JPS60191783A

JPS60191783A - Joint type robot

Info

Publication number: JPS60191783A
Application number: JP4606284A
Authority: JP
Inventors: 中村　紘; 修外山; 蟹井　典和
Original assignee: Toyoda Koki KK
Current assignee: Toyoda Koki KK
Priority date: 1984-03-09
Filing date: 1984-03-09
Publication date: 1985-09-30

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】［技術分野］本発明は、関Ｄｉｉ形１−」ホットに係り、１−２１に
アーム先端の手市部への動力を１ム辻１段４１．ｉを改
良した関節形［１ポツトに関づ”るちのである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field] The present invention relates to a SekiDii type 1-"hot, in which power is applied to the hand end of the arm at 1-21 by 1 step 41. This is a joint shape that is an improved version of i.

［従来技術］従来の関ｆｌｔｉ形ロボン１〜は７−１ｘの先端に丁ｆ
′１部を有し、この部分を動かづ／ζめのｊ！ｌＩメ動
源（例えばＬ〜り）（，１なるべく前記丁肖部のｊバく
に’ｎＡ　Ｉ’Ｊたｌｊが動力の伝達機構を簡略化しう
るわ［：Ｊ　′ｃあるか、アーム先端；の重量がｆＱ　
＜　ｆ、’に−，）てしＪ、うといし欠点がある。[Prior art] Conventional Seki flti type robots 1 to 7 have a
′1 part, move this part/ζth j! lI power source (for example, L~ri) (,1 If possible, it is possible to simplify the power transmission mechanism by placing it at the back of the above-mentioned part. The weight of is fQ
< f, 'ni -,) There is a drawback.

この点を改良Ｊるｌこめに、アームの先端の”丁Ｎ’＋
部に対し該アームの枢軸点の反対側（後方側）に駆動源
を設【づることによって重さのバ２ンンスを１ソ１った
ロボッ１〜が従来から提案されていた。しかしこのＪ、
うな［ｊボッｌ−においては駆動ＪＣ：から（首部まで
動力をｆ云えるための動力伝達機４１４をアーム内を通
して設【プな【プればならないため、での空１１１］を
４１丁「保づべく第２アームを支持りる支持軸を分割軸
にし、この分；Ｉ□゛１１軸の間にり′３２アームを回
り７４司ｆ１１１ｃ支承りる４１１コ成となり、第２１
−１１の支持剛性を人さくてさイｆいという問題があっ
た。In order to improve this point, the tip of the arm should be
A robot 1 has been proposed in which the weight balance is reduced by 1 inch by installing a drive source on the opposite side (rear side) of the pivot point of the arm. But this J,
In order to transmit power from the drive JC to the neck, a power transmitter 414 is passed through the arm to connect the 41 guns. In order to maintain this, the support shaft that supports the second arm is made into a split shaft, and this results in a 411-piece configuration that rotates around the '32 arm between the I□゛11 axes and supports the 74th and
There was a problem that the support rigidity of -11 was too small and too small.

［ブＬ明の１−１的］本発明は、−１−記従来の欠点をｋｒ消μんどりるもの
（、第２　ｊ’　−１１の支持剛性を向上さけ、しかム
ー１ンバク１へ（ｄ９るような関ハｉ］形［，１ボツト
を］；を供μんとりるムの（ある、。[Objective 1-1 of B L Ming] The present invention eliminates the drawbacks of the conventional method described in -1- (2). (d9) form [,1 bot];

［発明の（１°４成ｌＡ＼丸明は、ｈｉｉ−回部（Δ１−に１：を動白イ１に
ムリ【プられだ第１７−ムと、１．（第１アームの１エ
イリＪ端に（１６とされた第２ノ′＝ムと、該第２ｊ′
　ムの前方端に設置ノられＩ、二丁市部どをイｊりる関
節形１」小ツ］へにおいて、前記第２ノ′−への後方６
！Ｍ：　ｒ：ｌＳに駆動を一夕を配設し、前記第２−ｊ
’−への（１６η部をＬ′１）山４’ｄ＋　１木で枢す
し、ｉ！！ｌ記第２ノノ−ム内の空間（′あっＣ前記１
．′１通体の上下部にとり教のｆｚ＋動軸を該貫通軸体
と直角に配設し、１１’ｆ　２ｊ　ｌ’ｊメ１ｌＪｔ−
［−−９の動力を前記各伝動クリ１１を介して前ｒｉｄ
−Ｊ−ｉ’ｆｆ　５１ｆに伝達づる（１″ら成である。[The invention's (1° 4 formation A\ Maruaki has 1: to the hii-circulation part (Δ1-) to the moving white I1. At the edge of Eiri J (the second node ' = m, which is set as 16, and the second j'
At the front end of the arm, there is an articulated 1" small piece located at the front end of the arm, and the rear 6'
! M: r:lS is provided with a drive, and the second-j
'- to (16η part L'1) mountain 4'd+ 1 wood and i! ! The space within the second nome of l ('Ah C said 1
．． '1 The fz+ moving shaft is arranged at the upper and lower part of the through body at right angles to the through shaft body, and 11'f 2j l'j ME1lJt-
[-9 power is transmitted to the front lid through each of the transmission chests 11.
-J-i'ff 51f (composed of 1").

