JPH06193663A - Power transmission device - Google Patents
Power transmission deviceInfo
- Publication number
- JPH06193663A JPH06193663A JP35692792A JP35692792A JPH06193663A JP H06193663 A JPH06193663 A JP H06193663A JP 35692792 A JP35692792 A JP 35692792A JP 35692792 A JP35692792 A JP 35692792A JP H06193663 A JPH06193663 A JP H06193663A
- Authority
- JP
- Japan
- Prior art keywords
- ring member
- inner ring
- teeth
- shaft
- elastic inner
- 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.)
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- Manipulator (AREA)
- Retarders (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は動力伝達装置に係り、詳
しくは、ロボット装置などの関節部に適用され、ロボッ
ト本体の回転駆動機から関節部の減速機に入力される回
転を、関節部としての動きとなるように回動動作する被
駆動材に大きく減速して伝動させることができるように
した動力伝達装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power transmission device, and more particularly to a power transmission device, which is applied to a joint portion of a robot device or the like, in which rotation input from a rotary drive unit of a robot body to a reduction gear unit of the joint unit is applied to the joint unit. The present invention relates to a power transmission device capable of greatly decelerating and transmitting power to a driven material that rotates so as to perform the above movement.
【０００２】[0002]
【従来の技術】近年、ロボット装置が、種々の産業分野
で広く使用されるようになってきている。例えば、組立
作業や溶接，塗装，切削などの作業に使用されるロボッ
ト装置として、特公平３−５９５３号公報などに記載さ
れているものがある。図６は、ロボットアームの先端側
に関節部２を設けた多関節型ロボット３１の一例であ
る。これは、地上に据えつけた設置台４に旋回台３が取
りつけられ、図示しない回転駆動機によって垂直軸線Ｏ
1 のまわりに旋回する。その旋回台３の前端部に設けた
関節部６や平行リンク機構５を介して連結される旋回部
７が、水平軸線Ｏ2 や垂直軸線Ｏ3 のまわりで俯仰およ
び旋回するようになっている。そして、旋回部７の前方
には接続アーム８の先端枠体８Ａを介して端末の関節部
２が取りつけられている。2. Description of the Related Art In recent years, robot devices have been widely used in various industrial fields. For example, as a robot device used for operations such as assembling work, welding, painting, and cutting, there is one described in Japanese Patent Publication No. 3-5953. FIG. 6 shows an example of an articulated robot 31 in which the joint section 2 is provided on the tip side of the robot arm. This is because the swivel base 3 is attached to the installation base 4 installed on the ground, and the vertical axis O
Swirl around 1 . A swivel part 7 connected via a joint part 6 provided at the front end of the swivel base 3 and a parallel link mechanism 5 is adapted to be tilted and swung around a horizontal axis O 2 and a vertical axis O 3 . . The joint part 2 of the terminal is attached to the front of the swivel portion 7 via the tip frame body 8A of the connection arm 8.
【０００３】図７に示すように、関節部２は支持アーム
９の下端に形成され、その支持アーム９の中には、垂直
軸線Ｏ4 のまわりで矢印方向に回転する駆動軸１１が延
びてきている。そして、支持アーム９の下端の曲がった
部分に取りつけられる被駆動材２８との間には、傘歯車
式伝動機構３３やハーモニックドライブ式の回転用減速
機３４が配置されている。このようなロボット装置の関
節部２における動力伝達装置５０においては、その傘歯
車式伝動機構３３が、回転駆動機から支持アーム９の内
部を下方に延びる駆動軸１１に設けた駆動傘歯車３８
と、減速機入力軸３９に取りつけられて駆動傘歯車３８
に噛みあう伝達傘歯車４０とよりなる。そして、減速機
入力軸３９と支持アーム９との間に、上記した回転用減
速機３４が装着されている。この回転用減速機３４の構
造は公知であるが、以下にそれを述べる。支持アーム９
の端部には、駆動軸１１に直交する方向へ開口する支持
アーム開口部４６が形成され、その支持アーム開口部４
６に被駆動材２８を取りつける接手軸３６が軸承されて
いる。そして、駆動軸１１と接手軸３６との間には垂直
な支持板４２が支持アーム９に固定され、その支持板４
２に設けられた軸受４１と接手軸３６の内面に固定され
た接続部材３５に設けた軸受４４とにより、減速機入力
軸３９が支承されている。As shown in FIG. 7, the joint portion 2 is formed at the lower end of a support arm 9, and a drive shaft 11 which rotates in the arrow direction around a vertical axis O 4 extends in the support arm 9. ing. A bevel gear type transmission mechanism 33 and a harmonic drive type reduction gear 34 for rotation are arranged between the driven member 28 attached to the curved portion of the lower end of the support arm 9. In the power transmission device 50 in the joint portion 2 of such a robot device, the bevel gear type transmission mechanism 33 thereof is a drive bevel gear 38 provided on the drive shaft 11 extending downward from the rotation drive device inside the support arm 9.
And the drive bevel gear 38 attached to the speed reducer input shaft 39.
The transmission bevel gear 40 meshes with the transmission bevel gear 40. Further, the above-described rotation speed reducer 34 is mounted between the speed reducer input shaft 39 and the support arm 9. The structure of the rotary speed reducer 34 is known, but will be described below. Support arm 9
A support arm opening 46 that opens in a direction orthogonal to the drive shaft 11 is formed at the end of the support arm opening 4.
A joint shaft 36 for mounting the driven member 28 on the shaft 6 is supported. A vertical support plate 42 is fixed to the support arm 9 between the drive shaft 11 and the joint shaft 36.
The reduction gear input shaft 39 is supported by the bearing 41 provided on the second shaft 2 and the bearing 44 provided on the connection member 35 fixed to the inner surface of the joint shaft 36.
【０００４】回転用減速機３４の主たる構成は、外輪材
５１，弾性内輪材５２，楕円体材５３とからなる。外輪
材５１は、連続した例えば２００個の歯からなる内歯２
５が右端部位の内周面に形成された変形不能な部材であ
り、支持アーム開口部４６の先端に固定された二つの固
定部材２９Ａ，２９Ｂに、その輪胴部５１ａを介して支
持アーム開口部４６の内周を形成するように取りつけ固
定されている。弾性内輪材５２は変形可能な薄い円筒状
の部材であり、右端部位の外周面には外輪材５１の内歯
２５と同一ピッチで僅かに歯数が少なく、その内歯２５
とは部分的に噛みあうようにした連続する例えば１９８
個の歯からなる外歯２３が形成されている。そして、楕
円体材５３は、弾性内輪材５２の内周面に密着して摺接
することにより、この弾性内輪材５２を後述するごとく
楕円状に変形させ、その長軸上に位置する外歯２３を内
歯２５の一部に噛みあわせるものである。その楕円体材
５３は、減速機入力軸３９の中間部位にキー止めなどに
よって固定され、減速機入力軸３９の先端には、駆動傘
歯車３８と噛みあう伝達傘歯車４０が取りつけられてい
る。そして、弾性内輪材５２の端部が接続部材３５を介
して接手軸３６に一体的に支持されている。上記におい
て、楕円体材５３を一回転させると、固定された外輪材
５１に対して内歯２５と外歯２３との歯数差分、上記の
例示では２個の歯数分だけ弾性内輪材５２が回転する。
これにより、駆動軸１１からの回転を接手軸３６へ大き
く減速して伝動することができる。すなわち、駆動軸１
１によって駆動傘歯車３８に噛みあう伝達傘歯車４０を
介して楕円体材５３を一回転させると、弾性内輪材２２
は、接続部材３５を介して接手軸３６を逆方向へ１／１
００だけ、水平軸線Ｏ5 のまわりに回転させるようにな
る。The main structure of the rotary reduction gear 34 is composed of an outer ring member 51, an elastic inner ring member 52, and an ellipsoidal member 53. The outer ring member 51 is an inner tooth 2 formed of, for example, 200 consecutive teeth 2.
Reference numeral 5 is a non-deformable member formed on the inner peripheral surface of the right end portion, and is connected to the two fixing members 29A and 29B fixed to the tip of the support arm opening 46 via the wheel trunk 51a. It is attached and fixed so as to form the inner circumference of the portion 46. The elastic inner ring member 52 is a deformable thin cylindrical member, and has a slightly smaller number of teeth on the outer peripheral surface of the right end portion at the same pitch as the inner teeth 25 of the outer ring member 51.
