KR20240028238A - Vertical articulated robot capable of varying speed and torque of end-effector - Google Patents

Abstract

The present invention relates to a vertical articulated robot capable of variable speed and variable torque control of the end effector.
The vertical articulated robot capable of variable speed and torque of the end effector according to the present invention includes a 5-axis shaft and a 6-axis shaft driven by respective motors; A 5-axis bevel gear (A) whose other end is connected to the 5-axis shaft and one end of which is formed as a bevel gear mountain, and which is rotatably supported on the 6-axis shaft via a bearing; A 5-axis bevel gear (B) meshed with the thread of the 5-axis bevel gear (A) at one end of the 5-axis shaft to convert the rotation axis to a right angle, and coupled to the input shaft of the 5-axis reducer and fixed by a first nut. ; A 6-axis bevel gear is positioned at the tip of the 6-axis shaft while being fixed by a second nut and has a bevel gear mount that meshes with a bevel gear mount formed at one end of the 6-axis bevel gear (B) that switches the rotation axis in the right angle direction. (A); At one end, a bevel gear mountain is formed and meshed with the 6-axis bevel gear (A), and at the other end, a 6-axis bevel gear (B) is formed with a first double spur gear; At one end, a bevel gear mountain is formed and meshed with the 6-axis bevel gear (D), and at the other end, a second double spur gear is formed and meshed with the 6-axis bevel gear (B), a 6-axis bevel gear (C); And a 6-axis bevel gear (D), one end of which is formed with a bevel gear mountain and meshed with the 6-axis bevel gear (C), and the other end of which is fixed to the input shaft of the 6-axis reducer by a third nut. The double spur gear includes first and second variable spur gears having different gear ratios in the up and down (or left and right) directions, and the second double spur gear includes third and second variable spur gears having different gear ratios in the up and down (or left and right) directions. It includes a fourth variable spur gear, and a moving coupler is connected to one end of the first double spur gear so as to rotate, the circular rack gear is engaged with the outer periphery of the moving coupler, and the circular rack gear is at the center of the circular rack gear. The pinion may be fastened, and a step motor may be connected to the tip of the pinion.

Description

Vertical articulated robot capable of variable speed and torque of end effector {VERTICAL ARTICULATED ROBOT CAPABLE OF VARYING SPEED AND TORQUE OF END-EFFECTOR}

The present invention relates to a vertical articulated robot, and more specifically, to a vertical articulated robot capable of variable speed and variable torque control of an end effector.

In general, as all industries became mechanized and automated, the need for mechanical devices that could replace humans came to be felt.

Therefore, robots, automatic machines that perform functions similar to human hand, leg, and head functions, were born.

The birth of robots makes it possible to work under adverse conditions that are difficult for humans to do, and they are also suitable for precision work, so their use area is gradually expanding.

In the development of such robot systems, the design of the mechanism has two main purposes.

First, as a part of the system, it has the functions and performance required by the system and achieves the desired purpose by combining it with other parts of the system, and second, it has various mechanical characteristics that the robot mechanism must have, such as repeatability, precision, vibration characteristics, and maintenance. The goal is to have excellent performance in terms of maintainability, production cost, etc.

This is because even if the robot body demonstrates sufficient performance as part of the system, the robot can be used independently for other tasks.

Six-axis vertical articulated robots are being used across industrial fields to have a structure and multiple degrees of freedom movement most similar to a human arm.

The vertical articulated robot is equipped with a base, and the shoulder part is coupled to the upper part of the base and rotates up and down within a certain range around the rotation axis of the coupling part.

An arm is coupled to the upper part of the shoulder, and it also rotates up and down in the full range of motion around the rotation axis of the coupling portion.

And the wrist is attached to the end of the arm and work is done in this part.

At this time, the power to rotate the shoulder unit connected to the upper part of the base up and down is generated by a two-axis drive motor installed at the location where the upper part of the base and the lower part of the shoulder unit are connected, and the power to rotate the arm up and down with respect to the shoulder unit is provided by the shoulder unit. It is powered by a 3-axis drive motor installed at the location where the upper part and the rear end of the arm are joined.