ここにおい−（、じ、ｆ　ｉｉ！’＋　’１Ｉｌｌ　１
本はりＩｓ　１　：）７−ム（ご文・１しく第２）′−
ムを１ｖ石連結・Ｊるための１木の軸体であって断面形
状を問わない棒体をいう。Hey here-(,ji,f ii!'+ '1Ill 1
Honhari Is 1 :) 7-mu (Gobun 1st part 2)'-
It is a single wooden shaft for connecting and connecting 1V stones and J, and is a rod of any cross-sectional shape.

まｌ〔、前１）とは第２−／’　−’Ｌの丁１゛′１部
の設りられている方向をいい、その逆の方向を後方とい
う。1 [, front 1) refers to the direction in which the 1st part of the 2nd -/'-'L is installed, and the opposite direction is called the rear.

駆動Ｌ−夕は丁首部か３　ｎ１ｌｂ　（ライスト．ヘン
ド。Driving L-Yu is the hinge part or 3 n1lb (Right.Hend.

スイベル）から成るしのにおい−（（、ｊ、３周設（］
、でれぞれ］ライス１一部、ヘン１一部、−λイベルに
動力伝達するものである。swivel) consisting of the smell - ((, j, 3 circumferences (]
, respectively] to transmit power to part of Rice 1, part of Hen 1, and -λ Eve.

［発明の効宋］本発明にＪ、れば、第１ア〜ムと第２アームどの４１へ
首部に貫通軸イ４＼を設（Ｊイの上ト部に複数の伝動軸
を配設−りる４１”１）成であるため、従来の装置に比
ｌ＼剛性を増づことかてき、まＩＪ」ンパク１−化りる
ことができる。[Effects of the Invention] According to the present invention, a through-shaft 4\ is provided at the neck of each of the first and second arms (a plurality of transmission shafts are arranged at the top of J). - Since it is made of 41"1), it has increased rigidity compared to conventional devices, and can also be made more compact.

［実施例］第１図（，１、本発明の一実施例を承り仝イホｊ［面図
（、支持ｌ＼−ス１」−に、鉛直軸線回りに旋回可ｒｊ
１８イ「が１回台２が設【］られ、該旋回回合の土プＪ
には水平４【軸２シ回り１．１Ｉ１１動自仔な如くに第
一１７−ム３か設（〕られでいくで）。ｌ！’Ｉ　！：
己ｈ１［回合２は駆動り−９４によつ（旋回けしめられ
、また第１ノノーム３は他の駆動Ｌ−’ｊ　！ｊ　Ｍ　
Ｊ、−Ｊ　−Ｃ’　Ｉ！’Ｉ　’Ｉ’ｚ、される送りね
し’ｌ１１１５　Ｑに螺合りるノッｉ〜を軸方向に往ｉ
見動さｌることにＪり突起部３　ａを介して前記のＪ：
うに揺動けしめら１’１．　（、）。[Embodiment] FIG.
18i" is set up once, and the ground plane J of the turning rotation is set.
In the horizontal direction, the first 17-m3 is set up like a 1.1I11 motor with 2 rotations around the axis. l! 'I! :
The self h1 [turning 2 is driven by the drive -94 (turning is tightened, and the first gnome 3 is driven by the other drive L-'j !j M
J, -J -C' I! ' I '
As you can see, the above-mentioned J:
Sea urchin rocking keshimera 1'1. (,).

