御回転数の範囲外としてい
る。したがつて、第２段減速部２１と第２アーム
との間で実質的に有害となるような共振は通常回
転数の範囲（０〜1000rpm）では起きない。 As shown in FIG. 2, the speed reduction device according to the present invention includes a first stage (previous stage) deceleration section 20 and a second stage (rear stage) deceleration section 20.
The reduction ratio of the first stage reduction part (parallel shaft gearing) 20 is 1/3, and the reduction ratio of the second stage reduction part 21 (planetary gearing) is 1/40. By providing the first stage reduction section 20, the electric motor rotation speed can be increased when the excitation frequency by the second stage reduction section 21 itself and the natural frequency near the rotating section of the second arm 12 match. , and outside the range of the normal control rotation speed of the electric motor 1. Therefore, substantially harmful resonance between the second stage reduction section 21 and the second arm does not occur in the normal rotation speed range (0 to 1000 rpm).
第１段減速部２０を設けることにより、減速装
置３は部品数および重量は増加すると考えられる
が、第１段減速部２０を設けることにより、第２
段減速部２１が小型となり、また、第１段減速部
２０は減速比は小さく、簡単でよい。したがつ
て、減速装置３の全体の部品数および重量はそれ
ほど増加しない。また、第１段減速部２０を設け
ることによりバツクラツシユが大きくなるが、部
品数は少なく、バツクラツシユの増加量は最小限
に留めることができる。また、第１段減速部２０
のバツクラツシユは第２段減速部２１によつて第
２段減速部２１の減速比と同じ比率で縮小され実
用上は殆ど問題とならない。 By providing the first stage reduction section 20, it is thought that the number of parts and weight of the reduction gear device 3 will increase.
The stage reduction section 21 is small, and the first stage reduction section 20 has a small reduction ratio and may be simple. Therefore, the overall number of parts and weight of the reduction gear device 3 do not increase significantly. Furthermore, although the provision of the first stage reduction section 20 increases the backlash, the number of components is small and the amount of increase in backlash can be kept to a minimum. In addition, the first stage reduction section 20
The backlash is reduced by the second stage reduction section 21 at the same ratio as the reduction ratio of the second stage reduction section 21, and poses almost no problem in practice.
実施例
次に、減速装置の種類を変えた場合、減速装置
とロボツトとの共振の発生状態について実験し
た。Example Next, experiments were conducted to determine the state of resonance between the speed reducer and the robot when the type of speed reducer was changed.
別表において、比較した減速装置は前述の実施
例の減速装置のほかに比較例１〜３に示す減速装
置である。ただし、前述の実施例を含め偏心揺動
型の遊星歯車装置は、クランク軸および外歯歯車
の揺動によるアンバランスを防ぐため、実開昭59
−127951号公報に開示されているように外歯歯車
を２枚とし、これらを180度の位相差をもつて組
付けたもので、かつ、内歯歯車が外歯歯車の歯数
より１つ多い歯数を有するものを用いた。また、
調和歯車装置は内歯歯車が外歯歯車の歯数より２
つ多い歯数を有するものを用いた。それぞれの減
速装置の減速段数、減速比i1、i2、ねじりばね定
数K1、および慣性モーメントＪは別表に示して
ある。 In the attached table, the speed reduction devices compared are the speed reduction devices shown in Comparative Examples 1 to 3 in addition to the speed reduction devices of the above-mentioned embodiments. However, the eccentric oscillating type planetary gear device, including the above-mentioned embodiment, is designed to prevent unbalance caused by the oscillation of the crankshaft and external gears.
- As disclosed in Publication No. 127951, two external gears are assembled with a phase difference of 180 degrees, and the internal gear has one more teeth than the external gear. A type with a large number of teeth was used. Also,
In a harmonic gear system, the internal gear has 2 more teeth than the external gear.
A type with a large number of teeth was used. The number of reduction stages, reduction ratios i 1 , i 2 , torsion spring constant K 1 , and moment of inertia J of each reduction gear are shown in the attached table.
