JPH06114782A - Robot hand drive device - Google Patents

Abstract

PURPOSE:To prevent limitation of movement of a hand owing to proximity to a mating machine and a cable by reducing the size of a hand part. CONSTITUTION:A robot hand driving mechanism comprises a first arm 1 caused to rock around a first rotary shaft 11 at one end of a base 1B, a second arm 2 caused to rock around a second rotary shaft 21 at the other end of the first arm 1, and a pair of hand parts 3 coupled to the two ends of a third rotary shaft 31 disposed to the tip of the second arm 2. The robot hand drive mechanism comprises a drive motor 4 comprising a pair of servo motors disposed to a rear part 22 in the rear of the secondary rotary shaft 21 of the second arm 2 and a pair of a belt transmission mechanisms disposed in the second arm 2 and designed to transmit rotation of a pair of thee drive motors 4 to the third rotary shaft 31. Further, the robot hand drive mechanism comprises a pair of reduction mechanisms disposed between the third rotary shaft 31 and a hand fixing flange 32, and a posture control mechanism 7 of the hand part linked to the first or the third rotary shaft and the hand part 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive mechanism for a robot arm arranged at the tip of a second arm.

[0002]

2. Description of the Related Art A conventional robot hand driving device is shown in FIG.
The first arm A1 swinging with respect to the base B as shown in FIG.
A second arm A2 swingably supported by the first arm A1, a hand section H provided at the tip of the second arm A2, a servo motor S provided in the hand section H, and a deceleration Some consisted of T and.

[0003]

In the conventional robot hand driving device, since the driving servomotor S and the speed reducer T are arranged in the hand portion H, compared with the hand portion using an air cylinder as a driving source. There was a technical problem that the size was increased and there was a restriction on the approach to the partner machine.

Further, there is a technical problem that the wiring for supplying the driving current from the driving power source to the servo motor S is required, and the movement of the hand is restricted by the cable C for wiring.

Therefore, the present inventors have arranged a motor for driving the hand part behind the fulcrum of the first arm in the second arm supporting the hand part, and a transmission mechanism in the second arm. Focusing on the technical idea of the present invention that the rotation of the motor is transmitted to the rotary shaft at the tip of the second arm, and as a result of further research and establishment, the hand unit is downsized and the hand is restricted by the approach and the hand by the cable. The present invention has been achieved which achieves the object of eliminating the movement constraint of the.

[0006]

The robot hand driving device of the present invention (the first invention according to claim 1) swings about a fulcrum with respect to the first arm swinging with respect to the base,
A second arm having a rotating shaft at its tip, and a hand portion connected to the rotating shaft provided at the tip of the second arm,
It is composed of a drive motor for driving the hand portion arranged behind the rotation shaft of the second arm, and a transmission mechanism arranged for the second arm for transmitting the rotation of the drive motor to the rotation shaft at the tip.

[0007]

According to the robot hand drive device of the first invention having the above-mentioned structure, the rotation of the drive motor disposed behind the fulcrum of the second arm is transmitted to the rotary shaft by the transmission mechanism disposed in the second arm. , Drives a hand unit connected to the rotary shaft.

[0008]

According to the robot hand drive device of the first aspect of the present invention, which has the above-described operation, the drive motor, which is conventionally provided in the hand, is provided behind the rotary shaft serving as the fulcrum of the second arm. This has the effect of reducing the size of the unit and eliminating the restrictions on the approach to the partner machine and the restrictions on the movement of the hand by the cable.

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) As shown in FIGS. 1 to 4, the robot hand driving apparatus of the first embodiment has a base 1B capable of rotating 360 degrees and a first end at one end of the base 1B.
The first arm 1 swinging around the rotation axis 11, the second arm 2 swinging around the second rotation axis 21 as a fulcrum at the other end of the first arm 1, and the tip end of the second arm. The pair of hand parts 3 are connected to both ends of the installed third rotating shaft 31 and the second rotating shaft 2 as a fulcrum of the second arm 2.
1, a pair of drive motors 4 arranged in the rear portion 22 rearward of the first arm 1 and a pair of transmission motors arranged in the second arm 2 as a transmission mechanism for transmitting the rotation of the pair of drive motors 4 to the third rotation shaft 31 The belt transmission mechanism 5, the pair of speed reducing mechanisms 6 arranged between the third rotating shaft 31 and the hand fixing flange, and the link mechanism linked to the first to third rotating shafts and the hand portion 3. The attitude control mechanism 7 of the hand unit is configured.

