JPS6284984A - Industrial robot 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] The present invention relates to an improvement of an arm drive mechanism of an industrial robot device.

[Prior Art] First, a conventional power transmission means of a gear-driven robot arm will be explained with reference to FIGS. 2(a) and 2(b). Figure 2 (a
) is an internal structural diagram of the robot arm showing the drive means of the robot arm. In Figure 0, (1) is fitted and fixed to the input shaft (2), and rotates as the input shaft (2) rotates. The input side gear (3) is a rotatable output side gear that meshes with the input side gear (1) and is fitted and fixed to the output shaft (4a) which is a support shaft, and this output side gear (3) The number of teeth is greater than that of the input gear (1) for deceleration.

Note that the axial directions of the input shaft (2) and the output shaft (4) serving as the support shaft are perpendicular to each other. (5) and (8) are bearings using bearings etc. that rotatably support the input shaft (2) and output shaft (4), respectively, and are attached to the input arm (7) of the industrial robot device. Fixed. This input side arm (7
) Inside are the input shaft (2), input gear (1), output gear (3), bearing (5), part of the bearing (6), and output shaft (4).
) are stored.

(8) is fixed to the output shaft (4) with one weight, and
) is an output side arm that swings around the axis of the output shaft (4), and this output side arm (8) is pivotally supported by the input side arm (7). There is.

These input side gear (1), input shaft (2), output side gear (
3), output shaft (4), bearings (5), (6), input side arm (7), and output side arm (8).
) is configured. Further, a gear mechanism (lO) is constituted by two gears: an input side gear (1) and an output side gear (3).

In addition, in the figure, the input shaft (2), the input side arm (7)
, a part of the output side arm (8), etc. are omitted.

The power transmission means of a gear-driven robot arm in a conventional industrial robot device is configured as described above, and rotates the input shaft (2) with power from a power source (not shown) to drive the input side gear (1). When rotated, this input gear (
The output gear (3) meshed with the output gear (3) rotates while being reduced in speed according to the reduction ratio of the gear, and the torque is increased by 10 in accordance with the reduction ratio. As the output side gear (3) rotates, the output side arm (8), which is integrally fixed to the output shaft (4), swings via the output shaft (4). The arm (8) obtains the required relative position and relative angle with respect to the input side arm (7).

Therefore, the driving force is transmitted from the input arm (7) via the gear mechanism (10) to the output arm (8) pivotally supported by the input arm (7). ′ [Problems to be solved by the invention] It is generally desired that the robot arm of an industrial robot device has a thin shape to avoid interference with peripheral devices, but the conventional gear-driven robot arm as described above The power transmission means has an input side arm (7) and an output side arm (8).
) is driven from only one side, so a large load torque is applied to the output gear (3).As a result, the output gear (3) becomes larger due to its strength, and the input arm that houses it (7) also needs to be large, so
There is a problem in that miniaturization of the joints and arm system (9) of the client is restricted.

Furthermore, since the output shaft (4) is supported only by the bearing (6), there is a problem that the output shaft (4) is weak in strength and is prone to failure.

This invention solves the above-mentioned problems, and aims to provide an industrial robot device having a robot arm with a narrow arm shape under the same arm system load conditions.

[Means for Solving the Problems] An industrial robot device according to the present invention includes a robot arm that transmits driving force to an output arm pivotally supported by an input arm via a gear mechanism. An arm is provided on both sides of the output side arm so as to sandwich the output side arm and pivotally supported, and a gear mechanism for transmitting driving force to the support shaft of the output side arm is installed on the input side of both sides of the output side arm. These are provided separately on each arm.

[Function] In this invention, the output side arm is supported on both sides, and the support shaft is driven by a gear mechanism provided separately on both input side arms, so the gear mechanism can be miniaturized. As a result, the robot joints and arm system can be made smaller in size.

[Example code] An embodiment of the present invention will be described below with reference to FIG. 1(a).

This will be explained with reference to (b). FIG. 1(a) is a diagram of the internal structure of the robot arm showing the driving means of the robot arm. In FIG. The input side gears (3a) and (3b) rotate with the input side gears (la) and (lb), respectively, and are engaged with the output shaft (4) which is the support shaft.
A), (4b) are rotatable output side gears that are fixed at one position. ) is used for deceleration.

In addition, the input shaft (2a), the output shaft (4a), and the input shaft (2b
) and the output shaft (4b) are orthogonal to each other,
The axes of the output shafts (4a) and (4b) are aligned.

(5a).

(6d) are bearings using bearings etc. that rotatably support the input shaft (2a) and the output shaft (4a), respectively.
(5b), (8b) are also the bearings (5a), (8
Similar to a), these are bearings that rotatably support the input 4ih (2b) and output shaft (4b), respectively. (7a) is the input side arm of one of the robot arms of the industrial Kawaguchi bot device, and the input shaft (2
a), a gear mechanism (10a) composed of an input side m1tt (1a) and an output side gear (3a), a bearing (5a),
Part of the output shaft (4a), part of the bearing (6a), etc. are housed inside, and the bearings (5a) and (8a) are fixed.

On the other hand, (7b) is one of the input side arms of the robot arms whose configuration is symmetrical to this input side arm (7d), including an input shaft (2b), an input side gear (1b), and an output side gear (3b). ), a bearing (5b), a part of the output shaft (4b), a part of the bearing (6b), etc. are housed inside, and the bearings (5b) and (eb) are fixed. ing.

