JPS6056891A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- JPS6056891A JPS6056891A JP16254283A JP16254283A JPS6056891A JP S6056891 A JPS6056891 A JP S6056891A JP 16254283 A JP16254283 A JP 16254283A JP 16254283 A JP16254283 A JP 16254283A JP S6056891 A JPS6056891 A JP S6056891A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- reducer
- drive
- industrial robot
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
- Retarders (AREA)
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】
〔発明の技術分野〕
本発明は旋回軸（第１駆動軸）駆動機構部を改良した工
業用ロボットに関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an industrial robot having an improved rotation shaft (first drive shaft) drive mechanism.
し発明の技術的背景とその問題点〕
従来より第１軸が旋回軸、第２及び第３軸が下腕及び上
腕駆動軸で、手首に複数の自由度を持つ多関節型の工榮
用ロボットに於て、第１軸の旋回軸内に駆動源を内蔵す
るものがある。第１図に旋回軸構造の概略図を示す如く
、モータ１は減速機２に直結させ、相方固定ベース３に
取付けられる。[Technical background of the invention and its problems] Conventionally, the first axis is a rotation axis, the second and third axes are lower arm and upper arm drive axes, and the wrist has multiple degrees of freedom. Some robots have a drive source built into the first rotation axis. As shown in FIG. 1, which is a schematic view of the rotating shaft structure, a motor 1 is directly connected to a speed reducer 2 and mounted on a companion fixed base 3.
減速機２の出力軸を回転ベース４に固定し軸受５と軸受
６を介して固定ベース３上に設置される。The output shaft of the reducer 2 is fixed to a rotating base 4 and installed on the fixed base 3 via bearings 5 and 6.
この場合モータ１と減速機２がら成る減速機構部と軸受
５と軸受６から成る旋回機構部に分離しており、スペー
スにムダがあるｂえ各々の軸長が重なり合って軸方向へ
の組立高さが高いという不都合が生じてしまう。多関節
型の工業用ロボットに於て、第１軸の旋回軸が高いとい
うことは腕先端の手首動作領域の床面周辺域が不足する
ばかりでなく、重心の高い不安定な構成になってしまう
欠点がある。In this case, it is separated into a reduction mechanism section consisting of a motor 1 and a reduction gear 2, and a turning mechanism section consisting of a bearing 5 and a bearing 6, which results in wasted space and the axial length of each unit overlaps, increasing the assembly height in the axial direction. This results in the inconvenience of high quality. In multi-jointed industrial robots, the high rotation axis of the first axis not only results in a lack of area around the floor surface for the wrist motion area at the tip of the arm, but also creates an unstable configuration with a high center of gravity. There is a drawback.
本発明は駆動源減速機構と旋回軸受を同一レベル高さに
設置させることによってコンパクトな旋回軸を構成し、
腰が低い安定した工業用ロボットを提供することを目的
とする。The present invention configures a compact pivot shaft by installing the drive source reduction mechanism and the pivot bearing at the same level height,
The purpose is to provide a stable industrial robot with a low back.
上記の目的を達成するために本発明は、旋回軸内にハー
モニックドライブ減速機を装着するとともに、この・・
−モニツクドライブ減速機の外周部でありかつ前記ハー
モニックドライブ減速機の高さの範囲内にアンギュラ接
触型の軸受を設けたことを特徴としている。In order to achieve the above object, the present invention installs a harmonic drive reducer in the rotating shaft and...
- The present invention is characterized in that an angular contact type bearing is provided on the outer periphery of the monic drive reducer and within the range of the height of the harmonic drive reducer.
以下本発明の一実施例を第２図を参照して説明する。１
はモータであり、このモータ１は、フラット型もしくは
ディファレンシャル型のハーモニックドライブ（商品名
）減速機７の入力部であるウェーブジェネレータ７ａに
直結Ｌ 、ハーモニックドライブ減速機７の固定部であ
るサーキュラスプライン７ｂと共に固定ベース３に取付
けられている。またハーモニックドライブ減速機７の出
力部であるサーキュラスプライン７Ｃは回転ベース４に
固定され、ハーモニックドライブ減速機７の外周側に設
けられたクロスローラ軸受８を介して固定ベース３上に
設置されている。このクロスローラ軸受８はアンギュラ
接触型であり、スラスト荷重及びモーメント荷重をそれ
ぞれ受けることができるので１個の軸受でこれらの荷重
支持が可能となる。An embodiment of the present invention will be described below with reference to FIG. 1
is a motor, and this motor 1 is directly connected to a wave generator 7a which is the input part of a flat type or differential type harmonic drive (trade name) reducer 7, and a circular spline 7b which is a fixed part of the harmonic drive reducer 7. It is also attached to the fixed base 3. Further, a circular spline 7C, which is the output part of the harmonic drive reducer 7, is fixed to the rotating base 4, and is installed on the fixed base 3 via a cross roller bearing 8 provided on the outer circumferential side of the harmonic drive reducer 7. . This cross roller bearing 8 is of an angular contact type and can receive thrust loads and moment loads, so that these loads can be supported by one bearing.
