JPS59166474A - Industrial robot - 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 an industrial robot, particularly to an improvement in a device for driving the wrist of the robot.

Conventionally, there have been devices of this type as shown in FIGS. 1 to 3. In the figure, (1) is the first servo mode, (
2) is the second servo model, (3) is the third servo model, (4) is the pulley fixed to the output shaft of the first servo model +1), and (5) is the pulley fixed to the output shaft of the first servo model +1). ) is the belt that transmits the rotation to the pulley (6), (7) is the box body, (8) is the pulley fixed to the output shaft of the second servo model (2), (9) is the Boo 1/8 ) is the belt that transmits the rotation of the pulley 0Q to the pulley 0Q.
3) is a pulley fixed to the output shaft, (1 is a pulley (11)
), the belt (63) is a box body, (1■, q middle is a bevel gear fixed to pulley (6), tlO, respectively, αυ, (1η is a bevel gear a4) )
, the bevel gear that meshes with ae, (埒、αRI and (4)、(
21) are respectively a pulley (6), a bevel gear O→, and a pulley (IQ, a bearing supporting the bevel gear OQ, (26),
@ and IA are bevel gears 00. Bevel tooth table αη, pulley Q
The drive shaft that transmits the rotation of → (A), H, (
(to) is the bearing that supports () on the drive shaft, (c),
(8 and 8), fA is the drive shaft (26
) and (a), 00 is the second link that surrounds the drive shaft (26) 14.18, etc.), ni) is the bearing that supports the second link be, tG4] is the second link at one end.
Link (first link that supports 3υ, (651 is the first box fixed to the internal gear (b) to be described later, (to) is the first link
The box body ((G) is a bearing that rotatably supports the drive shaft (26)) is a spur gear fixed to the drive shaft (26), (B) is an internal gear that meshes with the spur gear (TO), and (TO) is an internal gear that meshes with the spur gear (TO). The spur gear fixed to the drive shaft (A), 2) is a cylindrical spur gear that meshes with the spur gear 61, 01 is the bevel tooth fixed to the spur gear 61, I
I) and θ are bearings that support 93 spur gears and bevel gear ■, (goods) is a bevel gear that meshes with bevel gear (to), (goods) is a pulley fixed to the boss of bevel gear GI3, (b) and (b) are the bearings that support the bevel gear Gl□□□ and the pulley (c), θ is the bevel gear fixed to the drive shaft @, θ is the bevel gear that meshes with the bevel gear Ql, and θ is the bevel gear that meshes with the bevel gear Ql. A belt that transmits the rotation of pulley 0→ to the pulley), (5] 1 is a pulley fixed to the boss of the bevel gear 0, and a belt that transmits the rotation of (5z is a pulley phrase) to Boo January 53). , the picture shows the second box fixed to the boss of the pulley wheel, and (571 is the pulley wheel and the second box ([the bearing that rotatably supports (2), the opening is the boolean l153) (60) and 161 are the bevel gears (59) and the output shaft ((59a) are the bevel gears that mesh with the bevel gears (59a), (60) and 161) 59a) bearing rotatably supports 154
) and side are the bearings that support the bulge (b) and the bevel gear, and i6'7) is the bearing that supports the 82 box f661. (to the spur gear), the internal gear (2), the first box body (to the first device, the spur gear (g), the OI and the bevel gear 00.(
- and the second box -), etc. to the second device, bevel gear), θη and the pulley circle, f, 31 and the year gear, idle and the output shaft (59a), etc. In this way, 175 5g of third packaging is made. Note that the rotational axis of the first box (2) of the first device and the rotational axis of the output shaft (59a) of the eighth device are the same,
The axis and the rotation axis of the second box body ((to) of the second device are perpendicular to each other.

In the example, the 2nd link 0]) is connected to the 8th link (70), the opposite side of the 4th link (4th servo mode with a reducer driven via 7υ, and 61 is the 4th servo mode). A fifth servo mode with a speed reducer, Cl21, which drives the first link 61) is a frame that rotatably supports the first link β4).