Six-axis vertical articulated robots with this basic structure are used in a wide variety of industrial fields, and are classified into various shapes and sizes depending on their purpose, size, and weight, and their precision is also gradually improving.

In addition to accuracy, what is important is not to cause errors. In order to operate repeatedly and prevent errors due to fatigue over a long period of time, there is a need for continuous research, such as improvement of the internal fastening structure.

In particular, if the target object is a large heavy object that needs to be handled or moved to a safe place, and thus requires a very large force, a method of applying a reducer with a high reduction ratio on the output side to greatly amplify the torque may be applied. Depending on the situation, there may be cases where high speed is required without handling large heavy objects.

If the speed and torque can be changed by changing the reduction ratio accordingly, the usability will be greatly increased.

Patent document: Republic of Korea registered patent 10-1485862 Patent document: Republic of Korea Patent Publication 10-2018-0048216 Patent document: Republic of Korea registered patent 10-2032374

The object of the present invention to solve the above-described conventional problems is to control the variable speed and variable torque of the end effector of the vertical articulated robot.

In addition, the aim is to provide a vertical articulated robot that enables handling of large heavy objects by using a reducer with a high reduction ratio, and can operate at high speeds without handling large heavy objects by changing speed and torque.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below. will be.

A vertical articulated robot capable of variable speed and torque of an end effector according to the present invention to solve the above-described problems includes a 5-axis shaft and a 6-axis shaft driven by respective motors; A 5-axis bevel gear (A) whose other end is connected to the 5-axis shaft and one end of which is formed as a bevel gear mountain, and which is rotatably supported on the 6-axis shaft via a bearing; A 5-axis bevel gear (B) meshed with the thread of the 5-axis bevel gear (A) at one end of the 5-axis shaft to convert the rotation axis to a right angle, and coupled to the input shaft of the 5-axis reducer and fixed by a first nut. ; A 6-axis bevel gear is located at the tip of the 6-axis shaft while being fixed by a second nut and has a bevel gear mount that meshes with a bevel gear mount formed at one end of the 6-axis bevel gear (B) that switches the rotation axis in the right angle direction. (A); At one end, a bevel gear mountain is formed and meshed with the 6-axis bevel gear (A), and at the other end, a 6-axis bevel gear (B) is formed with a first double spur gear; At one end, a bevel gear mountain is formed and meshed with the 6-axis bevel gear (D), and at the other end, a second double spur gear is formed and meshed with the 6-axis bevel gear (B), a 6-axis bevel gear (C); And a 6-axis bevel gear (D), one end of which is formed with a bevel gear mountain and meshed with the 6-axis bevel gear (C), and the other end of which is fixed to the input shaft of the 6-axis reducer by a third nut. The double spur gear includes first and second variable spur gears having different gear ratios in the up and down (or left and right) directions, and the second double spur gear includes third and second variable spur gears having different gear ratios in the up and down (or left and right) directions. It includes a fourth variable spur gear, and a moving coupler is connected to one end of the first double spur gear so as to rotate, the circular rack gear is engaged with the outer periphery of the moving coupler, and the circular rack gear is at the center of the circular rack gear. The pinion may be fastened, and a step motor may be connected to the tip of the pinion.

Here, it is preferable that the first variable spur gear has a gear ratio and gear outer diameter meshed with the third variable spur gear, and the second variable spur gear has a gear ratio and gear outer diameter meshed with the fourth variable spur gear. .

Here, as the step motor is driven, the pinion rotates and interlocks to rotate the circular rack gear, the moving coupler engaged with the circular rack moves up and down (or left and right) in a straight line, and the moving coupler According to the direct movement, the gear is shifted by the up and down (or left and right) linear movement of the first double spur gear linked thereto, thereby realizing variable speed and torque.

Here, the fastening surface of the first nut has an inclined surface, the 5-axis bevel gear (A) has an inclined groove to be fastened correspondingly, and a shim (shim) is provided on the opposite side of the inclined groove between the 5-axis reducer and the 5-axis reducer. ) It is desirable for a core protruding surface to be formed to play a role.