上記のように構成することにより、ハーモニックドライ
ブ減速機構部の外周方向、図中に示すＥ寸法範囲内の同
一高さレベルに軸受機構部が設置される。すなわち上記
実施例によれば、軸方向への組立高さは、七−夕と減速
機の軸長のみという極めてフラットな旋回軸構成が得ら
れる。By configuring as described above, the bearing mechanism section is installed at the same height level in the outer circumferential direction of the harmonic drive reduction mechanism section within the E dimension range shown in the figure. That is, according to the above-mentioned embodiment, an extremely flat pivot shaft configuration can be obtained in which the assembly height in the axial direction is only the axial length of Tanabata and the reduction gear.
尚本発明は上記実施例に限定されるものではなく、ハー
モニックドライブ減速機の固定部及び出力部のサーキュ
ラスプラインを逆に取り旬ければ、モータを回転ベース
上に乗せることができ、さらに床面からの組立高さを低
くすることが可能となる。またハーモニックドライブ減
速機への入力を、歯車やベルト等で方向変換することに
よつ′Ｃ１モータの設置位置が自在となり、よりコンパ
クトな構成とすることもできる。It should be noted that the present invention is not limited to the above-mentioned embodiments, and if the circular splines of the fixed part and the output part of the harmonic drive reducer are reversed, the motor can be mounted on the rotating base, and furthermore, the motor can be mounted on the rotating base. This makes it possible to lower the assembly height from the top. Furthermore, by changing the direction of the input to the harmonic drive reducer using gears, belts, etc., the installation position of the 'C1 motor can be freely changed, and a more compact configuration can be achieved.
以上説明したように本発明によれば、駆動源内蔵のコン
パクトで、軸方向にフラットな旋回軸駆動ＩｆＡ構が構
成され、床面周辺動作領域に強く、重心の低い工業用ロ
ボットとして安定した構造を得ることができる。壕だ出
力軸と軸受が同一レベルで設Ｗできるので、軸受子きま
による倒れのノ・−モニツクドライブ誠速機への影響を
、最小限に押さえることができ、減速機の信頼性を向上
することができる。As explained above, according to the present invention, a compact and axially flat rotating shaft drive IfA structure with a built-in drive source is constructed, and the structure is stable as an industrial robot that is strong in the movement area around the floor and has a low center of gravity. can be obtained. Since the grooved output shaft and the bearing can be installed at the same level, the influence of tilting due to the bearing gap on the linear drive gear can be minimized, improving the reliability of the reducer. can do.