Next, the operation will be explained. First servo mode (1
) is rotated by pulleys (,4), (6) and bevel gear α→
, (g), and are transmitted to the drive shaft (26), which is then decelerated by the spur gear (7) and the internal gear, and rotates the first box body. Then, the rotation of the second servo mode (2) is performed by the rotation of the second servo mode (2), ill and bevel gear a.
te is successively decelerated and axis-converted via α force and transmitted to the drive shaft (A), and further decelerated and axis-converted by spur gears (to), (to) and bevel gear Gl, ←1, and is transmitted to the pulley ( The operation of the second device & is performed by rotating the hull (g) of fA 2 through the fA 2). The rotation of the eighth servo mode (3) is decelerated and transmitted to the drive shaft (E) via pulleys Uη, (G), bevel gears (1, θη and pulley 11), and bevel gears (C). ,
1. +! The operation of the eighth device is performed by successively decelerating and changing the axle through the output 1111 (59a) and rotating the output 1111 (59a). Here, @1 and the eighth device are on the same axis, and the second device +H is rotating on the axis perpendicular to the axis.
The workpiece (not shown) fixed to llI (59a) performs wrist movements with so-called 8 degrees of freedom. Furthermore, the rotation of the fourth servo mode is caused by the fourth link (711y
ii”r Rotate the second link 6υ through the 8-link 4, and the 5th servo mode (6 υ helps rotate the 1st link). ).

The industrial robot performs 51 movements by the movement of the second link 6υ and the first link fli41 by the tti9) and its rhythmic system, and the above-mentioned wrist movement.

By the way, the inner wheel, the inner tooth *ψj, and the first box body (6
51 etc., the first device consists of bevel gears 4ei, θη
It is arranged coaxially with the eighth device consisting of the output shaft (59a), the fast gear (59a), etc., and the spur gear (2) and the 4W gear (0Q). ), a pulley ring, and a second box body, etc., are perpendicular to this axis, and in order to obtain wrist movement with 8 degrees of freedom, a large number of pulleys, spur gears, Bevel gears and bearings must be used, which not only increases the number of parts, but also reduces accuracy due to assembly errors of each part.Furthermore, not only does the wrist become complex and This increases the weight, and the strength of each link that supports the wrist portion must also be increased, which has the disadvantage of increasing the size of the device.

This invention was made in order to eliminate the drawbacks of the conventional devices as described above. The purpose of this invention is to provide a compact industrial robot that can reduce the number of parts and improve accuracy by arranging a second device that rotates with a hand. .

Hereinafter, one embodiment of the present invention will be explained with reference to the drawings.

In the 41st prisoner to crane 6131, (26), ii, and 喀 are respectively a bevel gear t1 and a hollow drive shaft (2
A hollow drive shaft (5) is installed inside 6),
The drive shaft @ is also housed inside the hollow drive shaft (5) to form a triple shaft. C4),■
and (4), (→ are hollow drive shafts (26
) and (foundation), 1st year is a 1 year old box that is fixed to the drive shaft (26), and the bearing (2) is fixed to the drive shaft (a) and is rotatably supported by the cutter. The curve is a bevel gear (4!' teeth IIT on the axis obliquely intersecting the rotation 4i+iI center of 11, and a double gear η meshing with the gear).
1, (14) is a bearing that supports the bevel gear θ1, (731 is a harmonized speed reducer such as a speed cutter &, (7aa) is a hollow input shaft for the above-mentioned reduction 1 speed 13Q ff3+, It is in the same order as the yearly deviation wheel 0. (78b) is the above deceleration 1,
It is the output shaft of Q C7,-Q, and the second input shaft (78a
) are coaxially centered; +Iii, Iy.