Here, the fastening surface of the second nut has an inclined surface and the six-axis bevel gear (A) has an inclined groove so as to be fastened correspondingly, and the fastening surface of the third nut has an inclined surface and is fastened correspondingly. The 6-axis bevel gear (D) preferably has an inclined groove.

Here, each of the 6-axis bevel gear (B) and the 6-axis bevel gear (C) is preferably formed as an integrated structure including a shaft, a bevel gear mount formed at one end of the shaft, and a spur gear mount formed at the other end.

According to the configuration of the present invention described above, it is possible to control the variable speed and variable torque of the end effector of the vertical articulated robot.

In addition, by using a reducer with a high reduction ratio, it is possible to handle large heavy objects, and by changing the speed and torque, it is possible to provide a vertical articulated robot that can operate at high speed without handling large heavy objects.

However, the effects of the present invention are not limited to the above effects, and may be expanded in various ways without departing from the spirit and scope of the present invention.

Figure 1 is a perspective view of a 6-axis vertical articulated robot according to an embodiment of the present invention.
Figure 2 is an internal structural diagram of the 5th and 6th axes (wrist axis) of a 6-axis vertical articulated robot according to an embodiment of the present invention.
Figure 3 is a structural diagram of the gear meshing arrangement of the 5th and 6th axes of the vertical articulated robot of the present invention.
Figure 4 shows the fixing structure of the 5-axis bevel gear (A) of the vertical articulated robot of the present invention.
Figure 5 shows the fixing structure of the 6-axis 5-axis bevel gear (A) of the vertical articulated robot of the present invention.
Figure 6 shows the fixing structure of the 6-axis 5-axis bevel gear (D) of the vertical articulated robot of the present invention.
Figure 7 is a diagram showing the gear shifting structure of the 6-axis portion of the vertical articulated robot according to an embodiment of the present invention.

Hereinafter, with reference to the attached drawings, the structure and operational effects of the vertical articulated robot capable of variable speed and torque of the end effector according to the present invention will be examined.

The detailed description of specific embodiments shown in the accompanying drawings is to be read in conjunction with the accompanying drawings, which are regarded as part of the overall description of the invention. References to direction or orientation are only for convenience of explanation and are not intended to limit the scope of the present invention in any way.

Specifically, terms indicating position such as "below, above, horizontal, vertical, top, bottom, upward, downward, upper, lower," or their derivatives (e.g., "horizontally, downward, upward") etc.) should be understood with reference to both the drawings being explained and the related description. In particular, these relative terms are only for convenience of explanation and do not require that the device of the present invention be configured or operated in a specific direction.

In addition, terms indicating the interconnection relationship between components, such as "mounted, attached, connected, connected, interconnected," refer to the state in which individual components are directly or indirectly attached, connected, or fixed, unless otherwise specified. It can mean, and this should be understood as a term that encompasses not only a movably attached, connected, or fixed state, but also an immovable state.

When adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

Figure 1 is a perspective view of a 6-axis vertical articulated robot according to an embodiment of the present invention.

As shown in FIG. 1, the vertical articulated robot 10 of the present invention is also generally called a robot arm or manipulate.

The vertical articulated robot 10 has a base 1 that pivots around a first axis (Axis 1).

The base 1 may be equipped with a rotating body 2 having a first joint that rotates around a first axis Axis 1, which is a vertical axis orthogonal to the horizontal plane.

“Joints” may include electromechanical elements such as motors and reducers that cause movement of the joints, and sensors that detect the rotation angle of the joint (joint variable).

The vertical articulated robot 10 has a second joint 3 connected to the base 1 and rotating around a second axis parallel to the horizontal plane (Axis 2), and a second joint 3 connected to the second joint 3. A first arm 4 rotating around an axis (Axis 2), and a second arm 4 connected to the first arm 4 and rotating around a third axis (Axis 3) parallel to the second axis (Axis 2) It has three joints 5 and a second arm 6 that is connected to the third joint 5 and rotates around a third axis (Axis 3).