(8) is fixed to the output shafts (4a), (4b) as support shafts with one weight, and as the output shafts (4a), (4b) rotate, the output shafts (4a), (4b) It is one of the output side arms of the robot arm that swings around its axis, and is pivotally supported by the input side arms (7a) and (7b) from both sides. These input side gears (la
), (Ib), input + l + (2a), (2b),
Output side gears (3a), (3b), output shaft ('4a),
(4b), bearing (5a,), (5b), (6a), (
Gb), input arm (7a), (7b), el
The arm system (9) is constituted by the force side child side arm).

In addition, the gear mechanism (10a) is connected to the input side gear (1b) by two gears, the input side gear (1a) and the output side gear (3a).
) and the output side gear (3b) make up the gear mechanism (
10b) respectively, and the output shaft (4a
), (4b), but the number of gears is not limited to two, and a gear train using three or more gears may be used. In addition, FIG. 1(a).

(b) shows input shafts (2a), (2b), input side boot z
==(7a)+(7b), a part of the output side arm (8), etc. are omitted. In addition, the input side gear (1
The reduction ratios of a) and the output gear (3a), and the input gear (lb) and the output gear (3b) are completely the same. Therefore, the input side gears (la) and (lb) have the same number of teeth,
Output side gear (3a).

It is desirable that the number of teeth in (3b) be the same.

Next, the operation of the above-described embodiment configured as above will be explained. Due to the power from a power source (not shown), the operation timing, rotational speed, and rotational acceleration completely match and rotate in opposite directions in synchronization (for example, in the direction of rotation indicated by the arrow in FIG. 1(a)).
is applied to the input shafts (2a) and (2b), respectively, and the input side gears (la) and (lb) are rotated in the opposite direction, meshing with the input side gears (1a, ) and (lb). The output side gears (3a) and (3b) are reduced in accordance with the reduction ratio of the gears and rotated in the same direction at the same speed, and the torque is increased in accordance with the reduction ratio. Output side gear (3a)
, (3b) rotates the output shaft (4a), which is the support shaft.
, (4b), the output shaft (4a), (4b)
The output side arm (8), which is fixed to the input side arms (7a) and (7b), swings, thereby causing the output side arm (8) to move to the required relative position and position relative to the input side arms (7a) and (7b). You will get the angle.

Therefore, the load on the arm system (9) configured as shown in FIGS. 1(a) and (b) is the gear mechanism (10a), (1
0b), and the 21st ffl (a)
, (b), each gear can be made smaller compared to the two-wheel a structure ((10) in FIGS. 2(a) and (b)) of the arm system (9) having the configuration shown in FIGS. Furthermore, each gear (la), (lb), (
If a reduction gear that generates thrust force during driving, such as a bent bevel gear (spiral bevel gear), is used as 3a) or (3b), the output side gear (3a)
By appropriately selecting the torsion directions of the teeth (3b) and (3b) and matching the input gears (la) and (lb), the thrust forces cancel each other out, and as a result, the bearing (
8a) and (6b) can be made smaller.
In the embodiment, the gears are (la), (lb), and (3a).

Although the speed reduction mechanism using a curved bevel gear has been described as (3b), it is obvious that similar actions and effects can be obtained using a speed reduction mechanism using a trochoid gear, a worm gear, or the like.

In addition, in the embodiment L, the output side gears (3a) and (3b
), the case where the output shafts (4a) and (4b) are provided on the output side of the output shaft (4a) and (4b) has been explained.
4b) is one shaft, and the output side arm (8
) may be fitted and fixed.

Furthermore, although it is assumed that Minami・1 (mechanisms (10a) and (10b) constitute a deceleration mechanism, it is also possible to configure a speed increase or rotation speed mechanism by appropriately including the number of teeth in each of them. The same effect as above can be obtained.

By the way, the means for supporting the output side arm (8) has conventionally been a cantilever type in which the output side arm (8) is supported only by one bearing (bearing (6) in Fig. 2(a)). 8) is supported on both sides by two bearings (8a) and (Eib), so it is strong and even if a slightly excessive external force is applied to the output side arm (8), This has the effect of making it difficult for the robot arm to break down.

[Effects of the Invention] As explained above, the present invention is configured such that the output arm is sandwiched between the input arm and pivoted on both sides, and the input arm on both sides is provided with a gear mechanism separately, and is supported from both sides. Since it is configured to transmit driving force to the shaft, the load is distributed and components such as gear shafts and bearings are made smaller.
This has the effect of making the joints and arm systems of industrial robot devices thinner.

[Brief explanation of drawings]

FIG. 1(a) is an internal structural diagram of a robot arm showing an embodiment of the present invention, and FIG. 1(b) is an I-
A view along line I, Figure 2(a) is an internal structure diagram of a conventional robot arm, and Figure 2(b) is a diagram showing II in Figure 2(a).
- It is an arrow view along the II line. In the figure, (4a) and (4b) are the support shafts (output shafts), (7a)
, (7b) is the robot arm (input side arm), (8
) is the robot arm (output side arm), (10a),
(10b) is a gear mechanism. Note that the same reference numerals in each figure indicate the same or corresponding parts. Agent Masuo Oiwa Diagram 2 Procedural Correction Sound (AutoR) Showa, Tongue September 17th

Claims (2)

[Claims] (1) In an industrial robot device equipped with a robot arm that transmits driving force via a gear mechanism to an output arm that is pivotally supported by an input arm, both sides that sandwich the output arm and that are pivotally supported An industrial robot device characterized in that an input side arm is provided, and a gear mechanism for transmitting driving force to a support shaft is separately provided on both input side arms. (2) The industrial robot device according to claim 1, wherein the gear mechanism is a speed reduction mechanism.