実験は第５図に示す全体構成図によつて実施し
た。すなわち、電動サーボモータ３１の出力軸３
１ｂに減速装置３２を取付け、減速装置３２の出
力軸３２ａにロボツトの被駆動部（第２アーム）
の慣性モーメントに相当する慣性負荷としてフラ
イホイール３３が取付けられた。ロボツトの第２
アームの長さに相当するフライホイール側面３３
ａの半径上の位置に、円周方向の加速度および振
幅を測定できる圧電素子を利用した加速度ピツク
アツプ３４を取り付ける。この加速度ピツクアツ
プ３４の出力はインジケータ３６に連結されてい
る。電動モータの回転数を変化させて、その時の
フライホイールの加速度の大きさ、および振幅を
測定した。測定はフライホイール３３が定速度で
約１回転する範囲で行つた。測定結果は第４図に
示す。横軸は電動サーボモータ３１の回転数（す
なわち、減速装置３２の入力軸の回転数）であ
り、縦軸はフライホイール３３の加速度ピツクア
ツプ３４に表れる円周方向の加速度（すなわち、
振動）の大きさ（単位、Ｇ）を示す。 The experiment was conducted using the overall configuration diagram shown in FIG. That is, the output shaft 3 of the electric servo motor 31
1b, and the driven part (second arm) of the robot is attached to the output shaft 32a of the reduction gear 32.
A flywheel 33 was attached as an inertial load corresponding to the moment of inertia. robot second
Flywheel side surface 33 corresponding to the arm length
An acceleration pickup 34 using a piezoelectric element capable of measuring acceleration and amplitude in the circumferential direction is attached at a position on the radius a. The output of this acceleration pickup 34 is coupled to an indicator 36. The rotational speed of the electric motor was varied and the magnitude and amplitude of the acceleration of the flywheel at that time were measured. The measurement was carried out within a range in which the flywheel 33 rotated approximately once at a constant speed. The measurement results are shown in Figure 4. The horizontal axis is the rotation speed of the electric servo motor 31 (i.e., the rotation speed of the input shaft of the reduction gear 32), and the vertical axis is the circumferential acceleration appearing on the acceleration pickup 34 of the flywheel 33 (i.e., the rotation speed of the input shaft of the reduction gear 32).
Indicates the magnitude (unit: G) of vibration.
比較例１、比較例２および比較例３において
は、共振のピークはそれぞれ、電動モータ３１の
回転数において、700rpm、500rpmおよび
250rpmのときであり、電動モータ３１の通常制
御回転数０〜100rpmの範囲で最も大きな振動が
生じている。しかしながら、本発明に係る減速装
置を用いた実施例の場合には、前述の説明のよう
に、共振ピークが生じる時の電動モータ回転数は
極めて高く、1500rpmとなつており、このポイン
トで最も大きな振動が生じる。 In Comparative Example 1, Comparative Example 2, and Comparative Example 3, the resonance peaks were at 700 rpm, 500 rpm, and 500 rpm, respectively, at the rotation speed of the electric motor 31.
250 rpm, and the largest vibration occurs in the range of the normal control rotation speed of the electric motor 31 from 0 to 100 rpm. However, in the case of the embodiment using the speed reduction device according to the present invention, as explained above, the electric motor rotation speed when the resonance peak occurs is extremely high, 1500 rpm, and the maximum rotation speed is at this point. Vibration occurs.
別表の実施例と比較例１において、慣性モーメ
ントＪおよびねじりばね定数K1は殆ど同じであ
るが、負荷に共振現象が生じるときの電動モータ
の回転数に大きな差異があり、その差は第１段減
速比の反比例している。この理由は、そのような
共振現象の主因となる加振力が第１段減速部では
なく第２段減速部に生じ、その加振周波数と負荷
の固有ねじり振動数が一致したときに共振が起き
るためと考えられる。 In the example and comparative example 1 in the attached table, the moment of inertia J and the torsional spring constant K 1 are almost the same, but there is a large difference in the rotational speed of the electric motor when the resonance phenomenon occurs in the load, and this difference is due to the It is inversely proportional to the stage reduction ratio. The reason for this is that the excitation force that is the main cause of such resonance phenomena is generated in the second stage reduction section rather than the first stage reduction section, and when the excitation frequency matches the natural torsional frequency of the load, resonance occurs. It is thought that this is to wake up.