Is a continuous, partially biting mesh, eg 198
The outer teeth 23 formed of individual teeth are formed. Then, the ellipsoidal material 53 is brought into close contact with the inner peripheral surface of the elastic inner ring material 52 to be in sliding contact therewith, thereby deforming the elastic inner ring material 52 into an elliptical shape as described later, and the external teeth 23 located on the major axis thereof. Is engaged with a part of the inner teeth 25. The ellipsoidal material 53 is fixed to an intermediate portion of the reduction gear input shaft 39 by keying or the like, and a transmission bevel gear 40 meshing with the drive bevel gear 38 is attached to the tip of the reduction gear input shaft 39. The end of the elastic inner ring member 52 is integrally supported by the joint shaft 36 via the connecting member 35. In the above, when the ellipsoidal member 53 is rotated once, the elastic inner ring member 52 is changed by the difference in the number of teeth of the inner teeth 25 and the outer teeth 23 with respect to the fixed outer ring member 51, that is, in the above example, two teeth. Rotates.
Accordingly, the rotation from the drive shaft 11 can be greatly decelerated and transmitted to the joint shaft 36. That is, drive shaft 1
When the ellipsoidal material 53 is rotated once through the transmission bevel gear 40 that meshes with the drive bevel gear 38 by 1, the elastic inner race 22
Moves the joint shaft 36 in the opposite direction 1/1 through the connecting member 35.
Only 00 will rotate about the horizontal axis O 5 .
【０００５】[0005]
【発明が解決しようとする課題】上記したように、ハー
モニックドライブ形式の回転用減速機３４では、静止し
た外輪材５１の内歯２５に噛みあう外歯２３を備える弾
性内輪材５２から、減速された回転を取り出すようにし
ている。ところで、弾性内輪材５２は、楕円体材５３の
回転によって弾性変形することができる薄い部材であ
り、内歯２５と噛みあう外歯２３の部分は楕円状に変形
される。それゆえに、接手軸３６との接続部位において
は真円形、すなわち、剛性を保つ必要があるために、軸
方向の長さを適当な長さとしておかなければならない。As described above, in the harmonic drive type rotary speed reducer 34, the speed is reduced from the elastic inner ring member 52 having the outer teeth 23 meshing with the inner teeth 25 of the stationary outer ring member 51. I tried to take out the rotation. By the way, the elastic inner ring member 52 is a thin member that can be elastically deformed by the rotation of the ellipsoidal member 53, and the portion of the outer tooth 23 that meshes with the inner tooth 25 is deformed into an elliptical shape. Therefore, since it is necessary to maintain a perfect circle, that is, rigidity at the connecting portion with the joint shaft 36, the length in the axial direction must be set to an appropriate length.
【０００６】一方、ロボット装置として見た場合、被駆
動材２８は垂直軸線Ｏ4 から図示した長さＬ2 だけ離れ
た位置において、水平軸線Ｏ5 を中心にして回動され
る。この長さＬ2 、すなわち、駆動軸１１と接手軸３６
の端面との間隔は、駆動傘歯車３８と伝達傘歯車４０と
の噛みあいのためのスペースと、上記したごとくの理由
である程度長い寸法が要求される弾性内輪材５２を配置
するスペースと、を確保するために必要なものである。
ところで、被駆動材にツールを装着して例えば溶接作業
などをする場合に、手首部を形成する関節部が長くなる
と、以下の問題が発生する。被溶接物であるワークの形
状が複雑であったり凹凸が多い場合などでは、教示位置
へツールを次々と移動させるとき、関節部がワークに干
渉しないように所望以上にツールを退避させ、次の作業
点へは退避位置から接近させなければならなくなる。そ
のような進退動作が多くなれば、作業に多大の時間を要
することにもなる。さらに、図６および図７において、
支持アーム９は接続アーム８の先端枠体８Ａに対して垂
直線Ｏ4 のまわりに回転され、ツールの位置を水平方向
へも自在に変位させることができるようになっている。
この場合、上記の長さＬ2 がツールの回転半径すなわち
ロボット装置の手首部の回転半径となり、この長さＬ2
が大きくなるほど、ツールを変位させるときのワークな
どとの干渉回避作動やロボット基部側の制御動作などに
おいて、不利な問題が発生することになる。したがっ
て、上記の長さＬ2 は可及的に短いものであることが望
まれる。また、関節部が長いことに基因して支持アーム
開口部が嵩張ったものとなり、重量の増大をきたす。多
関節型ロボットなどでは、ロボット先端側の重量増加に
伴って幾つも接続されている各アームや、それを動作せ
る各関節部などでの強度や剛性を高くしておかなければ
ならなくなるという問題が生じる。On the other hand, when viewed as a robot device, the driven material 28 is rotated about the horizontal axis O 5 at a position separated from the vertical axis O 4 by the length L 2 shown in the figure. This length L 2 , that is, the drive shaft 11 and the joint shaft 36
The space between the drive bevel gear 38 and the transmission bevel gear 40 is ensured to have a space between the end face of the elastic bevel gear 38 and the space for arranging the elastic inner ring member 52 which is required to have a certain long dimension for the reason described above. Is what you need to do.
By the way, when the tool is attached to the driven material and, for example, a welding operation is performed, if the joint portion forming the wrist portion becomes long, the following problems occur. When the shape of the work to be welded is complicated or there are many irregularities, when moving the tool to the teaching position one after another, retract the tool more than desired so that the joint does not interfere with the work, The work point must be approached from the retracted position. If such an advancing / retreating operation increases, a lot of time is required for the work. Further, in FIG. 6 and FIG.
The support arm 9 is rotated around a vertical line O 4 with respect to the tip frame body 8A of the connection arm 8 so that the position of the tool can be freely displaced in the horizontal direction.
In this case, the length L 2 becomes the radius of gyration of the tool, that is, the radius of gyration of the wrist of the robot device, and this length L 2
As becomes larger, disadvantageous problems occur in the operation of avoiding interference with the work when the tool is displaced and the control operation of the robot base side. Therefore, it is desired that the length L 2 is as short as possible. Further, the support arm opening becomes bulky due to the length of the joint, resulting in an increase in weight. In multi-joint type robots, as the weight of the robot tip side increases, it becomes necessary to increase the strength and rigidity of each arm that is connected many times and each joint that operates it. Occurs.
【０００７】本発明は上記の問題に鑑みなされたもの
で、その目的は、多関節形ロボットなどの機械構造物の
関節部で大きい減速を可能にしつつ可及的に小型化が図
られること、それによって、関節部の大きさに原因する
ロボット装置などの被駆動材の無用な変位動作を少なく
できること、関節部の軽量化を図ってツールなどを支持
するアームや他の関節部における剛性の増強などを抑制
できること、などを実現した動力伝達装置を提供するこ
とである。The present invention has been made in view of the above problems, and an object of the present invention is to achieve a large deceleration at a joint portion of a mechanical structure such as an articulated robot while achieving miniaturization as much as possible. As a result, it is possible to reduce unnecessary displacement movements of driven materials such as robot devices due to the size of joints, and to increase the rigidity of arms that support tools and other joints by reducing the weight of joints. It is an object of the present invention to provide a power transmission device that realizes such things as suppressing the above.
