JPH07679U - Robot equipment - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] By providing a cylindrical converter that can convert reciprocating motion to rotary motion at the joint part of an articulated robot having a gearless axial direction converter, A mechanism was provided to pivotally support two arms and to transmit the reciprocating motion of the multi-cylinder concentric slide member provided in the first arm to the joint and the wrist together with the rotation of the drive transmission shaft of the gearless axial direction converter. Provide a robot device. [Structure] A cylindrical first arm 17 having a drive transmission shaft as a center and a slide member 19, 20, 23, 2 concentric with a multi-cylinder.
4, 65 and 66 are provided, the cylindrical converters b and e are arranged on the joint member 13, and the cylindrical converters C and D are arranged on the joint member 14, so that the reciprocating motion of the first arm 17 is performed by the second arm 1.
5 and a wrist joint member, and each joint member 13, 14 and the like has a gearless axial direction converter.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a drive transmission shaft direction conversion mechanism for an articulated robot, etc., and relates to a robot device provided with a drive force transmission mechanism using a novel conversion device having a cylindrical slide portion and a crank shaft.

[0002]

[Prior art]

 As a power transmission means of a robot arm in a conventional industrial robot apparatus, a driving force transmission mechanism such as a gear reducer, a wire, a chain, and a link is used to transmit power from a power source to each joint. Conventionally, the structure of the drive mechanism in the arm joints of multi-joint robots and manipulators is a gear mechanism, which causes backlash problems.The mechanism is complicated and the efficiency is poor. Therefore, it is necessary to make an improved motor mechanism to improve the performance.

In a multi-joint robot, the larger the number of joints, the wider the operating range and the ability to perform various kinds of work. However, the driving force transmission mechanism in the joint portion of the conventional articulated robot is configured around the drive transmission shaft. A mechanism for transmitting power from the power source to the joints, wrist joints, and effectors provided at the tip through a device that changes the direction of the rotating shaft is used to transmit the driving force, but it is structurally large and heavy. There is a problem due to the fact that the mechanism that increases the size becomes complicated and it is difficult to control with high precision. In the robot system, the improvement of the direction conversion mechanism of the drive transmission axis is multi-functional. It was especially desired. In order to change the direction of the drive transmission shaft in the joint, there are many robot devices (Jpn. Pat. Appln. KOKAI No. 4-77122) that have a gearless shaft direction changer with a crank, guide and slide. It is suitable as a driving force transmission mechanism for joint robots, but since the gearless axial direction changer has a relatively large structure, it has been desired to reduce its size and simplify it.

[0004]

[Problems to be Solved by the Invention] The power transmission mechanism of the robot arm and joint of the industrial robot apparatus retains the strength to withstand the load applied to the drive transmission shaft and can be downsized, and the direction of the rotary shaft with good control accuracy. To obtain a conversion device. As described above, in the joint mechanism of the multi-joint robot using the gearless axial direction converter, the structure is simplified to reduce the weight and size, and the motion efficiency and driving efficiency are improved. It is an object of the present invention to provide a robot device equipped with a new driving force transmission mechanism that utilizes its characteristics.

[0005]

[Means for Solving the Problems]

 The cylindrical converter according to the present invention is fixedly connected to a joint fixing member of a robot having a gearless axial converter so as to transmit drive to the robot arm and the joint. To this end, the present invention supports a crankshaft at one end of a cylindrical guide member in a direction orthogonal to the centerline of the cylinder, and supports two concentric cylindrical slide members on the cylindrical guide portion so that they can reciprocate. A cylindrical converter provided with a connecting shaft for converting motion into rotational motion on the crankshaft is provided for transmitting driving force to a joint of a robot having a gearless axial converter. .

[0006]

[Action]

 In the present invention, in the joint between the first arm and the second arm of the robot having the gearless axial direction converter, the center line of the cylindrical converter is parallel to the rotation axis of the first arm. Since it is fixedly connected to the first arm side joint part fixing member, the crankshaft of the cylindrical converter is connected to the fixing member so that the crankshaft of the cylindrical conversion device coincides with the second arm side joint part and is driven. The second arm side joint member is rotatably supported by both the cylindrical conversion device and the first arm side joint member, and the driving force is transmitted. Therefore, the robot joint drive transmission mechanism can be downsized. To be achieved. Further, since the multi-cylinder concentric slide member is provided in the first arm and the second arm around the arm rotation axis, a mechanism for transmitting power to the joint and the wrist together with the drive transmission shaft of the gearless axial direction converter is configured. Will be done.