１ｊ１１記りｉ　１−／’−ム３の揺動端には２又状の
支持部：３△、３１３か形成され、これら支持部３△、
３１３（Ｊ支ｉ、’ｊ　＄１１１　（Ｌ７１　’ｒＱ軸
体）６が前記りｉｌ＋　２　ａど平（ｊに配、ｉｕされ
ている。該支持軸６は第２図の如＜　ｆｆ！　２ア−１
，、１０の）’７１＼ヘース１１を円通し°Ｃ両１）ｉ
、ｉｉ部をへ’ｔ”）　ンク７Ａ、７　ｌ：３をｆｒ　
シＣ１１ｌ′Ｊ記支持部３△。1j11 i 1-/'-A bifurcated support portion: 3△, 313 is formed at the swinging end of the arm 3, and these support portions 3△,
313 (J support i, 'j $111 (L71 'rQ shaft body) 6 is placed above il + 2 a flat (j, iu. The support shaft 6 is as shown in Fig. 2 < ff! 2 A-1
,,10's)'71\Heath 11 is passed through °C both 1)i
, ii part 't') Nk 7A, 7 l:3 fr
C11l'J supporting portion 3△.

３１３に回転白（１に支持されてｉｌＪす、該支持軸６
の中火部に第２アーム１０のアームベース１１が固；ｌ
されている。４肖１）、支持軸Ｏの両端にｌ；Ｌ　：Ｊ
ブトε３△、８Ｂが螺合けしめられＣベノ？リンク／Ａ
。313 rotates white (supported by ilJ, the support shaft 6
The arm base 11 of the second arm 10 is fixed to the medium heat part of the
has been done. 4.1), L at both ends of the support shaft O; L: J
Buto ε3△, 8B are screwed together and C beno? Link/A
.

７０にｊす１−１−ドがｆ・」！ノされ、９Ｊ、た夕゛
ストカバーτ〕Δ、９１３が前記支持部３Δ、３Ｂに固
定されている。70 1-1-de is f・”! 9J, a protective cover τ]Δ, 913 is fixed to the support portions 3Δ, 3B.

前、２第２−、ｊ’　−１＼１０はアーｌへベース１１
と、ノ７一ムｆｉｌ　１２ど、これｌうノアームベース
１１おＪ、び７−ノ、ｉｉ’ａ　’１２間に介？【され
ｊこ中間ベース１３（第３し１禽照）とｈロー、）　！
Ｒ１成され、１）り記第′１ツノー１Ｘｌ＼−ス１１に
（、を檎’Ｘ３　ｒｇｌの杖（１くカバーフル−１−１
−１△かにン１　さ　４１．　’Ｃい　〈：ン　３．　
〕Ｉ　、、−ｌＸ　７＼　ス　１　１　、　ノ’　１．
ｚ　ｌ；ｌ　ｉ　２及Ｏ・中間ベース１３の内部には空
間か形成され−（いる。Previous, 2nd 2nd -, j' -1\10 is base 11 to A l
And, no 7 one m fil 12, this l no arm base 11 o J, and 7-no, ii'a '12 between? [Middle base 13 (3rd and 1st) and h low,)!
R1 has been completed, 1) The first tree of the book 1
-1△kanin1 sa 41. 'C〈:n 3.
]I,, -lX 7\su 1 1, ノ' 1.
A space is formed inside the intermediate base 13.

７　１、ｓ’　１２　ニＬ；Ｌａｊ　１　回ｉ１ｊ＋、
１ｌｌｊ　２３　ｈ’ｐ　Ｌｊ　’ｌ’ｌｌｌ　Ｏト直
角な軸線のまわりに回転ｉ１Ｔ　ｆｔしに軸承され、口
の第１回転軸２Ｃ３（ご第２．１３よひ第３３回転１１
す１１．３０　、　：ｓｌが平行に回転１’Ｊ　ｒｌピ
に軸承され−（いるａ第１回Φ１１１１仙２３の先）１
シ：にｉ、Ｌ　’ンイスト（ホｌ　１が固ン′１され、
このライスト１ホ［１に回転支持され１．：ヘンド体Ｌ
２に１１１１記第２回転軸３　ｒ）か回転）ルね一〇れ
、第３３回転軸３４はベンド体［２に回転支持されたス
イｌ＼ル１ホ１３に回り１７１）土１ｉ’ｉされＣいる
。7 1, s' 12 niL; Laj 1 time i1j+,
1llj 23 h'p Lj 'l'lll Oto is rotatably supported around an axis at right angles to the first axis of rotation 2C3 (see 2.13 and 33rd rotation 11).
11.30, : sl rotates in parallel 1' J rl pin is supported on the axis - (a 1st Φ1111 sen 23 ahead) 1
C: ni, L'nist (Hol 1 is fixed '1,
This right is rotatably supported by 1. : Hendo L
2, the 33rd rotating shaft 34 rotates around the bend body [2], and the 33rd rotating shaft 34 rotates around the bend body [2]. There is C.