The second arm 6 has a fourth joint 7 rotating around a fourth axis (Axis 4) perpendicular to the third axis (Axis 3), and a fifth axis orthogonal to the fourth axis (Axis 4). It has a fifth joint 8 that rotates around Axis 5, and a sixth joint 9 that rotates around a sixth axis Axis 6 orthogonal to the fifth axis Axis 5.

An end effector is attached to the tip of the sixth joint (9).

In the disclosure of the present invention, the fifth joint 8 and the sixth joint 9 form the wrist axis structure of a vertical multi-joint robot, and the structure and operating principle of the wrist axis will be described in more detail below.

Figure 2 is an internal structural diagram of the 5th and 6th axes (wrist axis) of a 6-axis vertical articulated robot according to an embodiment of the present invention.

The 5th and 6th axes of the 6-axis vertical articulated robot according to the present invention constitute the wrist axis.

As shown in FIG. 2, the wrist axis is connected to a 5-axis body 34 connected to a 4-axis body 33 (drawing symbol 6 (hollow cylindrical arm) in FIG. 1), and at one end of the 5-axis body 34. The connected 5-axis cover 36 and the 6-axis body 37 and 6-axis cover 38 connected to the other end of the 5-axis body 34 can form an appearance.

The 5-axis shaft 25 connected to the motor (not shown) has a 5-axis bevel gear (A) 23, the other end of which is connected to the 5-axis shaft 25 and one end of which has a bevel gear mount, which holds the bearings 15 and 26. It is rotatably supported on a 6-axis shaft 32.

The six-axis shaft 32 is rotatably positioned at the center to a motor (not shown).

The 5-axis shaft 25 is rotatably positioned on a motor (not shown), and a 5-axis bevel gear (A) (23) is connected to one end, and is meshed with the thread of the 5-axis bevel gear (A) (23). A 5-axis bevel gear (B) 24 that converts the rotation axis to the right angle direction is provided.

The 5-axis bevel gear (B) (24) is coupled to the input shaft of the 5-axis reducer (11) and fixed by a nut (20b).

A 6-axis bevel gear (A) (27) is located at the tip of the 6-axis shaft (32) while being fixed to the nut (20a), and the bevel gear mountain of the 6-axis bevel gear (A) (27) is positioned at a right angle to the rotation axis. It meshes with the bevel gear mountain formed at one end of the switching 6-axis bevel gear (B) (28).

The 6-axis bevel gear (B) (28) is rotatably supported by a bearing (19) within the bearing housing (39a).

A first double spur gear (28c) is formed at the other end of the 6-axis bevel gear (B) (28), and a 6-axis bevel gear (C) (29) having a second double spur gear (29c) meshed with the spur gear mountain. It meshes with.

The other end of the 6-axis bevel gear (C) (29) is formed with a bevel gear mountain, and meshes with the 6-axis bevel gear (D) (30), which has a bevel gear mountain that meshes with the bevel gear mountain to change the rotation axis to the right angle direction and rotates. do.

The 6-axis bevel gear (C) (29) is rotatably supported by a bearing (18) within the bearing housing (39b).

The 6-axis bevel gear (D) (30) is coupled to the input shaft of the 6-axis reducer (12) and fixed by a nut (20c).

An end effector may be fixed to the output side of the 6-axis reducer 12.

Unexplained symbols 13, 14, 16, 17, and 22 are bearings, 21 is a tightening nut that secures the 5-axis bevel gear (A) from the side, and 35 is a tightening nut that allows the 5-axis bevel gear (A) to rotate from the outer circumference. It is a supporting 5-axis holder (35).

Figure 3 is a structural diagram of the gear meshing arrangement of the 5th and 6th axes of the vertical articulated robot of the present invention.

Referring to Figure 3, the 5-axis bevel gear (A) (23) meshes with the 5-axis bevel gear (B) (24) and the bevel gear mountain to convert the rotation center axis to the right angle direction, and the 6-axis shaft (32) The 6-axis bevel gear (A) (27) fastened to the tip engages with the 6-axis bevel gear (B) (28) and the bevel gear mountains to convert the rotation center axis to the right angle direction.