[0007]

Embodiment Next, an embodiment of the present invention will be described in detail. 1 and 2 are structural views of a cylindrical converter, FIG. 1 is a side view, and FIG. 2 is a top view. In the figure, Z is a cylindrical guide member, and the crankshaft 2 is bearing-supported at one end, and concentric cylindrical slide members 5 and 6 are reciprocally supported in the cylindrical guide portion Z. The cylindrical slide portion 5 bearing-supports the support shaft 4 in the cylindrical guide portion Z, and the support shaft 4 bearing-supports the wheels 9 and 10 to enable the reciprocating motion of the cylindrical slide member 5. Furthermore, a cylindrical slide portion 6 is supported in the cylindrical slide portion 5 so as to be able to reciprocate. Further, the support shaft 4 is connected to a right angle portion of a connecting shaft 3 having a right-angle trigonometric structure, and the connecting shaft 3 is connected to a crank 7 connected to a crank shaft 2 at one end through a bearing. Further, the shaft 3 is connected to a connecting shaft 8 via bearings in a direction orthogonal to the supporting shaft 4 as shown in the figure. The connecting shaft 8 is connected to and supported by the cylindrical slide member 6 via a bearing, and is connected to the crank 7 via the connecting shaft 3, so that the reciprocating motion of the slide members 5 and 6 is prevented by the crank 7; At the same time, it can be converted into rotational motion and transmitted, and conversely, the rotation of the crankshaft 2 is converted into two reciprocating motions of the slide parts 5 and 6 to form a mechanism for transmitting driving force.

FIG. 6 is a side view of the articulated robot, where I is the rotation axis of the joint member 11 of the wrist 16 and the joint member 12 of the second arm 15, and II is the joint member 14 of the first arm 17. And A is a rotation axis of the first arm side joint member 13 in the second arm 15, A is a toothless wheel axial direction converter, and each joint member in the figure is a gearless axial direction converter A (not shown). It is configured around the drive transmission shaft of and has a cylindrical arm rotatably connected. FIG. 3 is a top view of the first arm in which the cylindrical conversion device is fixedly connected to the robot configured as shown in FIG. 6, and is a layout configuration diagram of the cylindrical conversion device. The device a is fixedly connected to the second arm 15 through a fixing member 70 so that the rotation axis of the second arm 15 and the Z axis of the cylindrical guide portion are parallel to each other on the joint rotation axis I, and the crankshaft Is aligned with the rotation axis I of the joint member 11 and is coupled to the wrist side joint member 11 to transmit the drive. Further, the cylindrical converters b and c configured around the joint rotation axis II are provided with multi-cylinder concentric slide members 19 and 20 in the first arm 17 and multi-cylinder concentric slide members 21 and 22 in the second arm 15. They are connected to each other to transmit the driving force to the components of the rotation axis I. D is for rotating the second arm 15, and e is for rotating the second arm.

The cylindrical conversion device a of FIGS. 1 and 2 is arranged as shown in FIG. 5 on the joint rotation axis I and is supported by the second arm 15 so as to be reciprocally movable. 21 and 22 are joined to the cylindrical slide members 5 and 6 in the conversion device a by joining members 34 and 35, and the reciprocating motion of the multi-cylinder concentric slide members 21 and 22 is transmitted to the crankshaft 2 of the crankshaft 2 via the crank 7. It is converted into rotational motion and is transmitted to the wrist joint member 11 by driving. In addition, in FIG. 4, the multi-cylinder concentric slide members 21 and 22 rotatably connect and support the connecting members 25 and 26 to the joint member 13 side via bearings about the rotating axis of the arm 15. The connecting members 25 and 26 are joined to the slide members 27 and 28 of the cylindrical conversion device b fixedly connected to the joint member 13 via the joining members 36 and 37, and the crankshaft 29 (joint member 14 is connected to slide members 30 and 31 of the conversion device c via a cylindrical conversion device c that is fixedly connected to 14), and the slide members 30 and 31 are the multi-cylinder concentric slides of the first arm 17. Since they are united with the connecting members 19 and 20 via the joining members 38 and 39, the multi-cylinder concentric slide members 19 and 20 can drive-transmit to the wrist joint member 11.

The cylindrical conversion device D (which supports the joint member 13) centering on the joint rotation axis II in FIG. 4 has the crankshaft 40 aligned with the joint member 13 in the rotation axis. As shown in the figure, the guide portion is fixedly connected to the joint member 14 by a fixing member, and the slide portions 42 and 43 are joined to the multi-cylinder concentric slide members 23 and 24 of the second arm 17 through the joining members 44 and 45. Therefore, the reciprocating motion of the multi-cylinder concentric slide members 23, 24 rotates the joint member 13 via the cylindrical conversion device D. That is, the second arm 15 is rotated.