【０００８】[0008]
【課題を解決するための手段】本発明は、内周面に内歯
を形成した変形不能な外輪材と、前記内歯とは異なる歯
数の外歯を外周面に形成した変形可能な筒状の弾性内輪
材と、該弾性内輪材の内周面に摺接して該弾性内輪材を
楕円状に変形させ、その長軸上に位置する前記外歯を前
記内歯の一部に噛みあわせる楕円体材とを備え、該楕円
体材を一回転させたとき前記弾性内輪材と前記外輪材と
を前記内歯と外歯との歯数差分だけ相対回転させること
ができるようになっている回転用減速機が、内部に配置
された駆動軸に沿って延びる支持部材と、該支持部材の
端部で前記駆動軸に直交する方向に開口した支持部材開
口部に軸承される接手軸と、を有する機械構造物の関節
部に介装され、前記駆動軸からの回転を上記接手軸へ減
速して伝動するようになっている動力伝達装置に適用さ
れる。その特徴とするところは、図１を参照して、支持
部材９の端部に、駆動軸１１に直交し支持部材開口部３
７に向けて延びる減速機入力軸１７が、その一方端を接
手軸２６の中心部位に軸承して、他方端を支持部材９の
側端部に軸承して配置される。減速機入力軸１７の中間
部位には、楕円体材１８と、弾性内輪材２２の内径より
も小さい外径を有して駆動軸１１の先端に取りつけた駆
動傘歯車１３に噛みあう伝達傘歯車１４とが、接手軸２
６の側から順に固定される。外輪材２４は接手軸２６の
楕円体材１８の側に位置して一体化され、その楕円体材
１８の外周面が摺接する弾性内輪材２２は、一端で支持
部材９の側端部に固定されると共に、他端で外歯２３が
外輪材２４の内歯２５に噛みあわされる。そして、弾性
内輪材２２の円筒壁２２ｂには貫通孔２１が開口され、
駆動傘歯車１３を貫通孔２１から弾性内輪材２２内へ突
入させて伝達傘歯車１４に噛みあわせることにより、駆
動軸１１と接手軸２６の端面との間隔Ｌ1 が短縮されて
いることである。According to the present invention, a non-deformable outer ring member having inner teeth formed on its inner peripheral surface and a deformable cylinder having outer teeth having a number of teeth different from those of said inner teeth are formed on the outer peripheral surface. -Shaped elastic inner ring material and the inner peripheral surface of the elastic inner ring material are slidably contacted to deform the elastic inner ring material into an elliptical shape, and the outer teeth located on the major axis thereof are meshed with a part of the inner teeth. An ellipsoidal material is provided, and when the ellipsoidal material is rotated once, the elastic inner ring material and the outer ring material can be relatively rotated by the difference in the number of teeth between the inner teeth and the outer teeth. A rotating speed reducer, a support member extending along a drive shaft disposed therein, and a joint shaft supported by an end of the support member, the support member opening opening in a direction orthogonal to the drive shaft, Is interposed in a joint portion of a mechanical structure having a shaft, and the rotation from the drive shaft is decelerated and transmitted to the joint shaft. Applied to it are power transmission device becomes. The feature is that, with reference to FIG. 1, at the end of the support member 9, the support member opening 3 is formed orthogonal to the drive shaft 11.
A reduction gear input shaft 17 extending toward 7 is disposed with one end thereof supported on the central portion of the joint shaft 26 and the other end supported on the side end portion of the support member 9. A transmission bevel gear having an ellipsoidal material 18 and an outer diameter smaller than the inner diameter of the elastic inner ring material 22 and meshing with the drive bevel gear 13 attached to the tip of the drive shaft 11 at an intermediate portion of the speed reducer input shaft 17. 14 and the joint shaft 2
It is fixed in order from the 6 side. The outer ring member 24 is located integrally with the joint shaft 26 on the side of the ellipsoidal member 18, and the elastic inner ring member 22 with which the outer peripheral surface of the ellipsoidal member 18 makes sliding contact is fixed to the side end portion of the support member 9 at one end. At the same time, the outer teeth 23 are meshed with the inner teeth 25 of the outer ring member 24 at the other end. Then, the through hole 21 is opened in the cylindrical wall 22b of the elastic inner race 22,
The drive bevel gear 13 is thrust into the elastic inner ring material 22 from the through hole 21 and meshes with the transmission bevel gear 14, whereby the distance L 1 between the drive shaft 11 and the end face of the joint shaft 26 is shortened. .
【０００９】[0009]
【作用】支持部材９の内部に配置した駆動軸１１の先端
に取りつけられる駆動傘歯車１３は、支持部材９から下
方へ延びて弾性内輪材２２の円筒壁２２ｂの貫通孔２１
を通り、弾性内輪材２２内に突入している。駆動軸１１
が回転すると、駆動傘歯車１３を介して、駆動軸１１に
直交し支持部材開口部３７に向けて延びる減速機入力軸
１７の伝達傘歯車１４が回転する。伝達傘歯車１４は弾
性内輪材２２の内径よりも小さくされているが、例えば
１／２．５に減速された回転を減速機入力軸１７に伝動
する。減速機入力軸１７の回転により、接手軸２６の側
で減速機入力軸１７に取りつけられた楕円体材１８が回
転する。このとき、楕円体材１８は支持部材９の側端部
に固定された弾性内輪材２２の開口端部側の内周面に摺
接し、弾性内輪材２２を楕円状に変形させている。これ
によって、楕円体材１８の長軸上に位置する外歯２３が
外輪材２４の内歯２５の一部に噛みあわされる。The drive bevel gear 13 mounted on the tip of the drive shaft 11 disposed inside the support member 9 extends downward from the support member 9 and extends through the through hole 21 of the cylindrical wall 22b of the elastic inner ring member 22.
And penetrates into the elastic inner ring material 22. Drive shaft 11
When is rotated, the transmission bevel gear 14 of the reduction gear input shaft 17 that is orthogonal to the drive shaft 11 and extends toward the support member opening 37 is rotated via the drive bevel gear 13. The transmission bevel gear 14 is smaller than the inner diameter of the elastic inner ring material 22, but transmits the rotation reduced to 1 / 2.5 to the reduction gear input shaft 17, for example. The rotation of the reduction gear input shaft 17 causes the ellipsoidal material 18 attached to the reduction gear input shaft 17 to rotate on the joint shaft 26 side. At this time, the ellipsoidal material 18 slidably contacts the inner peripheral surface of the elastic inner ring material 22 fixed to the side end portion of the support member 9 on the open end side to deform the elastic inner ring material 22 into an elliptical shape. As a result, the outer teeth 23 located on the major axis of the ellipsoidal member 18 are meshed with a part of the inner teeth 25 of the outer ring member 24.
【００１０】楕円体材１８は、その外周面と弾性内輪材
２２の内周面との間で滑りを起こしながら回転するの
で、その間は、外輪材２４の内歯２５が弾性内輪材２２
の同一ピッチの外歯２３をたどるようにして、次々と噛
合位置を変化させる。楕円体材１８が一回転を完了した
時点で、噛合位置も最初の位置に戻る。しかし、内歯２
５，外歯２３の歯数が異なり、例えば外歯２３は内歯２
５に比べて僅かに歯数が少ないので、楕円体材１８が一
回転した時点では、最初の噛合位置にあった外歯２３
は、内歯２５のうち外歯２３との歯数差分だけ少ない手
前の内歯２５と噛みあうことになる。すなわち、弾性内
輪材２２の外歯２３の噛みあいが一周分なされたときに
は、外輪材２４の内歯２５の全部との噛みあいが完了し
ておらず、それによって、外輪材２４は上記歯数差分だ
け回転されることになる。この外輪材２４の回転は、固
定されて回転しない弾性内輪材２２から見ると、外輪材
２４が元の状態から楕円体材１８に対しては時計方向へ
僅かに回転することになる。これによって、減速機入力
軸１７の一回転に対して外輪材２４は例えば２／２００
回転する。駆動軸１１から見ると、傘歯車式伝動機構２
０による１／２．５を考慮して、結局は、外輪材２４と
一体化された接手軸２６は１／２５０と大きく減速して
回転される。Since the elliptical member 18 rotates while causing a slip between the outer peripheral surface of the elliptical member 18 and the inner peripheral surface of the elastic inner ring member 22, the inner teeth 25 of the outer ring member 24 are in contact with the elastic inner ring member 22 during that period.
The outer teeth 23 having the same pitch are traced to sequentially change the meshing positions. When the ellipsoidal material 18 completes one rotation, the meshing position also returns to the initial position. However, internal tooth 2
5, the number of teeth of the outer teeth 23 is different, for example, the outer teeth 23 are the inner teeth 2
Since the number of teeth is slightly smaller than that of No. 5, when the ellipsoidal material 18 makes one rotation, the external teeth 23 that were in the initial meshing position
Of the inner teeth 25 meshes with the front inner teeth 25, which is smaller by the difference in the number of teeth with the outer teeth 23. That is, when the outer teeth 23 of the elastic inner ring member 22 have been meshed for one round, the meshing with all the inner teeth 25 of the outer ring member 24 has not been completed, so that the outer ring member 24 has the above number of teeth. It will be rotated by the difference. This rotation of the outer ring member 24 causes the outer ring member 24 to slightly rotate clockwise with respect to the ellipsoidal member 18 from the original state when viewed from the elastic inner ring member 22 which is fixed and does not rotate. As a result, the outer ring member 24 is, for example, 2/200 for one rotation of the speed reducer input shaft 17.
Rotate. Seen from the drive shaft 11, the bevel gear type transmission mechanism 2
In consideration of 1 / 2.5 due to 0, the joint shaft 26 integrated with the outer ring member 24 is rotated at a significantly reduced speed of 1/250.
