JPS6076990A - Joint 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 [Technical Field of the Invention] The present invention relates to a joint device that enables rotational movement of an arm body around an axis and rotational movement within a plane containing the axis.

[Technical background of the invention and its problems]

Recently, a multi-joint gutter in which multiple arm bodies are connected via a joint device has been attracting attention. The joint devices used in this type of robot are general K.

Most of the so-called l-degree-of-freedom types have a structure in which a second arm is rotatably supported in a plane (XxF-plane) containing the axis of the first arm. It is.

Therefore, the applicant first proposed, for example, %i[57-18907
No. 1 KjJ7, plane perpendicular to the above rotation plane (Y plane)
This is a so-called 2-degree type that also allows for rotation within the building.)
The sparrow was proposed. This allows the arm to perform a variety of movements.

However, there were still some deficiencies regarding certain types of exercise, and improvements were desired.

[Purpose of the invention]

The present invention has been made based on the above circumstances, and its purpose is to enable rotation within a plane that includes the axis of the arm, and also to enable rotation around the entire axis of the arm. It is an object of the present invention to provide a highly practical joint device that can perform a wide variety of movements.

[Summary of the invention]

The present invention supports the details of the first arm body rotatably within a plane including the axial direction of the first arm body, and
The entire end of the second arm body has a connecting member rotatably supported around the axis of the second arm body, and the first and second arm bodies are respectively disposed within the first and second arm bodies. All rotational drive sources are coaxially arranged. The rotational driving force of the first rotational driving source is rotationally driven to the entire first mechanism-mu body connection member, and the rotational driving force of the second rotational driving source is applied to the second mechanism. It is characterized in that the first arm body is rotated within the plane with respect to the connecting member by transmitting the signal to the first arm body via the connecting member.

〔Effect of the invention〕

According to the present invention, the second arm body can be easily rotated around its axis relative to the 8g1 arm body, and the entire second arm body can be rotated at any rotational position. It can rotate within a plane that includes the axis. Therefore, great practical effects can be achieved, such as enabling a multi-joint robot arm to perform a wide variety of movements. Furthermore, in this case, the overall structure is extremely simple, and it also has the effect of facilitating its division and assembly.

[Embodiments of the invention]

The details of the present invention will be explained below based on the illustrated embodiments.

In the figures, 1 is a cylindrical first arm, and 2 is a cylindrical second arm connected to the first arm 1. Thus, each end of the first arm 1 and the second arm 2 are connected to each other via the connecting member 4. The connecting member 4 is rotatably supported by a shaft 8 in a plane including the end ff of the first arm 1 :the axis of the first arm 1 , and supports the end of the second arm 2 via a bearing 9 . The second arm 2 is rotatably supported around its axis.

In the arm 1 of @l, a motor 15, which is a first rotational drive source, has its drive shaft 16 rotatably supported by a bearing 17, and is coaxially arranged toward the connecting member 4 side. . At the tip of the drive shaft 16 of this motor 15, a cap gear 1 is provided.
8 is fitted. A cap gear 20 rotatably supported by a bearing 19 on the joint shaft 8 is meshed with the cap gear 18 and the cap gear 21 engraved on the end of the second arm 2. The rotational driving force of the head gear 18 is transmitted to the second arm 2 via the head gear 20.
It is transmitted as rotational power centered around the axis of the

On the other hand, inside the second arm 2, a motor 25, which is a second rotational drive source, has its drive shaft 26 rotatably supported by a bearing 27, and is coaxially arranged toward the connecting member 4 side. There is. A cap gear 28 is fitted to the tip of the drive shaft 26 of the motor 25, and the cap gear 28 is connected to the joint shaft 8.
It is provided with the shaft as an axis, and meshes with a cap gear 29 fixed to the first arm 1.

Note that power is supplied to the motors 15 and 25 through external lead wires (not shown) or through sliding contacts provided on the connecting member 4 and each arm 1. make sure that you are

The operation of the joint device configured in this way will be explained with reference to FIG. 2.

First, when rotating the second arm 2, the motor 15 and the motor 25 are rotated in the same direction. Now, when the head gear 18 and the head gear 28 in FIG. 2 are all rotated counterclockwise as shown by solid lines, the head gear 20 rotates clockwise as shown by solid lines. This shade gear 20
Further, a cap gear 21 integrally formed on the second arm 2
is driven counterclockwise as shown by the solid line. At this time, the head gear 28 fitted to the tip of the drive shaft 26 of the motor 25 is rotating in the opposite direction to the second arm 2 shown by the solid line. Therefore,
By making the rotation speed of the second arm 2 and the rotation speed of the head gear 28 equal, the head gear 28 becomes stationary relative to the head gear 29.

Therefore, the arm 2I'i does not move in the rotational direction, but is driven only in the rotational direction.

On the other hand, when the second arm 2 is rotated around the entire joint axis 8, the motor 15 and the motor 25 are rotated in opposite directions. Now, in the above example, if only the cap gear 28 is rotated clockwise as shown by the dotted line in the whole figure,
The second arm 2 rotates about the joint shaft 8 in a clockwise direction as indicated by a dotted line in the figure. At this time, if the cap gears 18 and 2
0 is in a stationary state, the arm 2 rotates counterclockwise because the cap gear 2o and the cap gear 21 are in mesh with each other.
Now, since the cap gear 18il-1 is rotating counterclockwise and the cap gear 20 is rotating clockwise, the arm 2 is in a stationary state in the rotation direction, but only in the rotation direction. Driven.

