JPS58120487A - Motor actuator for joint movement - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a joint motion motor actuator used to drive the joints of a multi-joint robot. In general, #joint robots are constructed as shown in FIG. That is, the joint '(2) is connected to the base II (1) via the arm (6), and the joint (2), the K arm (7), the joint (5), the arm (8), the joint Part (4),
The arm (9) and the joint (5) are connected to the hand violet (10
), and 1 y-A (6) to (9) e control III
(vA-tf) The robot is configured to bend and turn in the direction of the arrow and in the direction opposite to the arrow based on commands from the robot to perform predetermined movements of the robot. Here, each of the joints (2) ~(5') Id and wrist a
ll (10) are each driven by an independent electric motor, but in conventional articulated robots, the electric motors for driving the joints are connected to the base (1) or the arms (6) to (9). The l1fK is installed inside and drives the joints (2) to (5) through a transmission IIl sakaki such as a chain or gear.
) is difficult to miniaturize, and it also has the disadvantage of being affected by the lumpiness of the one-transmission S structure.

The present invention was devised in view of such circumstances, and by incorporating an electric motor in the joint part, it is possible to downsize the joint part, and also to be affected by the back brush of the transmission mechanism. An object of the present invention is to provide a motor actuator for joint motion that can rationalize the overall structure of a robot. 1. A motor actuator for joint motion comprising: 1) an outer frame supporting the bearing and having another arm mounting portion; and a single wheel device; They are rotatably connected to each other within a predetermined angle range via bearings, and the outer frame is formed into a U-shape, and the electric motor and gear device are housed inside the U-shaped outer frame, and The input end of the vehicle device is fixed to the output shaft of the electric motor, and the output end is fixed to the outer frame or frame, and the above-mentioned purpose is achieved by the wth configuration ◎ Below , the embodiments of the present invention will be described in detail on the basis of the present invention. Fig. 2 is a Wk side view of the motor actuator for joint motion according to the present invention, and Fig. 6 is a left side view thereof, In the figure,
(M) is an electric motor, and this electric motor (M) is a frame (21
) Arm mounting part (22) and bearing (24) on the outer surface, (
25) The arm attachment portion (22) is a surface forming a part of the frame (21), and is attached to the arm of an articulated robot as shown in the shading in FIG. (40) is attached.

In addition, this arm attachment part (22) K is fJ (7-m) (
40) Suitable keyway for alignment screw (E not shown)
and guide holes (not shown).

(2s) is an electric 1K (M) bracket, and the internal space surrounded by the soldering bracket (26) and the frame (21) houses a DC motor consisting of an armature, a field, a guide, brushes, etc. Since the structure of the circular DC motor is well known, its explanation will be omitted.

In PliJ Note 1, the sunrise line (66) of the motive (M) is pulled out through the opening (22&> of the arm attachment part (22)).The tip of the outlet MA (66) is connected to the arm (
40) and is connected to the control circuit inside.

To rationalize the electrical wiring of the entire robot, the above-mentioned Hide m
Processing (36) is most suitable.

The bearings (24) and (25) are installed between the frame (21) and the outer frame (26) of the electric motor (M).

The outer frame (26) has an L-shaped member (27) and a flat member (2
8) is fixed and integrated with Pol) (29),
The structure of this outer frame (26), which has a U-shape as a whole, is to reduce its width and make it thinner.As for the assembly procedure, first, the L-shaped member (27) and the electric motor ( M) part 1 and then the flat member (28)
The above-mentioned curved member (27) is secured to the AC bolt (29). With this structure, the overall structure becomes thinner than the existing structure in which the electric motor portion is inserted into the outer frame of the U-shaped member.

In addition, the arm mounting portion (26&
) and 1 electric $11 (M) frame (21
) A key # for positioning the arm (41) of the articulated robot similarly to the arm attachment part (22) formed in the
(not shown) and guide holes (not shown) are provided in this outer frame (26) as described above.
), the electric motor m (M) and the outer frame (26
) is a range I in which the frame (21) of the electric motor (M) and the outer frame (26) do not collide through the bearings (24) and (25).
0 (G), which are rotatably connected to each other within I (approximately 180°), is a harmonic gear device consisting of each element (50) to (36) described below.
) is convenient for summarizing the overall structure in a compact form.

In other words, the harmonizer Wt<a> includes an elliptical rotor (60), a flexible ring (61), and a
11 (32) and (33), the q-period horizontal elliptical rotor 60) is the input end of the same gear device 1t (G), and this elliptical rotor (30) is a The output shaft of (M)<57)K is fitted.

In addition, the outer rings C52) and (33) are the same gear device (G).
One outer ring (62) is connected to the outer frame (26), and the other outer ring (66) is connected to the frame (26).
1), respectively.

Further, the vehicle device 1k (G) and the electric motor (M) are housed in the interior space of the U-shaped outer frame (26) described above.

Here, the elliptical rotor (60) S is rotated at high speed by an electric motor 11k (M), and the flexible ring (60) is rotated at high speed by an electric motor 11k (M).
1) is pressed against the inner side of the outer ring (32), (1!S) by the length l1IIls of this elliptical rotor (60).

The outer peripheral surface of the flexible ring (31) is provided with an outer tooth, and the inner 1m surface of the outer rings C52) and C55) is provided with internal teeth, so that the pressed portion of the flexible ring (61) is provided with an outer tooth. and the inner rings of the outer rings C52) and C56) are designed to mesh with each other.