【００１１】関節部２に介装される楕円体材１８と減速
機入力軸１７を回転させる伝達傘歯車１４とが弾性内輪
材２２に内装されているので、回転用減速機３０と傘歯
車式伝動機構２０とがひと纏めに配置される。したがっ
て、回転用減速機３０のためのスペースと傘歯車式伝動
機構２０を収納するスペースとを、それぞれ独立に確保
しておく必要がなくなる。すなわち、支持部材９の端部
と支持部材開口部３７で回転可能な接手軸２６とに軸承
された減速機入力軸１７は、支持部材９の直下もしくは
その近傍に配置されるので、駆動軸１１から接手軸２６
の端面までの間隔Ｌ1 を短くすることができる。The ellipsoidal material 18 interposed in the joint portion 2 and the transmission bevel gear 14 for rotating the reduction gear input shaft 17 are housed in the elastic inner ring material 22, so that the reduction gear for rotation 30 and the bevel gear type are used. The transmission mechanism 20 and the transmission mechanism 20 are arranged together. Therefore, it is not necessary to separately secure a space for the reduction gear 30 for rotation and a space for housing the bevel gear type transmission mechanism 20. That is, the speed reducer input shaft 17, which is supported by the end portion of the support member 9 and the joint shaft 26 rotatable by the support member opening 37, is arranged immediately below the support member 9 or in the vicinity thereof. From joint shaft 26
It is possible to shorten the distance L 1 to the end surface of the.
【００１２】[0012]
【発明の効果】本発明によれば、回転用減速機と傘歯車
式伝動機構とをほぼ同じ部位に纏めて配置することがで
き、関節部の省スペース化が図られる。もちろん、回転
用減速機による大きい減速も実現され、関節部に取りつ
けられる被駆動材を所望する速度で回転させることがで
きる。関節部の小型化によって、駆動軸と被駆動材との
間隔が短縮され、このような構造をロボットの手首部な
どに適用すると、被駆動材に装着されるツールと作業対
象のワークとの干渉も少なくなる。すなわち、ワークの
形状がたとえ複雑であっても、次の教示位置へ移動させ
る際に、関節部をいちいち退避させるなどの必要がなく
なり、しかも、被駆動材の位置を変えるときのロボット
基部側の制御が簡単となるため、ロボット装置による迅
速な自動化作業が実現される。また、関節部を構成する
部材の小型化や重量軽減が実現され、その関節部を支持
するロボットアームや他の関節部において、過大な支持
剛性の確保や強度の増加も抑制され、機械構造物として
のロボット装置全体の軽量化やコストダウンなどが図ら
れる。According to the present invention, the reduction gear for rotation and the bevel gear type transmission mechanism can be collectively arranged in substantially the same portion, and the joint space can be saved. Of course, large reduction by the reduction gear for rotation is also realized, and the driven material attached to the joint can be rotated at a desired speed. The size reduction of the joint reduces the distance between the drive shaft and the driven material.If such a structure is applied to the wrist of a robot, etc., the interference between the tool mounted on the driven material and the work piece Also less. That is, even if the shape of the work is complicated, it is not necessary to retract the joints one by one when moving to the next teaching position, and the robot base side when changing the position of the driven material Since the control becomes simple, a rapid automation work by the robot device is realized. Further, downsizing and weight reduction of the members constituting the joint are realized, and in the robot arm and other joints that support the joint, it is possible to prevent excessive support rigidity and increase in strength, and to suppress mechanical structure. As a result, the weight and cost of the entire robot apparatus can be reduced.
【００１３】[0013]
【実施例】以下に、本発明の動力伝達装置を、関連する
図面を参照しながら詳細に説明する。図１は、機械構造
物としての多関節形ロボット１の先端部における関節部
２の縦断面図である。この関節部２には、ツールが装着
される被駆動材２８を回動させるための動力伝達装置１
０が内装されている。このような動力伝達装置１０を備
えるロボット１は、例えば図６に示した床面などに据え
つけた設置台４に旋回台３が搭載され、前述したごと
く、平行リンク機構５や接続アーム８，その接続アーム
８の先端枠体８Ａに相対的に回転することができる支持
部材９などを介して、関節部２に装着されたツールを所
望する位置へ変位させるようになっている。そして、旋
回台３などに搭載された回転駆動機（図示せず）から駆
動軸を介して伝動される回転を減速して、被駆動材を水
平軸線Ｏ5 のまわりで回動させることができる。その関
節部２は、支持部材としての円筒状の上下に延びる上記
した支持アーム９の端部に装着されている場合の例であ
る。この関節部２には、図１に示すごとく、支持アーム
９の内部に配置された駆動軸１１の回転を大きく減速
し、かつ、その回転軸線の向きを９０度変えるための装
置が内装されている。そして、支持アーム９の下端に
は、関節部２の動きによって動作する被駆動材２８を配
置できるようにするために、駆動軸１１に直交して開口
する支持部材開口部３７が形成されている。減速用の装
置としては、ハーモニックドライブ式の回転用減速機３
０が設けられ、回転軸線の向きを変えるための装置とし
ては、傘歯車式伝動機構２０が採用されている。なお、
この傘歯車式伝動機構２０も例えば１／２．５に減速す
る機能が備えられたものとなっている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A power transmission device according to the present invention will be described below in detail with reference to the related drawings. FIG. 1 is a vertical cross-sectional view of a joint portion 2 at a tip portion of an articulated robot 1 as a mechanical structure. A power transmission device 1 for rotating a driven material 28 on which a tool is mounted is attached to the joint portion 2.
The interior is 0. In the robot 1 provided with such a power transmission device 10, for example, the swivel base 3 is mounted on the installation base 4 installed on the floor surface shown in FIG. 6, and as described above, the parallel link mechanism 5 and the connection arm 8, The tool mounted on the joint 2 is displaced to a desired position via a support member 9 or the like that can rotate relative to the tip frame 8A of the connection arm 8. Then, the rotation transmitted from the rotary drive machine (not shown) mounted on the swivel base 3 or the like via the drive shaft can be decelerated to rotate the driven material around the horizontal axis O 5. . The joint portion 2 is an example of a case where the joint portion 2 is attached to an end portion of the above-described support arm 9 that extends vertically as a support member. As shown in FIG. 1, the joint portion 2 is internally provided with a device for greatly decelerating the rotation of the drive shaft 11 arranged inside the support arm 9 and changing the direction of the rotation axis thereof by 90 degrees. There is. Then, at the lower end of the support arm 9, a support member opening 37 that is opened orthogonally to the drive shaft 11 is formed so that the driven member 28 that operates by the movement of the joint 2 can be arranged. . As a device for speed reduction, a harmonic drive type speed reducer for rotation 3
0 is provided, and a bevel gear type transmission mechanism 20 is adopted as a device for changing the direction of the rotation axis. In addition,
This bevel gear type transmission mechanism 20 also has a function of reducing the speed to 1 / 2.5, for example.
【００１４】個々に関節部２の構造を、以下に述べる。
支持アーム９の端部には、駆動軸１１に直交し支持部材
開口部３７に向けて延びる減速機入力軸１７が設けられ
る。これは、支持部材開口部３７に軸承される接手軸２
６の中心部位において、軸受１５により一方端が支承さ
れ、他方端は支持アーム９の端部のケーシングの側壁に
設けた軸受１６よって支承されている。なお、接手軸２
６は、関節としての動きとなるように被駆動材２８を外
側部位に装着したものであり、ケーシングにおける支持
部材開口部３７の先端に固定した二つの固定部材２９
Ａ，２９Ｂを介して回転可能に軸承されている。すなわ
ち、ケーシングの開口端にボルト止めされた固定部材２
９Ａ，２９Ｂには、その対向面内周部に切欠部２９ａ，
２９ｂが形成され、接手軸２６の外周に形成されたＶ形
溝２６ａとの間に円柱状の多数の減摩部材２７を介装さ
せ、接手軸２６の回転を可能にすると共に、接手軸２６
の支持が図られている。上記の傘歯車式伝動機構２０
は、駆動軸１１の下端に取りつけられた駆動傘歯車１３
と、この駆動傘歯車１３に噛みあう伝達傘歯車１４とか
らなっている。なお、この伝達傘歯車１４は、後述する
弾性内輪材２２内に配置されるので、その弾性内輪材２
２の内径よりも小さな外径となっている。上述した減速
機入力軸１７の中間部位には、次に述べる楕円体材１８
と、上記の伝達傘歯車１４とが、接手軸２６の側から順
に配置されて、それぞれがキー材によって固定されてい
る。The structure of each joint 2 will be described below.
At the end of the support arm 9, a speed reducer input shaft 17 that is orthogonal to the drive shaft 11 and extends toward the support member opening 37 is provided. This is a joint shaft 2 that is supported in the support member opening 37.