As shown in FIGS. 1 and 2, the base 1B is rotated by a motor 1M for driving the base around a vertical axis (not shown) which is vertically provided at the base portion, thereby making an arbitrary angle of 360 degrees. It can be taken.

The first arm 1 is composed of a straight member 10, is disposed on the front side of the first arm 1 in FIG. 1, and is formed coaxially and integrally with the first rotating shaft 11. The drive motor 12 is driven to rotate and swings around the first rotation shaft 11.

The second arm 2 comprises an arm portion 23 composed of a hollow member having a straight rectangular cross section in front of the second rotating shaft 21 as a fulcrum, and a rear portion 22 having a wide rear portion. It is driven via a drive link 25 by a second drive motor 24 arranged in the upper part of FIG. 2 facing the first drive motor 12.

The hand unit 3 includes a pair of hand units 30A and 3A.
0B, each hand portion 30A, 30B is provided with two gripping members 33A, 33B facing each other as shown in FIG. The gripping members 33A and 33B are pivotally supported by a fulcrum arranged at the center of the support members 33C and 33D connected by bolts. The other ends of the support members 33C and 33D are locked to the arm members 33E and 33F. Arm member 3
The other ends of 3E and 33F are locked to the reciprocating member 33H biased by the coil spring 33G. One end of the first link 34 is locked to the hand drive flange 32,
It swings about the tip of the member 33I which inserts the reciprocating member 33H as a fulcrum. The second link 35 is provided at the other end of the first link 34.
Of the reciprocating member 3 with the other end of the second link 35 locked.
It is locked at the end of 3H. Furthermore, the third link 36 is
One end is locked to the second connecting member 74 of the control mechanism 7, which will be described later, and the other end is locked to the member 33I, and it is arranged in parallel with the first link 34. One end of the fourth link 37 is locked to the hand drive flange 32 together with the first link 34,
The other end is locked in the center of the third link 36 and is arranged parallel to the member 33I.

As shown in FIG. 2 and FIG. 4, the pair of drive motors 4 are drive motors 40A, 40B composed of two servo motors in the thickness direction of the rear portion 22 of the second arm 2.
Are arranged coaxially to face each other, and the rotary shafts 41A and 41B are supported.

The pair of belt transmission mechanisms 5 are, as shown in FIG. 4, rotating shafts 41A, 41 of the drive motors 40A, 40B.
First timing gears 51A, 51 arranged at the tip of B
B, and a pair of timing belts 50A and 50B wound around a second timing gear 52A and 52B integrally formed on the third rotation shaft of the second arm 2.

The pair of reduction gears 6 is composed of a planetary gear mechanism (not shown) arranged on the third rotating shaft, and the second timing gears 52A and 52B are provided with the timing belt 50.
The rotation transmitted by A and 50B is decelerated and transmitted to the hand fixing flange 32.

The attitude control mechanism 7 is shown in FIG. 1, FIG. 2 and FIG.
As shown in FIG. 1, a substantially V-shaped first link member 71 having one end fixed to the rotator, and a substantially triangular shape having the other end of the first link member 71 locked to the second rotating shaft 21. First of
A substantially trapezoidal shape in which a connecting member 73, a second link member 72 whose one end is locked to the first connecting member 23, and the other end of the second link member 72 are locked to the third rotating shaft. The second connecting member 74 is provided, and the attitude of the hand portion 3 is controlled by adjusting the arrangement angle of the second connecting member 74 in advance by the link mechanism.

In the robot hand driving apparatus of the first embodiment having the above-mentioned structure, the attitude of the hand parts 30A, 30B is adjusted by adjusting the second connecting member 74 to a predetermined angle in advance by each link mechanism of the attitude control mechanism 7. Adjust the motor 1
The base 1B is rotated by the rotation of M, and the first drive motor 1
The rotation of 2 causes the first arm 1 to swing, and the rotation of the second drive motor 24 causes the second arm 2 to swing via the drive link 25 to move the hand 3 to a predetermined position.