一実施例による旋回軸構成を示す断面図である。
工・・・モータ ３・・・固定ヘース
４・・・回転ベース ７・・・ノ・−モニツクトライフ
８・・・クロスローラ軸受 減速機
代理人 弁理士 則 近 憲 佑 （ほか１名）第１図
第２図FIG. 3 is a cross-sectional view showing a pivot shaft configuration according to one embodiment. Engineering...Motor 3...Fixed base 4...Rotating base 7...Monitor life 8...Cross roller bearing Reducer representative Patent attorney Noriyuki Chika (and 1 other person) No. Figure 1 Figure 2
Claims (1)
動軸とし、手首に複数の自由度を持つ多関節型の工業用
ロボットにおいて、第１軸の旋回軸内にハーモニックド
ライブ減速機を装着するとともに、このノ・−モニツク
ドライブ減速機の外周部でありかつ前記ノ・−モニツク
ドライブ減速機の高さの範囲内にアンギュラ接触型の軸
受を設けたことを％徴とする工業用ロボット。In an articulated industrial robot with multiple degrees of freedom at the wrist, the first axis is the rotation axis, the second axis is the lower arm drive axis, and the third axis is the upper arm drive axis. In addition to installing a harmonic drive reducer, an angular contact type bearing is installed on the outer periphery of this monomonic drive reducer and within the height range of the monomonic drive reducer. Industrial robots with % characteristics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16254283A JPS6056891A (en) | 1983-09-06 | 1983-09-06 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16254283A JPS6056891A (en) | 1983-09-06 | 1983-09-06 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6056891A true JPS6056891A (en) | 1985-04-02 |
Family
ID=15756579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16254283A Pending JPS6056891A (en) | 1983-09-06 | 1983-09-06 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6056891A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01150045A (en) * | 1987-12-03 | 1989-06-13 | Daihen Corp | Reduction gear for rotation |
| JPH0680498U (en) * | 1993-01-25 | 1994-11-15 | 株式会社スタッフ | Block in bath |
| US6537484B2 (en) | 1990-11-26 | 2003-03-25 | Excell Corporation | Method for manufacturing a multi-layer plastic pipe |
| TWI415778B (en) * | 2008-03-26 | 2013-11-21 | Yaskawa Denki Seisakusho Kk | Multi - joint robots |
| DE102017128872A1 (en) | 2016-12-16 | 2018-06-21 | Sumitomo Heavy Industries, Ltd. | Transmission device with bending engagement |
| JP2019132290A (en) * | 2018-01-29 | 2019-08-08 | 住友重機械工業株式会社 | Deflection engagement type gear device |
-
1983
- 1983-09-06 JP JP16254283A patent/JPS6056891A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01150045A (en) * | 1987-12-03 | 1989-06-13 | Daihen Corp | Reduction gear for rotation |
| US6537484B2 (en) | 1990-11-26 | 2003-03-25 | Excell Corporation | Method for manufacturing a multi-layer plastic pipe |
| JPH0680498U (en) * | 1993-01-25 | 1994-11-15 | 株式会社スタッフ | Block in bath |
| TWI415778B (en) * | 2008-03-26 | 2013-11-21 | Yaskawa Denki Seisakusho Kk | Multi - joint robots |
| DE102017128872A1 (en) | 2016-12-16 | 2018-06-21 | Sumitomo Heavy Industries, Ltd. | Transmission device with bending engagement |
| KR20180070464A (en) | 2016-12-16 | 2018-06-26 | 스미도모쥬기가이고교 가부시키가이샤 | Flexible engagement gear device |
| CN108253093A (en) * | 2016-12-16 | 2018-07-06 | 住友重机械工业株式会社 | Flexible engagement gear device |
| CN108253093B (en) * | 2016-12-16 | 2021-05-14 | 住友重机械工业株式会社 | Flexible engagement type gear device |
| DE102017128872B4 (en) | 2016-12-16 | 2022-03-03 | Sumitomo Heavy Industries, Ltd. | Gear device with bending engagement |
| JP2019132290A (en) * | 2018-01-29 | 2019-08-08 | 住友重機械工業株式会社 | Deflection engagement type gear device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5054332A (en) | Articulated robot | |
| JP2000343477A (en) | Joint part structure of robot | |
| JPS6056891A (en) | Industrial robot | |
| US4842474A (en) | Vertical multi-articulated robot | |
| KR850000551B1 (en) | Wrist device of robot | |
| JPS632662Y2 (en) | ||
| JPH01216786A (en) | Horizontal multiple joint robot | |
| JPH0431355U (en) | ||
| JPH0632912B2 (en) | Rotating device for articulated robot using direct drive motor | |
| JPH0429990Y2 (en) | ||
| JPH027327Y2 (en) | ||
| JPH0429987Y2 (en) | ||
| JPS6275152A (en) | Differential planetary gear device | |
| JP2567085B2 (en) | Arm support structure for industrial robot | |
| JPH0396739A (en) | Device for supporting shaft rotating at high speed | |
| KR900009041Y1 (en) | Swivel unit | |
| JPS6039092A (en) | Wrist device for robot | |
| JPH0148190B2 (en) | ||
| JPS60134591U (en) | Drive device with reducer in the working arm joint of automatic machinery | |
| JP2000240736A (en) | Support structure of planetary gear | |
| JPS59161282A (en) | Industrial robot | |
| JPS583123B2 (en) | ball joint | |
| JPH088369Y2 (en) | Wave gearing | |
| JPH031068Y2 (en) | ||
| JPS63123685A (en) | Wrist structure of industrial robot |