At the central part of the bearing 6, one end is supported by a bearing 15, and the other end is supported by a bearing 16 provided on the side wall of the casing at the end of the support arm 9. The joint axis 2
Reference numeral 6 denotes a member to which a driven member 28 is attached at an outer portion so that the member can be moved as a joint, and two fixing members 29 fixed to the tip of a supporting member opening 37 in a casing.
It is rotatably supported via A and 29B. That is, the fixing member 2 bolted to the open end of the casing
9A and 29B have notches 29a,
29b is formed, and a large number of columnar antifriction members 27 are provided between the joint shaft 26 and the V-shaped groove 26a formed on the outer periphery of the joint shaft 26 to enable rotation of the joint shaft 26 and
Is being supported. The bevel gear type transmission mechanism 20 described above.
Is a drive bevel gear 13 attached to the lower end of the drive shaft 11.
And a transmission bevel gear 14 meshing with the drive bevel gear 13. Since the transmission bevel gear 14 is arranged in an elastic inner ring material 22 described later, the elastic inner ring material 2 is
The outer diameter is smaller than the inner diameter of 2. An ellipsoidal material 18 described below is provided at an intermediate portion of the speed reducer input shaft 17 described above.
And the transmission bevel gear 14 are sequentially arranged from the side of the joint shaft 26, and are fixed by the key material.
【００１５】ここで、ハーモニックドライブ式の回転用
減速機３０の構成を述べる。回転用減速機３０は、外輪
材２４，弾性内輪材２２および楕円体材１８からなる。
これらの主たる構成や機能は、従来技術のところで述べ
たことと類似するが、以下の点で種々異なっている。外
輪材２４は、例えば支持部材開口部３７の側へ突出した
ボス部２４ａを備えて、接手軸２６に固定されている。
そして、外輪材２４の変形不能なリング状本体の内面に
は、連続した多数の例えば２００個の歯からなる内歯２
５が形成されている。弾性内輪材２２は、薄い円筒体で
あって変形可能、すなわち、左端部での断面が任意の周
面で楕円状となることができ、かつ、右へ延びる長手方
向においては楕円状断面から真円状断面に変化できる弾
性体である。そのために、軸方向の断面変形も許容する
ことができるようにある程度の長さが確保され、円筒外
皮に過大な応力が作用しないように配慮されている。そ
して、外輪材２４の内歯２５と同一ピッチで僅かに歯数
が少なく内歯２５に部分的に噛みあう連続した多数の例
えば１９８個の歯からなる外歯２３が、弾性内輪材２２
の左端の外周面に形成されている。楕円体材１８は、弾
性内輪材２２の外歯２３が形成されている部分の内周面
に密着して摺接しながら回転して、弾性内輪材２２を楕
円状に変形させるものである。すなわち、後述するごと
く楕円の長軸上に位置した外歯２３を外輪材２４の内歯
２５の一部に噛みあわせ、弾性内輪材２２と外輪材２４
とを内歯２５と外歯２３との歯数差分だけ、固定された
弾性内輪材２２に対して外輪材２４を回転させるように
機能する。このように、楕円体材１８は弾性内輪材２２
の内周面で摺接するものであり、回転される楕円板１８
Ａとその周囲に取りつけた減摩部材１８Ｂとからなる。
その減摩部材１８Ｂは、弾性内輪材２２に摺接する際の
滑りを助長したり摩耗を軽減するためのものであって、
楕円状の軸受構造が採用されたり、多数個の円柱体を脱
落しないように楕円板１８Ａの周囲に並べて形成され
る。The structure of the harmonic drive type rotary speed reducer 30 will now be described. The rotary speed reducer 30 includes an outer ring member 24, an elastic inner ring member 22, and an ellipsoidal member 18.
The main configurations and functions of these are similar to those described in the related art, but are different in the following points. The outer ring member 24 includes, for example, a boss portion 24 a that projects toward the support member opening 37, and is fixed to the joint shaft 26.
Then, the inner teeth of the non-deformable ring-shaped main body of the outer ring member 24 are formed with a large number of continuous inner teeth 2 such as 200 teeth.
5 is formed. The elastic inner ring member 22 is a thin cylindrical body and is deformable, that is, the cross section at the left end can be elliptical at any peripheral surface, and the cross section from the elliptical cross section is true in the longitudinal direction extending to the right. An elastic body that can change into a circular cross section. Therefore, a certain length is ensured so that the axial cross-section deformation can be permitted, and consideration is given so that an excessive stress does not act on the cylindrical outer cover. The outer teeth 23, which is composed of a large number of continuous teeth, for example, 198 teeth, which are partially meshed with the inner teeth 25 at the same pitch as the inner teeth 25 of the outer teeth 24, are slightly elastic.
Is formed on the outer peripheral surface at the left end. The ellipsoidal member 18 rotates in close contact with the inner peripheral surface of the portion of the elastic inner ring member 22 where the outer teeth 23 are formed, while slidingly contacting the elastic inner ring member 22, to deform the elastic inner ring member 22 into an elliptical shape. That is, as will be described later, the outer teeth 23 located on the major axis of the ellipse are meshed with a part of the inner teeth 25 of the outer ring member 24, and the elastic inner ring member 22 and the outer ring member 24 are joined.
And function to rotate the outer ring member 24 relative to the fixed elastic inner ring member 22 by the difference in the number of teeth between the inner teeth 25 and the outer teeth 23. In this way, the ellipsoidal material 18 is the elastic inner ring material 22.
The elliptical plate 18 that is in sliding contact with the inner peripheral surface of the
A and an antifriction member 18B attached to the periphery thereof.
The anti-friction member 18B is for promoting sliding and reducing wear when slidingly contacting the elastic inner ring member 22,
An elliptical bearing structure is adopted, or a large number of columnar bodies are arranged side by side around the elliptical plate 18A so as not to fall off.
【００１６】上記した外輪材２４は前述したようにボス
部２４ａを介して接手軸２６と一体となっているので、
減速機入力軸１７を支持する軸受１５は、外輪材２４お
よび接手軸２６の少なくともいずれか一方に装着されて
いればよい。弾性内輪材２２は、その一端に形成したボ
ス部２２ａを介して支持アーム９の下端のケーシングの
側壁にボルトなどで固定され、他端は外歯２３が外輪材
２４の内歯２５に噛みあわされている。ケーシングの側
壁では減速機入力軸１７を支承する必要があるので、例
えば弾性内輪材２２のボス部２２ａ内に前記した軸受１
６が介在されている。そして、弾性内輪材２２の円筒壁
２２ｂには貫通孔２１が開口され、駆動傘歯車１３もし
くは駆動軸１１が貫通孔２１から弾性内輪材２２内へ突
入して配置され、駆動傘歯車１３が減速機入力軸１７に
取りつけた伝達傘歯車１４に噛みあわされている。した
がって、支持アーム９に固定された弾性内輪材２２に対
して、ロボット本体の回転駆動機によって駆動軸１１が
回転されると、駆動傘歯車１３に噛みあう伝達傘歯車１
４を介して楕円体材１８が回転する。その楕円体材１８
が摺接して弾性内輪材２２が円周方向に変形すると、そ
の変形によって生じる外歯２３と外輪材２４の内歯２５
との噛合位置が順次ずれる。このずれの発生により大き
く減速されて回転する外輪材２４を介して、接手軸２６
をゆっくり回転させることができるようになっている。Since the outer ring member 24 is integrated with the joint shaft 26 via the boss portion 24a as described above,
The bearing 15 supporting the reduction gear input shaft 17 may be mounted on at least one of the outer ring member 24 and the joint shaft 26. The elastic inner ring material 22 is fixed to the side wall of the casing at the lower end of the support arm 9 with a bolt or the like via a boss portion 22a formed at one end thereof, and the other end has outer teeth 23 meshing with inner teeth 25 of the outer ring material 24. Has been done. Since it is necessary to support the reduction gear input shaft 17 on the side wall of the casing, for example, the bearing 1 described above is provided in the boss portion 22a of the elastic inner ring member 22.
6 is interposed. Then, the through hole 21 is opened in the cylindrical wall 22b of the elastic inner ring material 22, and the drive bevel gear 13 or the drive shaft 11 is arranged so as to project from the through hole 21 into the elastic inner ring material 22, and the drive bevel gear 13 is decelerated. It is meshed with the transmission bevel gear 14 mounted on the machine input shaft 17. Therefore, when the drive shaft 11 is rotated with respect to the elastic inner ring member 22 fixed to the support arm 9 by the rotary drive machine of the robot body, the transmission bevel gear 1 meshes with the drive bevel gear 13.