The smoke is the 20th box body fixed to the output iFr:+ (Tab), 16 is the bearing that rotatably supports the 2nd box body, (IQ is the part J fixed to the drive shaft @
Se, (?) is the bevel gear (+('
The bevel gear that meshes with 9, (47a) is this part,' *H7
A hollow shaft fixed to G17), (1 remainder is this shaft (47
a) 4 connected to one end side has teeth If, i5! +1 is a bevel gear that meshes with the bevel gear 6) on the same axis as the bevel tooth gun,
j'3 (1) is a harmonic reduction gear in which the bevel gear 9) is coupled to the input shaft (SOa), and (80b) is this harmonic reduction gear 4a.
The output uili+, tet+ t++ (2), which serves as the output part of t8o) and the output part of the wrist part, is a bearing that supports this output it'tll (sob). (
One is the bearing that supports the input ti411 (78a), (
(61) is a bearing supporting the gear shaft (47a)
1t@ is a bearing that rotatably supports the boss portion of the inhibited gear b9). Here, the first box body ((to), etc.) is the first device, the bevel gear Osu (to), the shaft (48a), and the second box body (65).
) etc., the second device, bevel gear θQO force (c) (69
), a harmonic reducer (80, output iii+l+(sob), etc.) constitute a third bag layer.

Note that the rotational axes of the first box ((to) rotational axis of the first device and the output shaft (801) of the third device) are the same, and this axis and the rotational axis of the second device are the same. The rotational axes of the second box body intersect at a predetermined angle of inclination. Note that explanations of other symbols are omitted as they are the same as in the conventional device.

In the configuration as described above, the rotation of the servo mode (1) at node 1 is sequentially decelerated and axis-converted via the pulleys (4), (6) and bevel gears Q and αQ, and the drive shaft ( 26) was transmitted to the first spring body Zheng) times or 1
1, the operation of the first device is performed. The rotation of the second servo mode (2) is sequentially converted into the axis through the force of 1/8), jli and semi-responsive force (9, α) and is transmitted to the drive shaft (5) and then the umbrella wheel. The axis is further changed by OQ and So, and the umbrella hammer wheel @1 is further decelerated and decelerated from the input shaft (78a).
7:1), and the second box p1. '+tt6), and the operation of the second device is performed. The rotation of the eighth servo mode (3) is decelerated through a pulley ([η, Q) and transmitted to the drive shaft (c), which is a bevel gear (c).

The harmonic reduction plate fixed to the bevel gear is successively decelerated and shaft-converted through
b) is operated, and the operation of the eighth device is performed.

Here, the first and eighth devices move together on the same axis, and the second
The device has an i! - They are moving together on the 111 line. A workpiece (not shown) fixed to the output shaft (80a) by the first to third devices described above performs a so-called 8 degrees of freedom wrist motion.

Furthermore, by rotating the fourth servo mode example and the fifth servo mode (69), the second link 0υ and the first link (B
4) rotates in the same manner as in the past, and in conjunction with the wrist motion described above, the industrial robot performs motions with five degrees of freedom.

By the way, in the above description, the first link 01) whose one end is rotatably supported, and the second link 01) whose intermediate portion is rotatably supported at the other end of the first link (goods). I explained about an industrial robot with a well-known rectangular coordinate system, $i! Needless to say, it can also be used for industrial robots such as coordinate type and articulated type.

As described above, in the present invention, the first device and the eighth device are arranged on the same axis, and the axis of the second device is arranged obliquely with respect to this axis. , a first box coupled to the first drive shaft is provided, and the second device includes a first bevel gear coupled to the second drive shaft, and a first bevel gear meshing with the first bevel gear. a second bevel gear coupled to one end thereof, a transmission shaft disposed on an axis obliquely intersecting the rotational axis of the first device; and a second box coupled to the transmission shaft; The eighth device includes an eighth bevel gear coupled to the eighth drive shaft, a fourth bevel gear that meshes with the eighth bevel gear and rotates coaxially with the transmission shaft, and the eighth bevel gear. a cylindrical transmission shaft with a fourth bevel gear coupled to one end and surrounding the output shaft of the first reduction gear; a fifth bevel gear coupled to the other end of the transmission shaft; A second reduction gear meshing with the bevel gear and disposed coaxially with the first device, and an output shaft formed on the output side of this second reduction gear are provided. This eliminates the need for pulleys and spur gears, reduces the number of parts, improves the integration error of each part, and improves the precision of the device.In addition, the weight of the wrist can be reduced, reducing the load on the link. There is an effect that can be done.

