JPS62148182A - 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 Field of Industrial Application This invention relates to a joint device used in industrial robots and the like.

2. Description of the Related Art Many joints are used in the arms of conventional industrial robots. In particular, handling, painting, and screw tightening robots have up to six joints between the base and the arm, between each arm, and between the arm and the hand, and each arm makes complex movements. It was not possible to provide equipment within the movable range of each movable part that would interfere with the movable part.

Problems that the invention aims to solve Because of this, there are restrictions on the installation location, such as not being able to install it in a place where equipment etc. are complicated, and it is difficult to perform work by entering the hand part deep into the structure. There were some problems, such as being unable to do so and being restricted in the scope of work.

This invention was made for the purpose of improving the above-mentioned problems.

As a precautionary measure to solve the problem, a rotary actuator for relatively rotating each arm member is provided between at least a pair of arm members whose next joint surface M has a certain angle with respect to a line perpendicular to the axis of action. , a joint device that enables complicated work by allowing each arm member to bend at any angle depending on the rotation angle of the rotary actuator.

Embodiment The present invention will be described in detail with reference to an illustrated embodiment. In the figure, reference numeral 1 denotes an arm used for industrial robots, etc., which includes a pair of cylindrical arm members 11. h, and each arm member ll51 has a joint surface 1α, (b) cut at an appropriate angle α with respect to a line perpendicular to the axis.

Further, a main body 3α side of a rotary actuator 3 such as a pulse motor is fixed to one side 11 of the arm member b-Is via a bracket 2. The rotary actuator 3 has a rotary shaft 3b protruding from the main body 3α toward the center of the joint surface 1α and perpendicular to the joint surface 1α, and the tip of the rotary shaft 3b extends toward the joint surface; b. It is fixed via a bracket 4 to the center of the arm 1 which is in sliding contact with the joint surface 1α of the arm member 11. This allows the arm member 11 to be rotated by the rotating shaft 36 of the rotary actuator 3 provided on the arm member 11, and the arm member 1 fixed to the rotating shaft 3b! rotates, and the angle of the arm member 1K relative to the arm member 1K can be arbitrarily varied.

Note that Figure 1@2 shows the arm member 1. from the state shown in Figure 1. Each arm member 1. when rotated I80°. .

1! Shows the corner office. The angle between each arm member IS and 12 becomes maximum when the arm member 1 is rotated 180 degrees,
By arbitrarily selecting the rotation angle of the arm member 1 which returns to its original position when rotated by 36 CP, a desired angle can be easily obtained.

On the other hand, the above embodiment is a case where there is one joint device, but the third
As shown in the figure, arm 1'f: a large number of arm members III
Consisting of h, Is..., each arm member lr, h.
The above-mentioned joint device may be provided between...

Please note that the angles α of the joint surfaces 1α of each arm member 11, 11... do not need to be all in a fixed direction, and the inclination direction may be changed as shown in FIG. 4, or each arm member 11el*...
By changing the angle α each time, more complicated movements of the arm 1 are possible.

A hand portion (not shown) for gripping a workpiece or the like is attached to the tip of the arm 1 configured as described above for use in work. The rotation angle is controlled by a command from a control device (not shown). By programming the operation order and rotation angle of the rotary actuators 3 in advance according to the work content, and controlling each rotary actuator 3 according to this program, a large number of arm members 1tsh... It is now possible to perform work without interfering with equipment installed nearby, and it is also possible to perform complex work such as inserting the entire hand into the back of the structure! You will be able to do it without any problems.

In the above embodiment, the case where the present invention is used in an arm of an industrial robot has been described, but it goes without saying that the present invention can be employed as a joint device for general mechanical elements.

Effects of the Invention As detailed above, the present invention provides a rotary actuator that rotates each arm member relative to each other between at least a pair of arm members each having a joint surface having a certain angle with respect to a line perpendicular to the axis. As a result, each arm member can be bent at any angle depending on the rotation angle of the rotary actuator, making it possible to easily perform more complex movements by configuring the arm of an industrial robot, etc. with a large number of arm members. This can be easily done using a control system.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, FIG. 1 is a partially cutaway front view of the joint, FIG. 2 is an explanatory diagram of the operation, and FIGS. 3 and 4 are explanatory diagrams showing other embodiments. . lzh is an arm member, 1α and IA are joint surfaces, and 3 is a rotation actuator.

Claims (1)

[Claims] Joint surfaces la, l inclined at an angle α with respect to a line perpendicular to the axis
at least one pair of arm members l_1, l_2 having b
A joint device in which a rotary actuator 3 for relatively rotating each arm member l_1, l_2 is provided between them.