（発明の効果）
以上説明したように、本発明によれば、本来な
ら、撓み噛合い型遊星歯車装置（調和歯車装置）
や偏心揺動型遊星歯車装置のように内歯歯車、内
歯歯車に噛み合う外歯歯車および該外歯歯車に係
合してこれを駆動するカム軸を有する型式の単一
の遊星歯車装置（以下、「カム軸入力型遊星歯車
装置」と言う。）により、総減速比を満足できる
産業ロボツトの関節駆動用減速装置において、後
段回転伝導手段としてのカム軸入力型遊星歯車装
置の入力側にわざわざカム軸入力型遊星歯車装置
とは異なる型式の前段回転伝導手段を設け、前段
回転伝導手段と後段回転伝導手段とにより上記総
減速比を得るようにしているので、本発明に係る
減速装置をロボツトの関節駆動に用いてロボツト
に共振が生じるとしても最大共振現象の生じるポ
イント若しくは最も大きな振動の生じるポイント
を従来に比し格段に高い駆動源（電動モータ）の
回転数領域あるいは所望の駆動源回転数領域にシ
フトさせることができる。従つて、最も大きな振
動の生じる時のポイントをロボツトによる作業の
うち溶接作業等のように正確な作業軌跡を要する
作業の領域外に、すなわち、使用する回転領域の
上または下の領域にシフトさせることができ、ロ
ボツトの作業効率の向上に寄与することができ
る。(Effects of the Invention) As explained above, according to the present invention, originally a flexible mesh type planetary gear device (harmonic gear device)
A single planetary gear device of the type that has an internal gear, an external gear that meshes with the internal gear, and a camshaft that engages with and drives the external gear, such as an eccentric oscillating planetary gear device. Hereinafter referred to as "camshaft input type planetary gear unit"), in a joint drive reduction gear for industrial robots that can satisfy the total reduction ratio, the input side of the camshaft input type planetary gear unit as the rear rotation transmission means is Since a front-stage rotation transmission means of a type different from the camshaft input type planetary gear device is purposely provided, and the above-mentioned total reduction ratio is obtained by the front-stage rotation transmission means and the rear-stage rotation transmission means, the speed reduction device according to the present invention can be used. Even if resonance occurs in the robot when used to drive the robot's joints, the point where the maximum resonance phenomenon occurs or the point where the largest vibration occurs is set in a much higher rotational speed range of the drive source (electric motor) than in the past or the desired drive source. It can be shifted to the rotational speed region. Therefore, the point at which the largest vibration occurs is shifted outside the area of robot work that requires a precise work trajectory, such as welding work, that is, to an area above or below the rotation area used. This can contribute to improving the robot's work efficiency.
第１図乃至第５図は本発明の係る産業ロボツト
の関節駆動用減速装置の一実施例を説明する図で
あり、第１図はその全体概略説明図、第２図はそ
の要部断面図、第３図は第２図の−矢視断面
図、第４図は本発明に係る産業ロボツトの関節駆
動用減速装置の実施例および比較例の性能を説明
するグラフ、第５図は第４図に係る実験例の全体
構成図である。
１……電動モータ（駆動源）、３……減速装置、
８……入力回転軸（入力軸部材）、１０……軸
（出力軸部材）、２０……第１段減速部（前段回転
伝導手段）、２１……第２段減速部（後段回転伝
導手段）、２２……内歯歯車、２３……外歯歯車、
２４……カム軸（入力軸）、２７……ピン歯車。
1 to 5 are diagrams for explaining an embodiment of a reduction gear device for driving a joint of an industrial robot according to the present invention. FIG. 1 is an overall schematic explanatory diagram, and FIG. 2 is a sectional view of a main part thereof. , FIG. 3 is a cross-sectional view taken in the direction of the - arrow in FIG. 2, FIG. FIG. 2 is an overall configuration diagram of the experimental example shown in the figure. 1... Electric motor (drive source), 3... Speed reduction device,
8... Input rotation shaft (input shaft member), 10... Shaft (output shaft member), 20... First stage reduction section (first stage rotation transmission means), 21... Second stage reduction section (second stage rotation transmission means) ), 22... Internal gear, 23... External gear,
24...Camshaft (input shaft), 27...Pin gear.