[Brief explanation of the drawing]

Fig. 1 is a partial cross-sectional plan view of a device that drives the wrist portion of a conventional industrial robot, Fig. 2 is a partial side cross-sectional view taken in the A top direction of Fig. 1, Fig. 8 is an overall side view, and Fig. 4 5 is a partial cross-sectional side view of an embodiment of the present invention, FIG. 5 is a partial cross-sectional plan view taken in the top direction B of FIG. 4, and FIG. 6 is a side view of the entire side opening. (1)...first servo mode, (2)...second servo mode
(3)...Eighth servo mode, (26)...Drive shaft, ■7)...Drive shaft, (Incorporated)...Drive shaft, 61)
... 2nd link, button / θ trumpet mark) θ car) 9)...
Bevel gear, (47a)... shaft, -)... first link,
■)...First box, (1st game...Second box, b)
However, ■...Reduction gear, (78a) (Boa)...Input shaft, (78b) (80b)...Output shaft. In the drawings, the same reference numerals indicate the same or corresponding parts. Agent Shin Ge - Figure 2 1 Figure 3 Procedural Amendment (Voluntary) 1. Indication of the case Japanese Patent Application No. 58-41069 2, Title of the invention Industrial robot 3, Person making the amendment Relationship to the case Patent applicant address 2-2-3 Marunouchi, Chiyoda-ku, Tokyo Name (601) Mitsubishi Denki Co., Ltd. Representative: Hitoshi Katayama 4 Agent Address: 2-2-3-5 Marunouchi, Chiyoda-ku, Tokyo
, Patent 5'# of the specification to be amended, the scope of the request and the detailed description of the invention. 6. Contents of the amendment (1) The scope of claims in the specification will be corrected as shown in the attached sheet. (2) From the 3rd line of the 6th page to the 6th line of the same page: ``Please note...
There is... '' has been corrected as follows. [It should be noted that the rotation axis of the first box (65) of the first device and the rotation axis of the second box (66) of the second device are orthogonal, and the second box ( 66) and the rotation axis of the output shaft (59a,) of the third device are orthogonal to each other. -1
(3) From line 9 of page 7 to line 11 of the same page, the statement ``Here I am...'' is corrected as follows. [Here, the first device and the second device, and the second device and the third device are rotating on axes that are perpendicular to each other. (4) Kr bevel gear from line 2 of page 8 to line 6 of page 6 (
4(3)...orthogonal" should be corrected as follows. "Spur gears (38) (39) and chariot wheels (40) (43)
), pulleys (48) (50), and second box body (66)
The second device is perpendicular to the axis of the second device consisting of bevel gears (46) (47) and pulleys (51) (53).
and perpendicular to the axis of the third device consisting of an umbrella copper wheel (5B) (59), an output shaft (a9a), etc." (5) From line 16 of page 8 to line 18 of the same page, " On the axis...
``...Arrangement'' has been corrected as follows. “The axis of the first device is arranged obliquely to the axis of the second device, and the axis of the third device is arranged obliquely to the axis of the device of whistle 2” (6) Same page 10 From line 17 to line 20 of the same page, the text ``Naha...--...'' has been revised as follows. [Note that the rotational axis of the first box (65) of the first device and the rotational axis of the second partner (66) of the second device intersect at a predetermined angle of inclination, and The rotational axis of the box body (66) of No. 2 and the rotational axis of the output shaft (sob) of the device of M3 are also aligned at a predetermined angle of inclination. (7) From line 18 on page 11 to line 20 of the same page, the statement ``Here, we are doing...'' is corrected as follows. [Here, the rotation axes of the first, second, and third devices rotate on axes that intersect with each other at a predetermined angle of inclination. ” (8) From line 13 on page 12 to line 15 on page 15, “r first device and arrangement” are all corrected as follows. "The axes of the first device and the second device are arranged obliquely, and the axes of the third device are arranged obliquely with the axes of the second device." (9) Same page 13 Does the 9th line say "coaxial with the 1st device"? Correct it to "an axis that intersects obliquely with the second device." Claims (1) A plurality of molds disposed at one end of a cylindrical link, a transmission element disposed within the link so as to be able to transmit data to all rotational positions of the plurality of molds, and the above-mentioned In an industrial robot equipped with a device arranged at the other end of the link and connected to the transmission element to perform a plurality of independent rotational movements corresponding to each mode, the device for performing the rotational movement is the same as the link. A first device that rotates on an axis, a second device that rotates on an axis that is oblique to the axis of the first device, and a second device that rotates on an axis that is oblique to the second device. The transmission element includes a third drive shaft that transmits the rotation of a third mode among the plurality of modes to the third device; a hollow second drive shaft having an inner diameter larger than an outer diameter and transmitting the entire rotation of a second model of the plurality of models to the second device; Is the inner diameter dimension also large? and a hollow first drive shaft for transmitting the rotation of a first mold of the plurality of molds to a first device, the first device having a hollow first drive shaft coupled to the first drive shaft. The second device VC includes a first bevel gear that is not coupled to the second drive shaft, and a second bevel gear that meshes with the first bevel gear. A bevel gear is coupled to the input shaft, and a hollow first reducer is disposed on an axis obliquely intersecting the rotational axis of the first device, and the bevel gear is coupled to the transmission shaft of the first reducer. a third bevel gear coupled to the third drive shaft; a fourth bevel gear rotating coaxially with the fourth bevel gear; a cylindrical transmission shaft coupled to all ends of the fourth bevel gear and surrounding the output shaft of the first reduction gear; a fifth bevel gear that is engaged with the fifth bevel gear; a second reducer that meshes with the fifth bevel gear and is disposed on an axis obliquely intersecting with the second device; and the second reducer. An industrial robot characterized in that it is provided with an output shaft formed on the output side of the robot. (2) The industrial robot according to claim 1, wherein the second reduction gear is comprised of a harmonic reduction gear. (3) The second reducer is constituted by a harmonic reducer having an input section including a sixth bevel gear that meshes with the fifth bevel gear, and an output section coupled to the output shaft. An industrial robot according to claim 1 characterized by:

Claims (1)

[Claims] 1. A plurality of models arranged at one end of a cylindrical link;
A transmission element disposed within the link so as to be able to transmit the rotation of the plurality of molds to a location; In an industrial robot equipped with a plurality of devices that perform independent rotational motion, the device that performs the rotational motion is a first device that rotates on the same axis as the second link, and a first device PI that rotates on the same axis as the second link. The transmission element includes a second device that rotates on an axis obliquely intersecting the axis, and an eighth device that rotates on the same axis as the first device, and the transmission element a third drive shaft that transmits the rotation of the eighth mode to the eighth device; and a third drive shaft having an inner diameter larger than the outer diameter of the eighth drive shaft; a hollow second drive shaft that transmits the rotation of the second mode to the second device; the second drive shaft has an inner diameter larger than the outer diameter; a hollow first drive shaft that transmits rotation of the first model to a first device; the first device is provided with a first box coupled to the first drive shaft; , in the second device, a first bevel gear coupled to the second drive shaft and a second bevel gear meshing with the first bevel gear are coupled to the input shaft, and the first bevel gear is coupled to the input shaft.
411 which is oblique to the axis of rotation of the device! A hollow first reducer disposed on the + line and a second box coupled to the output shaft of the first reducer are provided, and the third device is provided with the eighth reducer. a third bevel gear coupled to the drive shaft; a fourth bevel gear meshing with the third bevel gear to rotate coaxially with the transmission shaft; and the fourth bevel gear coupled to one end. , a cylindrical transmission shaft surrounding the output shaft of the first reduction gear; a fifth bevel gear coupled to the other end of the transmission shaft; and a fifth bevel gear meshing with the fifth bevel gear; An industrial robot characterized by being provided with a second reducer disposed coaxially with the device and an output shaft formed on the output side of the second reducer. (2) The industrial robot according to claim 1, wherein the first reducer is a harmonic reducer. (3) The second reducer has a sixth bevel gear that meshes with the fifth bevel gear.
2. The industrial robot according to claim 1, comprising a harmonic reducer having an input section having a bevel gear and an output section coupled to the output shaft.