前記ノ′−ムｌ＼−ス１′］に−は支１ｈ軸（′）の土
１・部に３つの伝動ＩＩ’１ｌ１２０，２７．３５が回
転軸２：３の＋ｌ＋ｌ＋線と平行に回転白（１９に支持
されている。伝動１ｉ＋ｌｉ　２０．２７の各一端は’
Ｑ　ＪＲｉ輔６の後部側ｆＪに配設４れＩ（減速南中１
８　、　１９　、２　り、２６　Ｊ：ｔ　Ｊ、ひ軸１７
．２／ｌを介して〕′−ノ、ベース１１の後ノ）端に、
畏置されたら１４動し一夕１／１．’１５に連結され、
Ｉ１１動軸２０，２７の各（ｌ！！端（Ｊ支持軸６の前
部側方に配設さ４′【た、時速山中２１．２２，２８．
２’）をＩｔシ（１ｉ１＋記第′１．Ω′）２回φｌ、
軸２３，３０に連結２Σれ−（いイン。同（、）１に１
１、動りｌｌｉ　ａ　ｊノの　ぐ１１１：は同語の誠速
歯中ろｆｒシ（駆動し一ツノ゛１（３（第１図、叉（よ
第３図のし−９１１）の紙面重ＩＩ′Ａツノ向史側に設
（）られでいる）（二ｌｌ′ｌｉ清、ｋ　Ｌｔ、（、・
、中Ｉｊ軸：３５の他端ｉ；Ｌ　ｒ４’ｊ中３１．：１
２゜、’３　、’ｌ　、　３　ｌＩ　’ａ’、　／ｉじ
（−’　：（′！ご１回転軸３（）に連１’ｊ’＋され
（い〈Ωつこ４０．：、１、すＬ−タ１７′ｌからの動力り、Ｌ　
ｉｌ、Φｊ）’ｌ＋ｌ）１７−＋１゛１１．１中１８，
１９→伝動輔２０→歯巾２１．２２の川ｒＨＨ−で’；
Ｔ：　１回申！：すｌｌｉ　２３にイへ）ヱさね、さら
に、１’＋Ｆ１記■−１部Ｉ−の１７５．　ｆｊ、ｊ成
りるライス１一体１１４回φムさけろ。In the node 1', the three transmissions II'11120, 27.35 are rotated parallel to the +l+l+ line of the rotation axis 2:3 in the soil 1 part of the support 1h axis ('). White (supported by 19. Transmission 1i+li 20. Each end of 27 is '
Q Installed 4 on the rear side fJ of JRi 6 (deceleration south middle 1
8, 19, 2, 26 J: t J, Hyaxuary 17
．． 2/l to the rear end of the base 11;
If it is feared, it will move 14 and become 1/1 overnight. Connected to '15,
Each (l!! end) of the I11 moving shaft 20, 27 (located on the front side of the J support shaft 6) has a speed of 21.22, 28.
2') It shi (1i1 + written '1.Ω') twice φl,
Connected to shafts 23 and 30 2Σre-(in. same(,)1 to 1
1.Movement lli a j no g 111: is the same word as the straight tooth medium fr shi (driving one horn) 1 (3 (Fig. 1, Fig. 3) It is installed on the side of the heavy II'A Tsuno Mukashi () (2ll'li Kiyoshi, k Lt, (,,
, middle Ij axis: 35 other end i; L r4'j middle 31. :1
2゜, '3, 'l, 3 lI 'a', /iji(-':('!Go1 rotation axis 3() is connected to 1'j'+(I〈Ωtsuko40.:,1 , the power from the starter 17'l,
il, Φj)'l+l) 17-+1゛11.1 out of 18,
19 → Transmission gear 20 → Tooth width 21.22 river rHH-';
T: One time! ：Sulli 23 ni Ihe）Esane, in addition, 1'+F1ki■-1 Part I-175. fj, j will be rice 1 and 114 times phi.