Further, in the robot hand drive device of the second embodiment, the rotation of the drive motor 4 arranged at the rear portion 22 of the second arm 2 is transmitted from the first timing gears 51A and 51B via the rotary shafts 41A and 41B. Timing belt 50A,
It is transmitted to the second timing gears 52A and 52B by 50B and is decelerated by the speed reduction mechanism 6 to rotate the hand fixing flange 32, so that the hand portions 30A and 3A and 3B are rotated.
The reciprocating member 33H reciprocates against the coil spring 33G by the operation of the links 34, 35, 36, 37 of OB, and the supporting members 33C, 33D and the gripping members 33A, 3A.
The 3D opens and closes to grip or release the object.

The robot hand driving device of the first embodiment having the above-described operation is the servo motor 4 for driving the hand portion 3.
0A, 40B instead of the conventional hand part, the second arm 2
Since it is arranged in the rear portion 22 of the above, the hand portion 3 can be made compact, and the effect of improving the accessibility to the partner machine and the peripheral equipment is obtained.

Further, in the robot hand driving device of the first embodiment, since the cable between the conventional arm and the servo motor is eliminated, the entanglement of the cable with the arm can be ignored, and the teaching and the cycle can be simplified. It is possible to shorten the time.

Further, in the robot hand drive apparatus of the first embodiment, the drive motor 4 is arranged in the rear portion 22 rearward of the fulcrum of the second arm 2, so that the operation effect as counter balance is obtained, and the second arm 2 is provided. The drive motor 24 can be downsized.

In the robot hand driving apparatus of the first embodiment, the timing belts 50A and 50B are adopted as the transmission mechanism 5, and the speed reducing mechanism 6 is arranged at the tip of the second arm 2 to reduce the size of the timing belt. And the second arm 2 can be made compact and the weight can be reduced.

Further, in the first embodiment, since the transmission mechanism 5 is also disposed in the second arm 2 and the movable part is not outside the arm except the hand part, it is safe and simplifies teaching and other effects. Play.

The embodiments described above are merely examples for the purpose of explanation, and the present invention is not limited to them. Those skilled in the art will recognize from the claims, the detailed description of the invention and the description of the drawings. Modifications and additions can be made without departing from the technical idea of the present invention.

In the above-mentioned embodiments, the example in which the timing belt is used as the transmission mechanism has been described, but the present invention is not limited to this, and a chain or other mechanism can be used.

In the above-mentioned embodiments, the example in which the servo motor is used as the drive motor of the hand part has been described, but the present invention is not limited to this, and a pulse motor or the like can be used.

[Brief description of drawings]

FIG. 1 is a front view showing a robot hand driving device according to a first embodiment of the present invention.

FIG. 2 is a plan view showing a drive mechanism of the first embodiment.

FIG. 3 is a partially enlarged view showing a hand portion of the first embodiment.

FIG. 4 is a longitudinal sectional view showing a second arm of the second embodiment.

FIG. 5 is a front view showing a conventional robot hand drive device.

[Explanation of symbols]

 1B Base 1 1st arm 2 2nd arm 3, 30A, 30B Hand part 4 Drive motor 5 Belt transmission mechanism 6 Reduction mechanism 7 Posture control mechanism 11 1st rotating shaft 12 1st driving motor 21 2nd rotating shaft 22 Rear Part 23 Arm part 32 Hand drive flange 33A, 33B Grip member 34 First link 35 Second link 36 Third link 37 Fourth link 40A, 40B Drive motor 50A, 50B Timing belt 71 First link member 72 Second link member 73 First connection member 74 Second connection member

Front page continuation (72) Inventor Seiichi Ohno 1-1-1, Asahi-cho, Kariya city, Aichi prefecture Toyota Koki Co., Ltd.

Claims (1)

[Claims] 1. A second arm that swings around a fulcrum with respect to a first arm that swings with respect to a base and that has a rotation shaft at its tip, and a rotation shaft that is disposed at the tip of the second arm. And a drive motor for driving the hand portion provided behind the rotation axis of the second arm, and the rotation of the drive motor provided on the second arm is transmitted to the rotation axis at the tip. And a transmission mechanism for driving the robot hand.