Further, as shown in FIG. 4, the cylindrical conversion device e separates the crankshaft 47 support portion from the guide portion and separates the crankshaft 47 into the joint member 13 via the fixing member 46 so that the crankshaft 47 becomes the second arm rotation axis. The guide parts are fixedly connected in parallel, and the guide part is fixedly connected by the fixing member 46 with the center line aligned with the rotation axis II, and two cylindrical slide members 48 supported by the guide part so as to reciprocate. , 49 drive-transmits to the crankshaft 47 via the support shaft 50 and the connecting shafts 51 and 52, and the pulley 54 connected to the crankshaft 47 transmits drive to the pulley 56 via the wire 55. The furry 56 is rotatably supported together with the second arm 15 on the fixing member of the joint member 13 via a bearing as shown in the figure, and the rotation of the crankshaft 47 can rotate the second arm. The slide members 48 and 49 are also supported by a guide rod 57 fixedly connected to the rotation axis of the joint member 14 so as to be able to reciprocate, and the slide members 48 and 49 are provided at the ends opposite to the support shaft 50. The connecting members 59, 60 bearing the connecting members 59, 60 are rotatable about the rotation axis II and are supported by the joint member 14 via the intermediate members 61, 62 as shown in the figure. The reciprocating motions of the slide members 48, 49 are transmitted to 63, 64. The right-angled shafts 63 and 64 convert the reciprocating motion into a direction orthogonal to the rotation axis II, and a multi-cylinder concentric slide member 65 movably supported in the first arm 17 via intermediate members 67 and 68. , 66, the rotary motion of the second arm can be transmitted to the multi-cylinder concentric slide members 65, 66 of the first arm 17 by reciprocating motion.

With the above-described configuration, the articulated robot having the gearless axial direction converter in FIG. 6 can rotate the wrist part on the rotation axis I and rotate the second arm 15 on the rotation axis II. The two rotational movements are converted into the forward and backward movements of the multi-cylinder concentric slide member of the first arm 17, and the reciprocating movement of the multi-cylinder concentric slide member together with the rotational movement of the drive transmission shaft of the gearless axial direction converter. Therefore, the structure of a multi-joint robot having a gearless shaft direction converter can be simplified and reduced in size and weight, and the characteristics of the robot can be maximized. It is possible to provide a robot device that can be used. The present invention is not limited to the above-described embodiment, that is, the reciprocating motion of the multi-cylinder concentric slide member in the first arm is not limited to the pivot axis III (FIG. 6). Since a mechanism for transmitting the power can be configured, the drive power transmission means of the drive transmission shaft of the gearless axial direction converter and the multi-cylinder concentric slide member is configured.

[0013]

[Effect of device]

 As described in detail above, according to the present invention, the cylindrical conversion device is configured to pivotally support the second arm to transmit the driving force together with the gearless axial direction conversion device. The components such as the gear axis direction converter and the bearing are downsized, and it is extremely useful when applied to the related mechanism of industrial robots, especially the driving force transmission mechanism of articulated robots.

[Brief description of drawings]

FIG. 1 is a side view of a cylindrical conversion device.

FIG. 2 is a top view of a cylindrical conversion device.

FIG. 3 is an arrangement configuration diagram of a cylindrical conversion device.

FIG. 4 is a configuration diagram of a multi-cylinder concentric slide member and a cylindrical conversion device on a rotation axis II.

FIG. 5 is a configuration diagram of a cylindrical converter for the wrist joint and a multi-cylinder concentric slide member.

FIG. 6 is a side view of an articulated robot.

[Explanation of symbols]

I, II, III Rotation axis Z Cylindrical guide member A Gearless shaft direction converter a, b, c, D, e Cylindrical converter 2, 29, 40, 47 Crankshaft 3, 52 Triangular connecting shaft 4, 50 Support shafts 5, 6, 27, 28, 30, 31 Concentric cylinder slide members 42, 43, 48, 49 Concentric cylinder slide members 7 Cranks 8, 31 Connecting shafts 9, 10 Wheels 11, 12, 13, 14 Joint members 15 Second arm 16 Wrist part 17 First arm 19, 20, 21, 22, 23, 24 Multi-cylinder concentric slide member 65, 66 Multi-cylinder concentric slide member 25, 26, 59, 60 Connecting member 34, 35, 36, 37 , 38, 39, 44, 45 Joining member 46, 70 Fixing member 55 Wire 56, 54 Furi 57 Guide rod 63, 64 Right angle shaft 67, 68, 61, 62 Medium Member 18 the drive transmission shaft

Claims (4)

[Scope of utility model registration request] 1. A robot in which an arm is rotatably connected via a joint part, and a multi-cylinder concentric slide member is arranged around the rotation of the arm, and a cylindrical type is provided in the joint part. A robot apparatus having a driving force transmission mechanism capable of rotatably connecting the multi-cylinder concentric slide member via a conversion device. 2. The cylindrical conversion device comprises a second arm and a first arm.
A conversion device capable of converting the reciprocating motion of a multi-cylinder concentric slide member in an arm into a rotary motion in a joint part, and connecting the multi-cylinder concentric slide member in a rotatable manner around a joint part rotation axis. 2. The robot apparatus according to claim 1, further comprising a device that is rotatably connected about an arm rotation axis. 3. The cylindrical conversion device supports two concentric cylindrical slide members in a cylindrical guide portion having a crank shaft supported at one end so as to be capable of reciprocating motion, and converts the reciprocating motion into rotational motion at the crank shaft. The robot apparatus according to claim 1 or 2, further comprising a connecting shaft for performing the operation. 4. A driving force transmission mechanism is provided, in which a multi-cylinder concentric slide member for rotating and rotating the arm and a slide member of a cylindrical conversion device fixedly connected to a joint member are combined. The robot apparatus according to any one of items 1 to 3.