The ellipsoidal material 18 rotates via the 4. The ellipsoidal material 18
When the elastic inner race 22 is deformed in the circumferential direction due to sliding contact with the outer teeth 23, the outer teeth 23 and the inner teeth 25 of the outer race 24 are generated by the deformation.
The meshing position with and shifts sequentially. Through the outer ring member 24 that is greatly decelerated and rotates due to the occurrence of this deviation, the joint shaft 26
Can be rotated slowly.
【００１７】ところで、上記したごとく、弾性内輪材２
２に楕円体材１８と伝達傘歯車１４とが内装され、かつ
駆動傘歯車１３が突入しているため、垂直軸線Ｏ4 から
被駆動材２８を取りつけた接手軸２６の端面までの長さ
Ｌ1 は、図５に示すように、従来技術の場合における長
さＬ2 よりかなり短くすることができる。すなわち、駆
動軸１１と接手軸２６の端面との間隔が短縮される。上
記した減速機入力軸１７の長さ自体は実質的に大きく短
縮されないが、傘歯車式伝動機構２０が回転用減速機３
０と交錯するように配置されることになるから、支持ア
ーム９の下部の関節部２のコンパクト化が図られる。ち
なみに、弾性内輪材２２の円筒壁２２ｂには孔があいて
断面欠損が生じることになるが、弾性内輪材２２は上記
したような変形のできることが要求されるので、その貫
通孔２１が却って変形を助長させる効果も発揮されて好
都合となる。By the way, as described above, the elastic inner ring member 2
Since the ellipsoidal material 18 and the transmission bevel gear 14 are installed inside the drive shaft 2 and the driving bevel gear 13 is projected into the shaft 2, the length L from the vertical axis O 4 to the end face of the joint shaft 26 to which the driven material 28 is attached is L. 1 can be considerably shorter than the length L 2 in the case of the prior art, as shown in FIG. That is, the distance between the drive shaft 11 and the end face of the joint shaft 26 is shortened. Although the length itself of the speed reducer input shaft 17 is not substantially shortened, the bevel gear type transmission mechanism 20 causes the speed reducer 3 for rotation to rotate.
Since it is arranged so as to intersect with 0, the joint portion 2 below the support arm 9 can be made compact. By the way, although there is a hole in the cylindrical wall 22b of the elastic inner ring member 22 and a cross-section loss occurs, the elastic inner ring member 22 is required to be deformable as described above, and therefore the through hole 21 is deformed instead. It is also convenient because it has the effect of promoting
【００１８】このような構成の動力伝達装置１０は、次
のように作動させることによって大きい減速を達成する
と共に、関節部２のコンパクト化が図られる。まず、支
持アーム９の内部に配置した駆動軸１１が、ロボット本
体に設けられた回転駆動機からの動力で回転される。駆
動軸１１の先端に取りつけられた駆動傘歯車１３は、弾
性内輪材２２の円筒壁２２ｂの貫通孔２１を通って突入
しており、減速機入力軸１７に取りつけた伝達傘歯車１
４を回転させる。伝達傘歯車１４は弾性内輪材２２に内
装する必要からその内径よりも小さいが、駆動傘歯車１
３の径よりは大きいので、例えば１／２．５に減速され
て減速機入力軸１７が回転する。接手軸２６の側で減速
機入力軸１７に取りつけられた楕円体材１８が回転し、
弾性内輪材２２の内周面に密着して摺接しながら回転す
る。このとき、弾性内輪材２２は元来真円な円筒体であ
るが、楕円体材１８が位置している部分の弾性内輪材２
２は楕円状に弾性変形されている。すなわち、楕円体材
１８の長軸上に位置する外歯２３のみを外輪材２４の連
続した多数の歯からなる内歯２５の一部に噛みあわせて
いる。弾性内輪材２２はその一端で支持アーム９のケー
シングに固定されているので回転することはなく、楕円
体材１８が弾性内輪材２２の内周面に密着した状態で滑
りを起こしながら回転する。このとき、外輪材２４の内
歯２５が、楕円体材１８の長軸上にある弾性内輪材２２
の同一ピッチの外歯２３をたどるようにして、次々と噛
合位置を変更し、外輪材２４が回転される。The power transmission device 10 having such a structure achieves a large deceleration by operating as follows, and the joint portion 2 can be made compact. First, the drive shaft 11 arranged inside the support arm 9 is rotated by power from a rotation drive machine provided in the robot body. The drive bevel gear 13 attached to the tip of the drive shaft 11 protrudes through the through hole 21 of the cylindrical wall 22b of the elastic inner ring material 22, and the transmission bevel gear 1 attached to the speed reducer input shaft 17 is provided.
Rotate 4. Since the transmission bevel gear 14 is smaller than the inner diameter of the elastic inner ring material 22 because it is necessary to be internally mounted, the drive bevel gear 1
Since the diameter is larger than the diameter of 3, the speed reducer input shaft 17 is rotated at a speed of 1 / 2.5, for example. The ellipsoidal material 18 attached to the reduction gear input shaft 17 rotates on the side of the joint shaft 26,
The elastic inner ring member 22 rotates while closely contacting the inner peripheral surface of the elastic inner ring member 22 and slidingly contacting the inner peripheral surface of the inner ring member 22. At this time, the elastic inner ring material 22 is originally a circular cylinder, but the elastic inner ring material 2 in the portion where the ellipsoidal material 18 is located.
2 is elastically deformed into an elliptical shape. That is, only the outer teeth 23 located on the major axis of the ellipsoidal member 18 are engaged with a part of the inner teeth 25 of the outer ring member 24, which are composed of a large number of continuous teeth. Since the elastic inner ring member 22 is fixed to the casing of the support arm 9 at one end thereof, the elastic inner ring member 22 does not rotate, and the ellipsoidal member 18 rotates while slipping while being in close contact with the inner peripheral surface of the elastic inner ring member 22. At this time, the inner teeth 25 of the outer ring member 24 have the elastic inner ring member 22 located on the major axis of the ellipsoidal member 18.
The outer ring member 24 is rotated by tracing the outer teeth 23 having the same pitch, changing the meshing positions one after another.
【００１９】例えば図２のように楕円体材１８の長軸が
上下をなしているとすると、この状態から楕円体材１８
が時計方向に９０度回転したときには、図３に示すよう
に、噛合位置も同じ角度に変わっている。楕円体材１８
が一回転を完了した時点で、図４に示すように、噛合位
置も最初の位置に戻される。しかし、外歯２３は１９８
個の歯を有しているが、２００個の歯を有する内歯２５
に比べて２つ歯数が少ないので、楕円体材１８が一回転
した時点では、最初の噛合位置にあった外歯２３が、内
歯２５の１９８番目の歯と噛みあうことになる。すなわ
ち、弾性内輪材２２の外歯２３の噛みあいが一周分なさ
れたときには、外輪材２４の内歯２５の全部との噛みあ
いが完了しておらず、それによって、外輪材２４は２つ
の歯数分だけ回転されることになる。この外輪材２４
は、固定された弾性内輪材２２から見ると、元の状態か
ら楕円体材１８と同じ方向へ僅かに回転したことにな
る。これによって、減速機入力軸１７の一回転に対して
外輪材２４は例えば２／２００回転する。駆動軸１１の
回転数から見ると、傘歯車式伝動機構２０による１／
２．５を考慮して、結局は、外輪材２４と一体化された
接手軸２６は、１／２５０に大きく減速されて回転す
る。For example, assuming that the major axes of the ellipsoidal material 18 are vertical as shown in FIG.
When is rotated 90 degrees clockwise, as shown in FIG. 3, the meshing position is also changed to the same angle. Ellipsoidal material 18
When one completes one rotation, the meshing position is also returned to the initial position as shown in FIG. However, the external teeth 23 are 198
Internal tooth with 200 teeth, but with 200 teeth
Since the number of teeth is smaller than the number of teeth, the outer teeth 23 at the first meshing position mesh with the 198th teeth of the inner teeth 25 when the ellipsoidal material 18 makes one rotation. That is, when the outer teeth 23 of the elastic inner ring material 22 have been meshed for one round, the meshing with all the inner teeth 25 of the outer ring material 24 has not been completed, so that the outer ring material 24 has two teeth. It will be rotated for a few minutes. This outer ring material 24
When viewed from the fixed elastic inner ring material 22, it means that it slightly rotated in the same direction as the ellipsoidal material 18 from the original state. As a result, the outer ring member 24 rotates, for example, 2/200 for one rotation of the speed reducer input shaft 17. From the perspective of the number of rotations of the drive shaft 11, 1 /
In consideration of 2.5, the joint shaft 26, which is integrated with the outer ring member 24, rotates after being significantly decelerated to 1/250.
