JPS59232788A - Joint structure of 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 This invention has a structure in which the motor that drives the arm of the robot is housed within the joint.・This is a 1t;1 improvement in the robot's joint structure, which is carbonized and lightweight.

First, the conventional joint structure will be explained. Figure 1 is a side view showing the joint structure of a conventional robot. In Figure 1, (1) is the base of the robot, (2) tj: vertical axis,
(3) is the first arm, (4) is the second arm, (5a) is the motor that drives the first arm (3), (5b) is the motor that drives the second arm (4), and (5C) is the motor that drives the second arm (4). Second arm (
The motor that drives the hand etc. attached to the tip of 4), GS &), (6b), and (6c) are reducers, which are built into the reducer box. (7a), (7
b) , (7e) would be a coupling and
a) of the motor, the coupling (7a) and the reducer (6a)
) constitutes the first joint (8a), and the motor (5b)
, a coupling (7b) and a reducer (6b) constitute a second joint (8b), a motor (5c), a coupling (
7c) and the reducer (6c) constitute a joint (8c), the first arm (3) rotates at the first joint (8a) with respect to the vertical axis (2), and the second arm (4) rotates with respect to the vertical axis (2). The hand rotates at the second joint (8b) with respect to the first arm, and the hand rotates at the third joint (B
Rotate with c).

As shown in Figure 1, the robot's joints consist of a motor, a coupling, a reducer, and a reducer box.The structure is such that the reducer is built into the reducer box at the end of the arm, and the motor is installed at the top of the arm end. Common.

However, with this structure, the motor is located at the top of the arm and aligned with the reducer, making the joints longer and heavier.

Therefore, the moment of inertia of the arm is large, and a large torque is required for starting and stopping, resulting in the problem that acceleration must be reduced.

This invention was made to solve these problems, and it is a robot characterized in that the end member of the arm serves as the outer frame member of the motor, and the motor is housed in the joint. The purpose is to provide a joint structure.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 is a side view of a robot using a joint structure according to an embodiment of the present invention, FIG. 6 is a plan view showing only the first joint in FIG. 2, and FIG. 4 is a side view of a robot using a joint structure according to an embodiment of the present invention. FIG. 5 is a side view showing a part of the joint structure in section, and FIG. 5 is an enlarged sectional view showing a part of the joint structure according to an embodiment of the present invention.

In FIGS. 2 to 5, parts given the same reference numerals as those in FIG. 1 indicate the same or equivalent parts.

As shown in FIG. 2, the joint structure of the present invention is characterized in that the member at the tip of the arm serves as the outer frame member of the motor, and the motor is housed within the joint. In the embodiment shown in FIG. 2, the members at both ends of the 17th arm (3) serve as the outer frame members of the motors (5a) and (5b), and the second
The member at one end of the arm (4) also serves as the outer frame member of the temotor (5c).

Next, a detailed explanation will be given with reference to FIGS. 4 and 5.

First, the first joint (8a) will be explained. The end of the arm (3) serves as the outer frame member of the motor (5a). II) is the rotor of the motor (5a), the rotor of the motor (
In the stator of 5a), the stator (j is fixed to the outer frame member G), the outer frame member and the arm (3) are integrally formed with bolts, etc. 6) is the motor (
At the rotating shaft of 5a), the outer frame member 01) is attached via a bearing.
and the joint outer cylinder t31). Note that the outer frame member t3 and the joint outer cylinder 6] are integrally formed by bolts or the like. Oυ is a driven shaft, (6a) is a planetary gear reducer, and consists of a wave generator wheel, a flex spline 1), and a circular spline.
is a flexspline attachment. A wave generator 02 is fixed to one end of the driven shaft load via a key,
The other end is supported by the flexspline mounting body via a bearing. Circular spline - is vertical axis (2
) is fixed.

The joint outer cylinder retainer is supported by a vertical shaft (2) via a bearing, details of which are shown in FIG. In Figure 5, □
The 6 bearings are fixed to the upper and lower shafts (2) using bolts. @4)
is the lower bearing retainer, which connects the joint outer cylinder 6 through the bolt.
Fix bearing 09 to B.

The joint outer cylinder 61) and the flexspline attachment body (G) are fixed by bolts, but the bolts that fix the joint outer cylinder 61) and the bearing (C) are shifted in position so as not to interfere with each other. . It is also possible to fix the joint outer cylinder @1), the flexspline attachment body (2), and the bearing f3η with a common bolt.

Since the arm (3) is configured as described above, the first joint (8a) is driven by the motor (5a) and rotates with respect to the vertical axis (2). Do not connect the reducer (6) to the rotating shaft (to) of the motor (5a).
a) can also be installed.

(r) 11th joint etc.) and the second joint (8b).
While the circumferential joint (8a) rotates the arm (3) with respect to the vertical axis (2), the @2 light joint (8b) decelerates around the end of the arm (4) ifAθ (6b ) is incorporated,
Point at which arm (4) rotates relative to arm (3), ←)
The difference is that the weight of the rotating arm is lighter compared to the first joint (8a), so the dimensions of the motor (5b) and reducer (6b) can be smaller, but the structure is the same. In this invention, the member G11 at the end of the arm is connected to the motor (5a
).

Since the outer frame member (6b) doubles as the outer frame member, the weight of the arm that separates the outer frame member of the motor is reduced.50 As the weight of the tip is reduced, the load on the motor at the base becomes easier. Also, since there is no protruding part on the top of the arm, it looks better, and the movement of the arm is restricted by factory equipment placed around the robot. However, similarly for the motor (5c), the end member of the arm (4) also serves as the outer frame member of the motor. Furthermore, -
Conventionally, by storing the gear in the joint, a reduction gear box with a built-in de-icing mechanism was provided independently.

By storing the motor in the joint, for example, in the second joint (8b), the reducer can be inserted into the arm end by having the member at the arm end serve as the reducer.
You can make a compact Haku1.

As described above, according to this invention, the member at the end of the arm serves as the outer frame member of the drive motor, and the motor is housed within the joint, so the joint is compact and the weight is reduced. Also, the design is improved because there is less protrusion of the motor.

[Brief explanation of the drawing]

Figure 1 is a side view showing the joint structure of a conventional robot, Figure 2 is a side view showing the joint structure of a conventional robot.
The figure is a side view of a robot using a joint structure according to an embodiment of the present invention, FIG. 6 is a plan view showing only the first joint in FIG. 2, and FIG. 4 is a diagram according to an embodiment of the present invention. Part of the joint structure is shown in cross section ([411uU figure,
FIG. 5 is an enlarged sectional view of a part of a joint structure according to an embodiment of the present invention. In the figure, (1) the base of the halo robot, (2) the top and bottom M
, (3) is the first arm, (4) is the second arm, (5a
), (5b), (5c) are motors, (6a)
, (6b), (6c) are reducers, (8a) is the first
Joints, (8b) is the second joint, (8C) is the sixth joint, 酊 is the member at the end of the first arm, and 0υ is the member at the end of the second arm. The symbols indicate the same or corresponding parts, respectively. Agent Masuo Oiwa Figure 1 Figure 2 Figure 5b 3

Claims (1)

[Claims] A robot joint structure in which a motor and a decelerator are arranged at the end of an arm, wherein the member at the end of the arm serves as an outer frame member of the motor, and the motor is housed within the joint. joint structure.