The 5-axis bevel gear (B) (24) and the 6-axis bevel gear (B) (28) are arranged in the vertical direction with respect to the 6-axis shaft (32), and each rotation axis can be implemented to be arranged on the same straight line. there is.

Placing the rotation axes of the 5-axis bevel gear (B) (24) and the 6-axis bevel gear (B) (28) on the same straight line means that the central rotation axis and the rotation axis of the 6-axis bevel gear (D) (30) are on the same line. As with positioning, this is to balance the rotation of different objects, and also to prevent the size of the head of the vertical articulated robot from being unnecessarily large.

If the rotation axes of the 5-axis bevel gear (B) (24) and the 6-axis bevel gear (B) (28) are different, the size of the head is bound to be longer by the difference between the rotation axes.

For this purpose, in the present invention, the 5-axis bevel gear (B) 24 has a structure that protrudes in the shear direction more than the 6-axis bevel gear (B) 28, and the positions (g1, To ensure accurate engagement at g2), d1 (distance between the rotation axis of the 6-axis bevel gear (B) (28) and the meshed portion) and d2 (distance between the rotation axis of the 5-axis bevel gear (B) (24) and the meshed portion) ) can be determined by accurately setting.

Figure 4 is a fixing structure of the 5-axis 5-axis bevel gear (A) of the vertical articulated robot of the present invention, and Figure 5 is a fixing structure of the 6-axis 5-axis bevel gear (A) of the vertical articulated robot of the present invention. Figure 6 shows the fixing structure of the 6-axis 5-axis bevel gear (D) of the vertical articulated robot of the present invention.

Figures 4 to 6 are examples of improved fastening structures of gears and nuts to prevent a series of errors due to repetitive rotation operations.

The nut that secures the gear has a problem of loosening of the screw and backlash phenomenon due to fatigue caused by repetitive rotational movements and long-term use, and such small deformation can cause malfunction of the robot. You can.

Referring to Figure 4, it shows a connection diagram between the 5-axis bevel gear (B) (24) and the input shaft of the 5-axis reducer (11).

The 5-axis bevel gear (B) (24) is coupled to the input shaft of the 5-axis reducer (11) and is fixed by a nut (20b).

The fastening surface of the nut 20b has an inclined surface, and the 5-axis bevel gear (A) 24 has an inclined groove 117 to match this.

When the nut (20b) fixes the 5-axis bevel gear (A) (24) to the input shaft of the 5-axis reducer (11) by the inclined groove (117), the fastening strength and pressure are increased by the inclined surface and inclined groove (117). By doing so, it is possible to minimize the prevention of nut loosening.

In addition, on the opposite side of the inclined groove 117 (the tip of the 5-axis bevel gear (B) 24), a shim protrusion surface 115 is formed to serve as a shim between the 5-axis reducer 11, The strength of the fastening force is increased by the protruding surface 115, and the fastening force at both ends of the 5-axis bevel gear (B) 24 can be further strengthened.

Referring to Figure 5, it shows a connection diagram between the 6-axis bevel gear (A) (27) and the 6-axis shaft (32).

The 6-axis bevel gear (A) (27) is coupled to the 6-axis shaft (32) and fixed by a nut (20a).

The fastening surface of the nut 20a has an inclined surface, and the 6-axis bevel gear (A) 27 has an inclined groove 111 to match this.

When the nut 20a fixes the 6-axis bevel gear (A) 27 to the 6-axis shaft 32 by the inclined groove 111, the fastening strength and pressure are increased by the inclined surface and the inclined groove 111, It is possible to minimize the prevention of nut loosening.

Referring to Figure 6, it shows a connection diagram between the 6-axis bevel gear (D) 30 and the input shaft of the 6-axis reducer 12.

The 6-axis bevel gear (D) (30) is coupled to the input shaft of the 6-axis reducer (12) and is fixed by a nut (20c).

The fastening surface of the nut 20c has an inclined surface, and the 6-axis bevel gear (D) 30 has an inclined groove 121 to be fastened accordingly.