As described above, according to this embodiment, the second arm 2 can be driven in the rotational direction and in the rotational direction. Moreover, since the motors 15 and 25 are arranged on both sides of the joint shaft 8, there is no obstacle in the space from the joint shaft to each motor 15 and 25. Therefore, the first mechanism that transmits the rotational drive blade from the motor 15 to the arm 2 is the cap gear 18, 2θ, and 2, and the second mechanism that transmits the entire rotational drive force from the motor 25 to the arm 2 is the cap gear. 28 and 29, which is an extremely simple configuration. Therefore, the arm itself can be made smaller and the joint portion can be made into an IJS type.

In this case, no transmission mechanism is provided at the rear of the motors 15 and 25, that is, at the middle of each arm 1.2. If each arm is connected using a so-called bayonet mechanism used for mounting, assembly and disassembly of each arm becomes extremely easy.

Note that in this embodiment, the arm 2 is driven by the motor 15 and the motor 25 operating in a coordinated manner.
It is possible to completely prevent deviations in the swinging direction caused by the rotation of the arm 20 and deviations in the rotational direction caused by the swinging movement of the arm 2, and it is possible to drive the arm accurately.

By the way, if the arm drive mechanism of the robot can be miniaturized in this way, it will also be possible to arrange all other drive sources at each joint.

FIG. 3 shows an example in which a motor 25, which is a third rotation-related power source, is further disposed within the first arm 1. That is, in this example, the first arm is coaxially arranged within the first arm.
A motor 36, which is a rotational drive source, includes an annular stator 37 fixed to the inner periphery of the arm 1, a rotor 38 mounted within the stator 37, and a hollow drive shaft 39 inserted into the rotor 38. It consists of This drive shaft 39 is rotatably supported at both ends by bearings 40 and 41, and a cap gear 42 is integrally formed at the end on the side of the connecting member 4. This head gear 42 meshes with a head gear 20 rotatably supported on the joint shaft 8, and this head gear 20 is further formed on the side end of the connecting member 4 of the second arm 2. It meshes well with 2I.

On the other hand, a motor 46 which is a second rotational drive source coaxially arranged within the second arm 2 includes an annular stator 47 fixed to the inner periphery of the arm 2, a rotor 48 mounted within the stator 47, The drive shaft 49 has a hollow structure and is inserted into the rotor 48. The drive shaft 49 is rotatably supported by bearings 50 and 51 at both ends, and a cap gear 52 is integrally formed at the end on the connection member 4 side. This head gear 52 meshes with a head gear 29 rotatably supported by the joint shaft 8. This head gear 29 is fixed to the arm 1 of ml.

A motor 35 is disposed within the arm 1 in series with the motor 36 . The drive shaft 5 of this motor 35
5 penetrates inside the hollow drive shaft 39 of the motor 36,
The base end is rotatably supported by a bearing 56 and the distal end by a bearing 57, and the distal end protrudes toward the connecting member 4 of the drive shaft 39 b.

A cap gear 5 is attached to the tip of the protruding drive shaft 55.
8 is fitted. This head gear 58 meshes with a head gear 60 rotatably supported on the joint shaft 8 by a bearing 59. On the other hand, a transmission shaft 61 is inserted into the hollow drive shaft 49 of the motor 46 and extends from the vicinity of the connecting member 4 to a wrist (not shown) on the distal end side of the second arm. The transmission shaft 6 has a base end connected to the connecting member 4 with a bearing 62.
Further, the intermediate portions are supported by bearings 63 at rotational positions. Further, a cap gear 64 is fitted on the base end side of the transmission shaft 6. And this cap gear 64
is meshed with the head gear 60.

With this configuration, it is possible to perform all three joint movements including all rotational movements of the wrist provided at the tip of the second arm 2 as described above, without increasing the outer diameter of the arm. becomes possible. Of course, it is possible to perform not only the rotational motion of the wrist but also other joint motions, such as finger motions, and this is particularly useful for parts with limited length. It is also conceivable to form all or part of the transmission shaft 6 with an insulator to improve the insulation properties of the working robot at high voltage.

However, the present invention is not limited to the above embodiments.

For example, it is also conceivable to further arrange a plurality of third drive sources in series on the first arm or the second arm. In this case, a plurality of hollow drive shafts may be arranged coaxially, and the head gears may be stacked in multiple stages.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view of a joint device according to an embodiment of the present invention;
FIG. 2 is a perspective view of essential parts for explaining the entire operation of the device, and FIG. 3 is a longitudinal cross-sectional view of a joint device according to a second embodiment of the present invention. 1...first arm, 2...second arm, 4...
・Connection member, 8...Joint axis, 15, 25.35° 36
．． 46...Motor, 1B, 20, 21.2B. 29.42, 52.5B, 60.64...Shadow gear.

Claims (2)

[Claims] (1) The entire end of the first arm body is rotatably supported within a plane including the axial direction of the first arm body, and the second
a connecting member configured to rotatably support the end of the arm body around the axis of the second arm body; and a first coupling member provided coaxially within the first and second arm bodies, respectively. and a second rotational drive source, and a first rotational drive source that transmits the entire rotational driving force of the first rotational drive source to the second arm body to rotationally drive the second arm body with respect to the connecting member.
and a second mechanism that transmits the rotational driving force of the second rotational drive source to the first arm body to rotationally drive the first arm body with respect to the connecting member within the plane. A joint device that is fully equipped with a mechanism. (2) The first and second mechanisms are the first and second mechanisms of the connecting member.
The rotary shaft for the arm body is constituted by a gear mechanism consisting of a gear mechanism that meshes with one shaft and the other shaft, and each rotary shaft of the first and second rotary drive sources is meshed with each other. An articulating device according to claim 1.