【表】【table】
【表】
車装置を、平歯歯車減速は平行軸型の
平歯歯車列装置を表す。
[Table] Spur gear reduction refers to a parallel shaft type spur gear train device.
Claims (1)
該内歯歯車に噛み合う外歯歯車および該外歯歯車
に係合して外歯歯車を駆動するカム軸を有する型
式で、前記入力軸部材と出力軸部材の間に介在す
る遊星歯車装置を備えた産業ロボツトの関節駆動
用減速装置において、 前記入力軸部材から出力軸部材までの総減速比
を、遊星歯車装置単体の実在する減速比の範囲内
に設定するとともに、 前記型式の遊星歯車装置の入力側に前記型式と
は異なる型式の前段回転伝導手段を設け、該前段
回転伝導手段の出力軸を後段回転伝導手段として
の前記遊星歯車装置の入力軸に結合し、前段回転
伝導手段と後段回転伝導手段とにより前記総減速
比を満足するようにしたことを特徴とする産業ロ
ボツトの関節駆動用減速装置。[Claims] 1. A human power shaft member, an output shaft member, an internal gear,
A type having an external gear that meshes with the internal gear and a camshaft that engages with the external gear to drive the external gear, and includes a planetary gear device interposed between the input shaft member and the output shaft member. In the joint drive reduction gear for industrial robots, the total reduction ratio from the input shaft member to the output shaft member is set within the range of the actual reduction ratio of the planetary gear unit alone, and A pre-rotation transmission means of a different type from the above-mentioned type is provided on the input side, and the output shaft of the pre-rotation transmission means is coupled to the input shaft of the planetary gear device serving as the rear-rotation transmission means, and the former rotation transmission means and the rear rotation transmission means are connected to each other. 1. A speed reduction device for driving a joint of an industrial robot, characterized in that the total speed reduction ratio is satisfied by a transmission means.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61061636A JPS62218087A (en) | 1985-01-18 | 1986-03-18 | Reduction gear for industrial robot |
| JP10304728A JPH11198086A (en) | 1985-01-18 | 1998-10-13 | Speed reduction gear for revolt joint driving of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61061636A JPS62218087A (en) | 1985-01-18 | 1986-03-18 | Reduction gear for industrial robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10304728A Division JPH11198086A (en) | 1985-01-18 | 1998-10-13 | Speed reduction gear for revolt joint driving of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62218087A JPS62218087A (en) | 1987-09-25 |
| JPH0513794B2 true JPH0513794B2 (en) | 1993-02-23 |
Family
ID=13176882
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61061636A Granted JPS62218087A (en) | 1985-01-18 | 1986-03-18 | Reduction gear for industrial robot |
| JP10304728A Pending JPH11198086A (en) | 1985-01-18 | 1998-10-13 | Speed reduction gear for revolt joint driving of industrial robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10304728A Pending JPH11198086A (en) | 1985-01-18 | 1998-10-13 | Speed reduction gear for revolt joint driving of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (2) | JPS62218087A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101006287A (en) * | 2004-08-11 | 2007-07-25 | 纳博特斯克株式会社 | Reduction gear mounted on revolute joint part of industrial robot |
| CN101375083B (en) | 2006-01-26 | 2012-10-17 | 纳博特斯克株式会社 | Speed reducer |
| WO2007091568A1 (en) | 2006-02-07 | 2007-08-16 | Nabtesco Corporation | Reduction gear |
| KR101376006B1 (en) | 2006-04-28 | 2014-03-19 | 나부테스코 가부시키가이샤 | Reduction gear mechanism, and its manufacturing method |
| JP4820310B2 (en) * | 2007-02-02 | 2011-11-24 | ナブテスコ株式会社 | Reduction gear |