、１にし一夕ｌ　５からの動力は、１ムφ；ｊ軸２４　
〉山中　２　ＪＪ　、　２　６　−）　（ム　Φ１１　
申出　２７−〉　百１　車　２８．　２９　→　曲′５
：２回１１１１、軸こ３０の順に伝達され、さらに前記
Ｆｌ’、’ｆ　１ｌｌ（１の１を（＋１１成りるｌ＼ラ
ンド捧（２−を旋−回さける。　Ｊたし−９１，６／Ｊ
”：＞の動力は伝動軸を介し″（山中Ｃ３１に１ム）士
さ１し、１．た山中３１１山中）３２．３３−１第３回
転軸３３４の順で伝ノヱされ、さらに前１）Ｃ・丁「１
部−１の１を忰１成りるスヂｌ＼ル（本１３４回東ｌ、
。゛・し４る１、尚、第２図のＩ＼）′リンク７Δ、７
Ｉ’ｌど同（・Ｉｊの）＼）′リンクか、第３１．７１
の６伝動軸、回転軸合シ１“ＪＪる如くに・ｋン″１し
くあり、ご１′シらは１）すｊＩ１２１＼ツノリック７
△、７１３の図示記舅ど同様イ「記シー；（第こ３図中
１ご小しである。, 1 and the power from 5 is 1mm φ; j axis 24
〉Yamanaka 2 JJ, 2 6 -) (Mu Φ11
Offer 27-> 1001 Car 28. 29 → Song '5
: Twice transmitted in the order of 1111 and axis 30, and furthermore, the above Fl', 'f 1ll (1 of 1 becomes (+11 l\ land dedication (2- is turned around. J is -91,6 /J
The power of ``:>'' is transmitted through the transmission shaft (1 mm to Yamanaka C31), and 1. Yamanaka 311 Yamanaka) 32.33-1 3rd rotating shaft 334 was transmitted in the order of 1) C.
Part-1 1 becomes 忰1 (134th East l,
.゛・shi4ru1, I\)' link 7Δ, 7 in Figure 2
I'l do the same (・Ij's)\)' link, No. 31.71
The 6 transmission shafts and rotating shafts are 1 "JJ Ruyokuni・kun" 1, and the 1' is 1)
△、713Illustrated notes: 1 (1 in Figure 3) Same as 713.

[Brief explanation of the drawing]

第１図（、Ｌ本発明の−実り色間を示刀全１本正ｆ＋ｉ
図、第２図Ｅニガ°］１図のＩｔ　−＋１　ｔ：！ｉ＋
失礼１１１ノ１而１ンＩ、；イ″ｊ　Ｌ３図（，１第２
図のｌｌｉ　−ｌｉｔ線大視［（〕ｉ而図面図る１３２
・・・旋回台３・・第１ｊ′−１八（５・・・支持軸（１部１通軸ｆ４Ｖ）１０−ａ；　２
　／’−１ｘ１／１．１５．１Ｇ・・・坂←ｐ力し　タ２０、２７．
　３３　ｊ〕　・・　（バ　動　１１１１−］・・・手
１”’Ｉ　１ＪｆFIG.
Figure, Figure 2 E Niga°] Figure 1 It -+1 t:! i+
Excuse me.
lli -lit line of the diagram
... Swivel base 3... 1st j'-18 (5... Support shaft (1 part 1 through shaft f4V) 10-a; 2
/'-1x 1/1.15.1G...Slope←P force Ta20,27.
33 j〕... (Ba motion 1111-]...Move 1"'I 1Jf

Claims

[Claims]

(1) At the swinging end of the first arm, which is freely installed, lx and the 111 part provided at the front end of the second]'-m to the right.
At the bottom 1-, a driving Tanabata is disposed at the rear end of the second arm, and 1) the 116 attachment part of the second arm described in 1) is pivotally connected by the through shaft, and the front i11! 210 in No. 27'-1\
In the -11 part (7) of the output shaft (7) of the output axis (7), set up a 6-axis driving shaft perpendicular to the UJ (1), and transmit the power of the drive 1 (1) to each of the above-mentioned transmissions: 1 through l1ll+
11th part 1st hand 1' In 1st part (Ha goes to / do) 'Cim is taken Seki 1iii form 1.j Bot 1 ~.

(2) E--U is surrounded by 3 (J, through each transmission shaft and reduction gear group, 'J'-ζ18])
part. Power is transmitted to the vent part and the swivel part (1: +
6't The joint shape [-1 pot] according to claim 1.