When the nut 20c fixes the 6-axis bevel gear (D) 30 to the input shaft of the 6-axis reducer 12 by the inclined groove 121, the fastening strength and pressure are increased by the inclined surface and the inclined groove 121. By doing so, it is possible to minimize the prevention of nut loosening.

Figure 7 is a diagram showing the gear shifting structure of the 6-axis portion of the vertical articulated robot according to an embodiment of the present invention.

The 6-axis bevel gear (B) (28) and the 6-axis bevel gear (C) (29) each have a shaft (28a, 29a), a bevel gear mountain (28b, 29b) formed at one end of the shaft (28a, 29a), and It includes first and second double spur gears (28c, 29c) formed at the other end.

The first double spur gear 28c includes first and second variable spur gears 28d and 28e having different gear ratios in the vertical direction, and the second double spur gear 28d has different gear ratios in the vertical direction. It includes third and fourth variable spur gears (29d, 29e).

The first variable spur gear 28d has a gear ratio and gear outer diameter meshed with the third variable spur gear 29d, and the second variable spur gear 28e has a gear ratio and gear meshed with the fourth variable spur gear 29e. It can have an outer diameter.

The first double spur gear 28c moves in an upward direction based on the drawing, and the second double spur gear 28d can be fixed.

At one end of the first double spur gear 28c, a moving coupler 41 is connected to rotate in conjunction with the first double spur gear 28c (rotating in conjunction with each other by fitting grooves and protrusions), and the moving coupler 41 ), a circular rack gear 44 is engaged with the outer periphery, a pinion 43 is fastened to the center of the circular rack gear 44, and a step motor 42 may be connected to the tip of the pinion 43.

As the step motor 42 is driven, the pinion 43 rotates and the circular rack gear 44 rotates in conjunction with it, and the moving coupler 42 engaged with the circular rack gear 44 moves back and forth (or up and down) in a straight line. ) It is possible to move, and according to the linear movement of the moving coupler 42, the first double spur gear 28c linked thereto can be moved forward and backward or straight up and down.

As the first double spur gear 28c moves linearly upward, the second variable spur gear 28e meshes with the fourth variable spur gear 29e to transmit rotational force (see (A) in FIG. 7), As the first double spur gear (28c) moves linearly downward, the first variable spur gear (28d) meshes with the third variable spur gear (29d) to transmit rotational force (see (B) in FIG. 7). .

In a state where the meshing of the spur gears is completed, the circular rack gear 44 is maintained in an unmeshed state as shown in (C) of FIG. 7 to enable rotation of the first double spur gear 28c.

For this reason, the circular rack gear 44 may be formed so that only the semicircular portion is threaded and the remaining portion is not threaded.

Referring to Figures 2 and 7, the 6-axis bevel gear (B) (28) meshes with the 6-axis bevel gear (A) at one end and the bevel gear mountain, and at the other end, one end of the 6-axis bevel gear (C) (29) The spur gears mesh with each other, and the other end of the 6-axis bevel gear (C) (29) has a structure in which the 6-axis bevel gear (D) (30) and the bevel gear mountain mesh with each other.

Each of the 6-axis bevel gear (B) (28) and the 6-axis bevel gear (C) (29) of the present invention has a structure in which a bevel gear mount is formed at one end and a double spur gear mount is formed at the other end.

Although the present invention as described in detail above has been described based on limited embodiments and drawings, the present invention is not limited thereto, and the present invention can be described by those skilled in the art to which the present invention pertains. Various modifications and variations are possible within the scope of equivalence of the spirit and scope of the patent claims.

However, it is clear that such simple modifications and variations cannot fall outside the scope of the present invention.