The outer rings (32) and (33) have a slight number of teeth, and the rotational speed is reduced according to the difference in the number of teeth, and the rotation speed of one outer ring (62) and the other outer ring (66) is relatively For example, the non-continuous ratio of a gear device (G) rotating in the opposite direction is 10
0゜The rotation speed of the output shaft (37) of the electric motor (M) is 6,00
Assuming that Q r)a, one outer ring (62) and the other outer ring <SS> are set to rotate in opposite directions at a relative speed of 500 rpm.

Now - when the outer frame (26) is fixed, the frame (21) of the electric motor (M) rotates at a speed of 50 Q rp with respect to the outer frame (26). Jin's lifting platform, one outer ring (32) is -
This becomes the fixed end of the vehicle device (G), and the other outer ring (33) becomes the output end.

Since the gear device (G) configured in this way is installed inside the bearing (25), the S lubricant such as grease used in the gear device (G) is sealed by the bearing (25) and is not exposed to the outside. There is no risk of leakage, and no dirt or debris will enter the gear device (G)K from the outside. Also, - car equipment (
G) The outer diameter of the outer ring (52) and the inner diameter of the bearing (25) are dimensioned to fit together to minimize the width of the overall structure, making it thinner and lighter. This is something that users strongly desire. Therefore, electric all (M) is axial! A linear one is suitable.

(34) is an encoder 1 This encoder (64) is 1
/& It is fixed to the bracket (23) of the motive (M),
Its axis (34 m) is electrically powered by appropriate means (M).
The output shaft (65) connected to the output shaft (67) is the output wire terminal of the electric motor 11 (M) and the encoder (34). With this configuration, the joints of the articulated robot are i
I! It is possible to incorporate the lIIIi(M) into the electric motor 1, which is built-in without using a transmission mechanism such as a chain as in the past.
Since the same cylindrical part is driven by K (M), the joint part can be made smaller, and since no transmission mechanism is used, there is no influence from back brushes. .

FIG. 4 shows another embodiment, in which the electric motor CM)
In the embodiment shown in FIG. 4, in which gear devices (G, CG) are arranged at both left and right ends of the encoder to double the transmitted torque, the encoder (64) is fixed to the outer frame (26). As mentioned above, the motor actuator of the first example of the present invention is an electric M
The (M) part and the outer frame (26) rotate relative to each other, and the relative rotational speed of the outer frame (26) is sufficiently lower than the rotational speed of the output shaft (67) of the electric motor (M). Therefore, if you take into account the software's negative and small differences, you can easily create a one-step encoder (
34) Electric motor (M) KIi# as in the example of i bottom light
1 or fixed to the outer frame (26) as in this embodiment shown in Fig. 4, and it is better to select the one that is more advantageous overall. The illustrated outer frame (26) consists of a U-shaped member (50) and flat members (51) and (52) that fit into holes concentrically drilled in both the left and right walls of the member (50), Flat member (
51) and (52) are fixed to the U-shaped member (50) by screwing, press-fitting, contacting, or other appropriate means.

The outer ring (62) of the harmonic wheel system (G) is fixed to the flat members (51) and (52), respectively. The structure of such an outer frame (26) is slightly larger in width than the outer frame structure shown in Fig. 2 (although it is easy to perform LiK processing, which requires precise dimensional accuracy, and to obtain a tough outer frame). Even in the case of this configuration, almost the same operation and effect as in the previous embodiment can be achieved. As described in detail above, the present invention has a frame (21) with an arm attachment part (22) and an arm attachment part (22) facing outward. An electric motor (M) equipped with bearings (24) and (25) and 11th bearings (24) and (2)
5) and an outer frame (26) having another arm attachment part (26m); M) and outer frame (26)',! =4tlJ bearing (24').

(25) and are rotatably connected to each other within a predetermined angular range, and the outer frame (26) is formed into a U-shape, and the electric motor ( M) and - car device (
G), and furthermore, the input end of the U period gear device (G) is the output shaft (57) K of the electric motor M (M), and the output end is the outer frame (26) or frame (21) K, respectively. Since it is a fixed object, it is possible to incorporate the electric motor (M) in the joint of a multi-joint robot without using a transmission mechanism such as a chain as in the past. Since the joint part can be driven, the joint part can be downsized, and since a transmission mechanism such as a chain is not used, it is not affected by the back brush, and the overall structure of the multi-joint robot can be rationalized. Is possible.

[Brief explanation of drawings]

Fig. 1 is a general conceptual diagram of an articulated robot, Fig. 2 shows an embodiment of the present invention, and Fig. 2 is a WIk direction view of a motor actuator for joint motion. The figure is a sectional view showing another embodiment of the present invention. (M) is the electric motor, (G) is the gear system, (21) is the frame, (22) is the arm attachment part, (24), (25) are the bearings, (26) is the outer frame, (26&) is the arm attachment Part, (6
7) is the output shaft @ Fig. 2 Fig. 3 4゜

Claims (1)

[Claims] For joint movement, it is composed of an arm mounting part and a bearing mounted on the outside of the frame, an outer frame supporting the above-mentioned arm mounting part and having another arm mounting part, and a gear system. In the motor actuator, the electric motor and the outer frame are rotatably coupled to each other within a predetermined angle range via the bearing, and the outer frame has a U-shape, and the outer frame has a U-shape. The electric motor and gear device are housed inside an outer frame, and the input end of the gear device is fixed to the output shaft of the electric motor, and the output end is fixed to the outer frame or frame. motor attuator.