【００２０】弾性内輪材２２は外歯２３の位置する箇所
で楕円状とされているが、この楕円体材１８は弾性内輪
材２２の固定側から開口方向へと弾性内輪材２２の軸方
向において徐々になされている。これは、弾性内輪材２
２が薄くて弾性変形できる部材であることによるが、弾
性内輪材２２の円筒長さも十分に確保されていることに
基づく。しかも、弾性内輪材２２には駆動傘歯車１３を
通すための貫通孔２１も設けられており、その変形はよ
り一層容易なものとなっている。このように、弾性内輪
材２２は機能上必要とされる長さが確保されなければな
らないが、楕円体材１８と伝達傘歯車１４とが弾性内輪
材２２に内装されているので、関節部２では回転用減速
機３０と傘歯車式伝動機構２０とをひと纏めに配置して
おくことができる。したがって、回転用減速機３０のた
めのスペースと傘歯車式伝動機構２０を収納するスペー
スをそれぞれ独立に確保しておく必要がなく、減速機入
力軸１７を支持アーム９の直下近くに配置することがで
きる。それによって、駆動軸１１の垂直軸線Ｏ4 から接
手軸２６の外側面までの長さＬ1 を、図５に示したよう
に可及的に短くすることができる。The elastic inner ring material 22 has an elliptical shape at the position where the outer teeth 23 are located. The elliptical body material 18 extends in the opening direction from the fixed side of the elastic inner ring material 22 in the axial direction of the elastic inner ring material 22. It is being done gradually. This is the elastic inner ring material 2
Although 2 is a thin member that can be elastically deformed, it is based on the fact that the cylindrical length of the elastic inner ring member 22 is sufficiently secured. Moreover, the elastic inner ring member 22 is also provided with the through hole 21 for allowing the drive bevel gear 13 to pass therethrough, which makes the deformation thereof easier. As described above, the elastic inner ring material 22 must have a length required for its function, but since the ellipsoidal material 18 and the transmission bevel gear 14 are incorporated in the elastic inner ring material 22, the joint portion 2 Then, the reduction gear 30 for rotation and the bevel gear type transmission mechanism 20 can be arranged together. Therefore, it is not necessary to separately secure a space for the speed reducer 30 and a space for accommodating the bevel gear type transmission mechanism 20, and to dispose the speed reducer input shaft 17 immediately below the support arm 9. You can As a result, the length L 1 from the vertical axis O 4 of the drive shaft 11 to the outer surface of the joint shaft 26 can be made as short as possible as shown in FIG.
【００２１】ところで、ハーモニックドライブ式回転用
減速機を採用した従来の関節部においては、回転用減速
機を構成する外輪材が固定され、弾性内輪材は回転可能
とされていた。したがって、駆動傘歯車を弾性内輪材の
中へ突入させる形態を採ることは不可能であり、回転用
減速機と傘歯車式伝動機構とは干渉しない配置とされて
いた。しかし、上記の説明から分かるように、本発明に
おいては、弾性内輪材を固定する一方で外輪材を回転可
能としたので、弾性内輪材に貫通孔を設けて駆動傘歯車
を弾性内輪材内に突入させることができる。その結果、
回転用減速機と傘歯車式伝動機構とを同じ部位に纏めて
配置でき、駆動軸から接手軸の端面までの間隔が短縮さ
れる。これによって、関節部に必要とされる空間は少な
くて済み、関節部の小型化が図られる。弾性内輪材も所
望する長さを維持することができ、回転用減速機として
の機能を十分に維持し、関節部に取りつけられる被駆動
材を所望する速度に大きく減速して回転させることがで
きる。関節部のコンパクト化により、駆動軸と被駆動材
との距離を短くすることができる。このような関節部を
ロボットのアーム先端の手首部などに適用すると、被駆
動材を次の教示位置へ移動させるときにワークなどとの
干渉も低減され、関節部をいちいち退避させる必要もな
くなり、ロボット装置による円滑な自動化作業を達成で
きる。加えて、関節部の軽量化も可能となるので、関節
部を支持するロボットアームや他の関節部における支持
形態や構造も簡素化され、剛性の低いアームや関節部の
採用の実現によって、ロボット装置全体の重量軽減やコ
ストダウンなどが図られる。なお、以上の説明では図６
に示したようなロボット装置を例にしているが、他の形
態のロボットや一般の機械構造物などに関節部がある場
合に、その関節部においても適用することができる。By the way, in the conventional joint portion which employs the harmonic drive type speed reducer for rotation, the outer ring member constituting the speed reducer for rotation is fixed, and the elastic inner ring member is rotatable. Therefore, it is impossible to adopt a form in which the driving bevel gear is thrust into the elastic inner ring material, and the reduction gear for rotation and the bevel gear type transmission mechanism are arranged so as not to interfere with each other. However, as can be seen from the above description, in the present invention, since the outer ring member is rotatable while the elastic inner ring member is fixed, the drive bevel gear is provided in the elastic inner ring member by providing the elastic inner ring member with the through hole. Can be rushed. as a result,
The reduction gear for rotation and the bevel gear type transmission mechanism can be collectively arranged in the same portion, and the distance from the drive shaft to the end face of the joint shaft can be shortened. As a result, the space required for the joint is small and the joint can be downsized. The elastic inner ring material can also maintain a desired length, sufficiently maintain the function as a reduction gear for rotation, and can significantly reduce the speed of the driven material attached to the joint portion to rotate at a desired speed. . By making the joints compact, the distance between the drive shaft and the driven material can be shortened. When such a joint is applied to the wrist of the robot at the tip of the arm, the interference with the work etc. is reduced when moving the driven material to the next teaching position, and it is not necessary to retract the joint one by one. It is possible to achieve smooth automation work by the robot device. In addition, since the weight of the joints can be reduced, the support form and structure of the robot arm that supports the joints and other joints can be simplified, and the adoption of low-rigidity arms and joints enables the robot The weight and cost of the entire device can be reduced. In the above description, FIG.
Although the robot device as shown in FIG. 1 is taken as an example, when a robot of another form or a general mechanical structure has a joint, it can be applied to the joint.
【図１】 機械構造物の一例である多関節型ロボットの
関節部に設けられた本発明に係る動力伝達装置の縦断面
図。FIG. 1 is a vertical cross-sectional view of a power transmission device according to the present invention, which is provided in a joint portion of an articulated robot that is an example of a mechanical structure.
【図２】 回転用減速機における減速原理を説明する初
期状態図。FIG. 2 is an initial state diagram for explaining a deceleration principle of a rotary reduction gear.
【図３】 楕円体材が中間角度として９０度回転したと
きの減速原理を説明する動作図。FIG. 3 is an operation diagram illustrating a deceleration principle when an ellipsoidal material is rotated by 90 degrees as an intermediate angle.
【図４】 楕円体材が一回転したときの減速原理を説明
する動作図。FIG. 4 is an operation diagram illustrating a deceleration principle when the ellipsoidal material makes one rotation.
【図５】 本発明が適用されることによって支持部材の
端部に設けた関節部が短くなることを示す斜視図。FIG. 5 is a perspective view showing that the joint provided at the end of the support member is shortened by applying the present invention.
【図６】 本発明が適用される多関節型ロボットの一例
を示す斜視図。FIG. 6 is a perspective view showing an example of an articulated robot to which the present invention is applied.
【図７】 関節部に設けられた従来の動力伝達装置の装
着形態図。FIG. 7 is a mounting form diagram of a conventional power transmission device provided in a joint portion.
２…関節部、９…支持部材（支持アーム）、１１…駆動
軸、１３…駆動傘歯車、１４…伝達傘歯車、１７…減速
機入力軸、１８…楕円体材、２１…貫通孔、２２…弾性
内輪材、２２ｂ…円筒壁、２３…外歯、２４…外輪材、
２５…内歯、２６…接手軸、２８…被駆動材、３０…回
転用減速機、３７…支持部材開口部、Ｌ1 …駆動軸と接
手軸の端面との間隔。2 ... Joint part, 9 ... Support member (support arm), 11 ... Drive shaft, 13 ... Drive bevel gear, 14 ... Transmission bevel gear, 17 ... Reduction gear input shaft, 18 ... Ellipsoidal material, 21 ... Through hole, 22 ... elastic inner ring material, 22b ... cylindrical wall, 23 ... outer teeth, 24 ... outer ring material,
25 ... Inner teeth, 26 ... Joint shaft, 28 ... Driven material, 30 ... Rotating speed reducer, 37 ... Support member opening, L 1 ... Distance between drive shaft and end face of joint shaft.
