JPS5856790A - Handling device - 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 mechanism for an articulated non-link device. In recent years, various types of non-link devices have been devised, and one having the structure shown in Japanese Patent Application Laid-Open No. 112789/1989 is relatively commonly used. This invention achieves position control on a plane by connecting in series two arms that are rotatably controlled on an axis perpendicular to the same plane.

Position control in the direction perpendicular to the plane is achieved by a vertical drive mechanism installed at the tip of the arm. This structure has great strength against thrust loads, but there is room for improvement as there is a limit to the degree of freedom in the vertical direction.

The purpose of the present invention is to provide a handling mechanism that is capable of position control over a wide range of space, has a compact structure, and is capable of highly accurate position control. Let me explain based on this.

This device is composed of four arms 2, 4, 6, and 8, and each arm is rotationally controlled by a drive mechanism 3, 6, and 7°10VC, respectively. A chuck 1 for handling work is attached to the tip of the arm 2. Here, the driving machines $3,517 control the arms 2, 4.6, respectively, and control the position of the chuck 1 in the direction perpendicular to the plane of the paper in FIG. 1 and in the vertical direction. The drive mechanism 1o controls the arm 8 and rotates the chuck 1 around the shaft 9 in FIG.
Performs rotation control.

The specific structure of the drive mechanisms 3, 5, and 7 is shown in FIGS. 3 and 4. In FIG. 3, 11 indicates the motor body, and 12
．． 13 indicates a reduction gear. Reference numeral 14 denotes an output shaft of the motor 11, which also serves as the central axis of the reduction gears 12 and 13. In this drive mechanism in FIG. 1, for example, the end of the arm 4 is fixed to the outer circumference of the motor 11, and
．． The end of the arm 6 is fixed to the outer periphery of the arm 13. As can be seen from the above explanation, the shaft 14 also serves as the central axis of rotation of the arms connected above and below.

FIG. 4 explains the structure of the motor 11 and the speed reducer 13, and since they have a symmetrical structure, only the right side is shown in a sectional view. A bracket 11' is concentrically fixed to the end of the motor 11 via a pilot part 2o. Further, a circumferential spline 19 is fixed concentrically to the bracket 11. A bearing 2 is attached to the end of the shaft 14.
1, a reducer casing 13 is attached simultaneously.

Here, since the bearing 21 is fixed to the shaft 14VrC in the thrust direction with a nut 14', the reducer 13 can freely move in the rotational direction, but the movement in the thrust and radial directions is limited to the shaft 14VrC. It is fixed against. Inside the reducer casing 13, a circular spline 18 is provided at a position opposite to the circular spline 19.
is fixed. The inner peripheral surface of the circular spline 18 and 19 has a plurality of spline-shaped teeth,
A flexible spline 17 is provided so as to mesh at two places on the circumference of the tooth, and this flexible spline is attached to a boss 16 fixed to the shaft 14 via a roller group 16.
is supported by As shown in the figure, the boss 15 has an oval shape and engages with the flexi spline 17'i and the f-cura spline 18 and 19 at two locations on the circumference. Here, if the numbers of teeth of the circular splines 18 and 19 are respectively Zl and z2, then 2. and 22 are slightly different from each other by an even number of 9, and when the boss 15 rotates once,
The circular spline 18 rotates relative to the circular spline 19 by zl-22/z4 rotations. Normally Z1=100, Z2=98
At this time, when the boss rotates once, each circular lath spline rotates relatively by 2/100 = 1/6o. In this way, when the output shaft of the motor rotates, the reduced rotation is obtained from the reducer casing 13.

As is clear from the above description, according to the present invention, the following effects can be obtained.

1. Since the three elements (motor, reducer, and arm) share one axis, the handling device can be configured extremely compact and lightweight, and highly accurate position control is possible.

2. When the chuck is moved up and down using the handling device shown in Figure 1, the direction of the output shaft of each drive mechanism remains unchanged, so the moment due to the gyro effect due to the rotation of the motor rotor does not work. Easy to control.

[Brief explanation of drawings]

Fig. 1 is a front view of a handling device according to an embodiment of the present invention, Fig. 2 is a side view of the same, Fig. 3 is a front view of the motor section, Fig. 4 is an enlarged cross-sectional view of the same main part, and Fig. 6 FIG. 2 is an explanatory diagram showing the configuration of a speed reducer. 2 , 4 , 6 , 8 , , , arm , 11 , ,
,,, motor, -12・13... speed reducer,
14...Output shaft. Name of agent Patent attorney Toshio Nakao and 1 other person No. 1
Figure 2 Figure 4

Claims (2)

[Claims] (1) A reducer is provided on both sides of a motor having an output shaft at both ends, the output shaft is the center of rotation of the reducer, upper and lower arms are connected to the motor and the reducer, and the output shaft of the motor is A handling device having a mechanism in which the upper and lower arms are rotating axes. (2) A reducer is provided on both sides of a motor having an output shaft at both ends, the output shaft is the center of rotation of the reducer, upper and lower arms are connected to the motor and the reducer, and the output shaft of the motor is A handling device comprising a plurality of mechanisms in which the above-mentioned upper and lower arms have rotation axes connected to each other so that their output axes are parallel to each other.