1: Base 2: Rotator
3: 2nd joint 4: 1st arm
5: 3rd joint 6: 2nd arm
7: 4th joint 8: 5th joint
9: 6th joint 10: vertical jointed robot
11: 5-axis reducer 12: 6-axis reducer
13, 14, 15, 16, 17, 18, 19, 22, 26: Bearing
20a, 20b, 20c: nuts
21: Tightening nut that secures the 5-axis bevel gear (A) from the side
23: 5-axis bevel gear (A) 24: 5-axis bevel gear (B)
25: 5-axis shaft 27: 6-axis bevel gear (A)
28: 6-axis bevel gear (B) 28c: 1st double spur gear
29: 6-axis bevel gear (C) 29c: 2nd double spur gear
30: 6-axis bevel gear (D) 32: 6-axis shaft
33: 4-axis body 34: 5-axis body
35: 5-axis holder 36: 5-axis cover
37: 6-axis body 38: 6-axis cover
39a, 39b: Bearing housing 41: Moving coupler
42: step motor 43: pinion
44: circular rack gear

Claims (6)

5-axis shaft and 6-axis shaft driven by respective motors;
A 5-axis bevel gear (A) whose other end is connected to the 5-axis shaft and one end of which is formed as a bevel gear mountain, and which is rotatably supported on the 6-axis shaft via a bearing;
A 5-axis bevel gear (B) meshed with the thread of the 5-axis bevel gear (A) at one end of the 5-axis shaft to convert the rotation axis to a right angle, and coupled to the input shaft of the 5-axis reducer and fixed by a first nut. ;
A 6-axis bevel gear is located at the tip of the 6-axis shaft while being fixed by a second nut and has a bevel gear mount that meshes with a bevel gear mount formed at one end of the 6-axis bevel gear (B) that switches the rotation axis in the right angle direction. (A);
At one end, a bevel gear mountain is formed and meshed with the 6-axis bevel gear (A), and at the other end, a 6-axis bevel gear (B) is formed with a first double spur gear;
At one end, a bevel gear mountain is formed and meshed with the 6-axis bevel gear (D), and at the other end, a second double spur gear is formed and meshed with the 6-axis bevel gear (B), a 6-axis bevel gear (C); and
At one end, a bevel gear mountain is formed and meshed with the 6-axis bevel gear (C), and at the other end, a 6-axis bevel gear (D) is fixed to the input shaft of the 6-axis reducer by a third nut,
The first double spur gear includes first and second variable spur gears having different gear ratios in the up and down (or left and right) directions, and the second double spur gear has different gear ratios in the up and down (or left and right) directions. It includes third and fourth variable spur gears,
A moving coupler is connected to one end of the first double spur gear to rotate, the circular rack gear is engaged with the outer periphery of the moving coupler, a pinion is fastened to the center of the circular rack gear, and the tip of the pinion A vertical articulated robot with variable speed and torque of the end effector, to which a step motor is connected. According to paragraph 1,
The first variable spur gear has a gear ratio and gear outer diameter meshed with the third variable spur gear,
The second variable spur gear has a gear ratio and gear outer diameter meshed with the fourth variable spur gear. A vertical articulated robot capable of variable speed and torque of the end effector. According to paragraph 1,
As the step motor is driven, the pinion rotates and interlocks to rotate the circular rack gear, the moving coupler meshed with the circular rack gear moves up and down (or left and right) in a straight line, and the moving coupler moves directly. A vertical articulated robot capable of variable speed and torque of the end effector, which is gear-shifted by linear movement up and down (or left and right) of the first double spur gear linked thereto. According to paragraph 1,
The fastening surface of the first nut has an inclined surface, and the 5-axis bevel gear (A) has an inclined groove to be fastened correspondingly,
A vertical articulated robot capable of variable speed and torque of the end effector, wherein a shim protrusion surface that serves as a shim is formed on the opposite side of the inclined groove and the 5-axis reducer. According to clause 4,
The fastening surface of the second nut has an inclined surface, and the 6-axis bevel gear (A) has an inclined groove to be fastened correspondingly,
The fastening surface of the third nut has an inclined surface, and the 6-axis bevel gear (D) has an inclined groove to be fastened correspondingly, a vertical articulated robot capable of variable speed and torque of the end effector. According to clause 4,
Each of the 6-axis bevel gear (B) and the 6-axis bevel gear (C) is formed as an integrated structure including a shaft, a bevel gear mount formed at one end of the shaft, and a spur gear mount formed at the other end, and the speed and torque of the end effector are variable. A vertical articulated robot capable of this.

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