Claims (1)
材と、該内歯とは異なる歯数の外歯を外周面に形成した
変形可能な筒状の弾性内輪材と、該弾性内輪材の内周面
に摺接して該弾性内輪材を楕円状に変形させ、その長軸
上に位置する前記外歯を前記内歯の一部に噛みあわせる
楕円体材とを備え、該楕円体材を一回転させたとき前記
弾性内輪材と前記外輪材とを前記内歯と外歯との歯数差
分だけ相対回転させることができるようになっている回
転用減速機が、内部に配置された駆動軸に沿って延びる
支持部材と、該支持部材の端部で前記駆動軸に直交する
方向に開口した支持部材開口部に軸承される接手軸と、
を有する機械構造物の関節部に介装され、前記駆動軸か
らの回転を上記接手軸へ減速して伝動するようになって
いる動力伝達装置において、 上記支持部材の端部には、前記駆動軸に直交し前記支持
部材開口部に向けて延びる減速機入力軸が、その一方端
を前記接手軸の中心部位に軸承して、他方端を前記支持
部材の側端部に軸承して配置され、 上記減速機入力軸の中間部位には、前記楕円体材と、前
記弾性内輪材の内径よりも小さい外径を有して前記駆動
軸の先端に取りつけた駆動傘歯車に噛みあう伝達傘歯車
とが、前記接手軸側から順に固定され、 前記外輪材は、前記接手軸の前記楕円体材側に位置して
一体化され、 上記楕円体材の外周面が摺接する前記弾性内輪材は、一
端で前記支持部材の側端部に固定されると共に他端で前
記外歯が上記外輪材の内歯に噛みあわされ、 前記弾性内輪材の円筒壁には、前記駆動傘歯車を該弾性
内輪材内へ突入させる貫通孔が開口され、 前記駆動軸と前記接手軸の端面との間隔を短縮すると共
に、該接手軸を大きく減速して回転させることができる
ようにしたことを特徴とする動力伝達装置。1. An undeformable outer ring member having inner teeth formed on its inner peripheral surface, and a deformable tubular elastic inner ring member having outer teeth having a number of teeth different from those of the inner teeth, An elastic elliptical member for slidingly contacting the inner peripheral surface of the elastic inner ring member to deform the elastic inner ring member into an elliptical shape, and engaging the outer teeth located on the major axis thereof with a part of the inner teeth, When the ellipsoidal material is rotated once, the elastic inner ring member and the outer ring member can be relatively rotated by the difference in the number of teeth between the inner teeth and the outer teeth. A support member that extends along the drive shaft that is disposed, and a joint shaft that is supported by a support member opening that opens at the end of the support member in a direction orthogonal to the drive shaft,
In a power transmission device which is interposed in a joint portion of a mechanical structure having a power transmission device and which decelerates and transmits rotation from the drive shaft to the joint shaft, the drive member is provided at an end portion of the support member. A speed reducer input shaft, which is orthogonal to the shaft and extends toward the opening of the support member, is arranged such that one end thereof is supported by a central portion of the joint shaft and the other end is supported by a side end portion of the support member. A transmission bevel gear having an elliptical body material and an outer diameter smaller than an inner diameter of the elastic inner ring material and meshing with a drive bevel gear attached to a tip of the drive shaft at an intermediate portion of the speed reducer input shaft. And, are fixed in order from the joint shaft side, the outer ring member is located integrally on the ellipsoidal member side of the joint shaft, the elastic inner ring member with which the outer peripheral surface of the ellipsoidal member slides, One end is fixed to a side end portion of the support member, and the other end has the outer teeth. Engaged with the inner teeth of the outer ring member, the cylindrical wall of the elastic inner ring member is provided with a through hole for allowing the drive bevel gear to project into the elastic inner ring member, and the end faces of the drive shaft and the joint shaft. The power transmission device is characterized in that the joint shaft can be shortened and the joint shaft can be greatly decelerated and rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35692792A JPH06193663A (en) | 1992-12-21 | 1992-12-21 | Power transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35692792A JPH06193663A (en) | 1992-12-21 | 1992-12-21 | Power transmission device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06193663A true JPH06193663A (en) | 1994-07-15 |
Family
ID=18451473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP35692792A Pending JPH06193663A (en) | 1992-12-21 | 1992-12-21 | Power transmission device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06193663A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10318338A (en) * | 1997-05-23 | 1998-12-04 | Harmonic Drive Syst Ind Co Ltd | Flexible intermeshing geared device |
| CN103692398A (en) * | 2013-12-12 | 2014-04-02 | 苏州市职业大学 | High-moment electric wrench |
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| JP2015132318A (en) * | 2014-01-10 | 2015-07-23 | 住友重機械工業株式会社 | Reduction gear |
| CN105402326A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Dual gear device |
| CN105402327A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Dual gear speed reducing device |
| WO2016079876A1 (en) * | 2014-11-21 | 2016-05-26 | 株式会社ハーモニック・ドライブ・システムズ | Wave generator and wave gear device |
| CN106313104A (en) * | 2016-10-24 | 2017-01-11 | 四川大学 | Separable type series elastic joint |
| CN107175686A (en) * | 2017-06-09 | 2017-09-19 | 东南大学 | A kind of joint of robot |
| CN107639449A (en) * | 2016-07-22 | 2018-01-30 | 杉野机械股份有限公司 | Feeding bench apparatus |
| CN109027171A (en) * | 2018-07-30 | 2018-12-18 | 哈尔滨工业大学（威海） | A kind of Oscillating-teeth End-face Harmonic Gear device of combined mechanism driving |
| DE102014014575B4 (en) | 2013-10-10 | 2021-11-25 | Sumitomo Heavy Industries, Ltd. | Reduction gear |
| CN114654501A (en) * | 2022-03-15 | 2022-06-24 | 深圳市零差云控科技有限公司 | Joint module assembling method and joint robot |
-
1992
- 1992-12-21 JP JP35692792A patent/JPH06193663A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10318338A (en) * | 1997-05-23 | 1998-12-04 | Harmonic Drive Syst Ind Co Ltd | Flexible intermeshing geared device |
| DE102014014575B4 (en) | 2013-10-10 | 2021-11-25 | Sumitomo Heavy Industries, Ltd. | Reduction gear |
| CN103692398A (en) * | 2013-12-12 | 2014-04-02 | 苏州市职业大学 | High-moment electric wrench |
| JP2015132318A (en) * | 2014-01-10 | 2015-07-23 | 住友重機械工業株式会社 | Reduction gear |
| US10557539B2 (en) | 2014-11-21 | 2020-02-11 | Harmonic Drive Systems Inc. | Wave generator and strain wave gearing |
| WO2016079876A1 (en) * | 2014-11-21 | 2016-05-26 | 株式会社ハーモニック・ドライブ・システムズ | Wave generator and wave gear device |
| JPWO2016079876A1 (en) * | 2014-11-21 | 2017-07-27 | 株式会社ハーモニック・ドライブ・システムズ | Wave generator and wave gear device |
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| CN104608144B (en) * | 2015-02-05 | 2017-02-22 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| CN105402326A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Dual gear device |
| CN105402327A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Dual gear speed reducing device |
| CN111230558A (en) * | 2016-07-22 | 2020-06-05 | 杉野机械股份有限公司 | Feeding table device |
| CN107639449A (en) * | 2016-07-22 | 2018-01-30 | 杉野机械股份有限公司 | Feeding bench apparatus |
| US10738936B2 (en) | 2016-07-22 | 2020-08-11 | Sugino Machine Limited | Feeding device |
| US11371646B2 (en) | 2016-07-22 | 2022-06-28 | Sugino Machine Limited | Feeding device |
| CN106313104A (en) * | 2016-10-24 | 2017-01-11 | 四川大学 | Separable type series elastic joint |
| CN107175686B (en) * | 2017-06-09 | 2020-05-19 | 东南大学 | Robot joint |
| CN107175686A (en) * | 2017-06-09 | 2017-09-19 | 东南大学 | A kind of joint of robot |
| CN109027171A (en) * | 2018-07-30 | 2018-12-18 | 哈尔滨工业大学（威海） | A kind of Oscillating-teeth End-face Harmonic Gear device of combined mechanism driving |
| CN114654501A (en) * | 2022-03-15 | 2022-06-24 | 深圳市零差云控科技有限公司 | Joint module assembling method and joint robot |
| CN114654501B (en) * | 2022-03-15 | 2024-03-01 | 深圳市零差云控科技有限公司 | Joint module assembly method and joint robot |
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