| JP5348182B2 (en) * | 2011-06-07 | 2013-11-20 | 株式会社安川電機 | Motor with reduction gear |
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|---|---|---|---|---|
| GB927684A (en) * | 1960-10-20 | 1963-06-06 | Merritt & Company Engineering | Epicyclic gearing |
| US3129611A (en) * | 1960-10-14 | 1964-04-21 | Lee Engineering Company | Speed reducers |
| JPS5639341A (en) * | 1979-08-31 | 1981-04-15 | Teijin Seiki Co Ltd | Reduction gear |
| JPS56152594A (en) * | 1980-04-25 | 1981-11-26 | Meidensha Electric Mfg Co Ltd | Reduction gear for manipulator |
| JPS57121490A (en) * | 1980-12-19 | 1982-07-28 | Kuka Shiyubuaisuanraagen Unto | Gearing for hinge head coupled with jib of manipulator |
| JPS58211881A (en) * | 1982-06-02 | 1983-12-09 | 松下電器産業株式会社 | Industrial robot |
| JPS59106744A (en) * | 1982-12-07 | 1984-06-20 | Sumitomo Heavy Ind Ltd | Method and device for installing eccentric body in planetary gear mechanism |
| JPS59115189A (en) * | 1982-12-20 | 1984-07-03 | 松下電器産業株式会社 | Joint device for robot |
| JPS607856A (en) * | 1983-06-27 | 1985-01-16 | 株式会社クラレ | Anionic body fluid treating membrane |
| JPS618760A (en) * | 1984-06-20 | 1986-01-16 | Mitsubishi Electric Corp | Tracking error detection |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS607856Y2 (en) * | 1981-03-31 | 1985-03-18 | 日立造船株式会社 | Precision punching equipment for thin plates |
| JPS59124093U (en) * | 1983-02-04 | 1984-08-21 | 株式会社神戸製鋼所 | Wrist mechanisms for industrial robots, etc. |
-
1986
- 1986-03-18 JP JP61061636A patent/JPS62218087A/en active Granted
-
1998
- 1998-10-13 JP JP10304728A patent/JPH11198086A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3129611A (en) * | 1960-10-14 | 1964-04-21 | Lee Engineering Company | Speed reducers |
| GB927684A (en) * | 1960-10-20 | 1963-06-06 | Merritt & Company Engineering | Epicyclic gearing |
| JPS5639341A (en) * | 1979-08-31 | 1981-04-15 | Teijin Seiki Co Ltd | Reduction gear |
| JPS56152594A (en) * | 1980-04-25 | 1981-11-26 | Meidensha Electric Mfg Co Ltd | Reduction gear for manipulator |
| JPS57121490A (en) * | 1980-12-19 | 1982-07-28 | Kuka Shiyubuaisuanraagen Unto | Gearing for hinge head coupled with jib of manipulator |
| JPS58211881A (en) * | 1982-06-02 | 1983-12-09 | 松下電器産業株式会社 | Industrial robot |
| JPS59106744A (en) * | 1982-12-07 | 1984-06-20 | Sumitomo Heavy Ind Ltd | Method and device for installing eccentric body in planetary gear mechanism |
| JPS59115189A (en) * | 1982-12-20 | 1984-07-03 | 松下電器産業株式会社 | Joint device for robot |
| JPS607856A (en) * | 1983-06-27 | 1985-01-16 | 株式会社クラレ | Anionic body fluid treating membrane |
| JPS618760A (en) * | 1984-06-20 | 1986-01-16 | Mitsubishi Electric Corp | Tracking error detection |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH11198086A (en) | 1999-07-27 |
| JPS62218087A (en) | 1987-09-25 |
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| JPH10586A (en) | Articulation device for industrial robot |
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| Date | Code | Title | Description |
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| S111 | Request for change of ownership or part of ownership |
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|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
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| EXPY | Cancellation because of completion of term |