KR910000861B1 - Robot - Google Patents

Abstract

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Description

Articulated robot

1 and 2 are views of embodiments of the articulated robot of the first and second inventions of the present invention, in which FIG. 1 is an overall front view of a longitudinal section of the main part, and FIG.

3 is a longitudinal cross-sectional view of an essential part of a modification of the articulated robot of the first and second inventions of the present application.

Figure 4 is a front view in longitudinal section of the main part of a conventional articulated robot.

* Explanation of symbols for main parts of the drawings

1: robot base 2: turning table

3: first arm 4: second arm

5: Wrist 5a: Wrist Flange

6: Swivel Drive Motor 7: First Arm Swivel Motor

8: 2nd arm swinging motor 9: wrist swinging motor

10: wrist flange rotation motor 37, 39, 40, 42: pulley

38,41: Timing belt 43,44: Bevel gear

50: first reducer 51: second reducer

52: wrist swing shaft 53: wrist support shaft

The present invention relates to a five-axis articulated robot having a pivot table, a first arm, a second arm, and a wrist, wherein the wrist is free of swinging or the wrist is free to swing and the wrist flange is free to rotate. will be.

A conventional 5-axis articulated robot is shown in FIG. (1) is the robot base, (2) the pivot arm, (3) the first arm, (4) the second arm, (5) the wrist, (5a) the wrist flange, and (6) the pivot. Large driving motor, (7) the first arm swing motor, (8) the second arm swing motor, (9) wrist swing motor, (10) wrist flange rotation motor All motors are geared with gearheads.

Then, the first arm 3 and the second arm 4 are connected to the pair of flanges by a connection block 11 free of relative rotation, and the deceleration output shaft of the second arm swing motor 8 has one end. Since it is directly connected to the 2nd arm 4 and the 2nd arm rotation shaft 12 fixed, the 2nd arm 4 is able to turn by the drive of the 2nd arm turning motor 8. As shown in FIG.

The wrist swing motor 9 is uniaxial with the first arm pivot motor 7 and is fixed to the first arm 3 so that the first arm 3 is sandwiched between the pivot arm 2. And is fixed to the turning table 2 through the bracket 13, and the motor rotational force is pulley 14, timing belt 15, pulley 16, hollow outer shaft 17, When the wrist 5 is transmitted to the wrist rotating shaft 21 via the pulley 18, the timing belt 19, and the pulley 20, the wrist 5 may swing, and thus, the first arm 3 may be maintained while maintaining the same wrist posture. And / or can be displaced in accordance with the turning of the second arm 4. And 22 is a blank flange.

In the articulated robot having the above configuration, the connection block 11, the second arm rotating shaft 12, and the hollow outer shaft 17 have a triple structure, and the power transmission means is housed in the arm, which makes the assembly and maintenance very difficult. have.

Moreover, since the 2nd arm turning motor 8 and the wrist swing motor 9 protrude more than the 2nd arm 3, the appearance of a robot is injured.

On the other hand, since the wrist flange rotating motor 10 is provided in the wrist 5, the wrist 5 becomes large in size and heavy.

The first invention of the present application can be provided to attach the wrist swing motor inwardly does not protrude outward with respect to the second arm, or to attach inwardly which does not protrude outward, or substantially outwardly. At the same time, the power transmission means can be provided to be attached to the outside, so that the connection between the first arm and the second arm is easy, the assembly and maintenance are good, and the robot appearance is smooth and smooth articulated robot.

The second invention of the present application may be provided so that the wrist swing motor and the wrist flange swing motor is attached to the inside of the second arm does not protrude outward, but is substantially attached to the outside. It can be attached to the outside to facilitate the connection between the first arm and the second arm, and at the same time, it is possible to reduce the wrist size and light weight, and to assemble and maintain the robot. Is in.

The articulated robot of the first invention of the present application includes a pivot table, a first arm, a second arm, and a wrist, and the wrist is free of swinging, or the wrist is free to swing and the wrist flange is rotatable. In the free 5-axis multi-joint robot, the first motor accommodating hole is drilled in the arm shaft plate of the second arm, through which the wrist swing motor is accommodated in the second arm and the wrist swing motor The output shaft protrudes from the arm shaft plate, and the shaft end of the wrist swing shaft on the same side as the output shaft of the wrist swing motor protrudes from the arm shaft plate, and the output shaft of the wrist swing motor and the wrist swing shaft It is characterized in that the end of the shaft is connected by a winding transmission means.

The articulated robot of the second invention of the present invention includes a pivot arm, a first arm, a second arm, and a wrist, wherein the wrist is free of swinging and the wrist flange is free of rotation. The first motor accommodating hole is drilled in the arm shaft plate of the second arm, through which the wrist swing motor is accommodated in the second arm, and the wrist is supported at both ends of the output shaft and the second arm of the motor. The wrist and the wrist oscillation shaft fixed as one of a pair of shafts to the left and right, which are the centers of rotation and rotation of the wrist oscillation, are connected by the first winding transmission means to the outside of the arm shaft portion, The motor receiving hole of 2 is drilled so that the wrist flange rotating motor is accommodated in the second arm, and the wrist is supported at both ends with respect to the output shaft and the second arm of the motor to rotate the rotation center of the wrist rotation. The wrist support shaft freely rotated relative to the wrist from the other side of the pair of shafts to the left and right of the pair is connected by the first winding transmission means and by the second winding transmission means to the outside of the arm shaft plate on the opposite side. will be.

Next, an embodiment of the articulated robot of the first and second inventions of the present application will be described with reference to FIGS. 1 and 2.

The articulated robot is a five-axis type, where (1) is the robot base, (2) the pivot, (3) the first arm, (4) the second arm, (5) the wrist, and (5a) Wrist flange, (6) pivot drive motor, (7) first arm swing motor, (8) second arm swing motor, (9) wrist swing motor, (10) Is a motor for rotating the wrist flange, and 23 is a speed reducer. (6) and (7) are motors mounted on the reducer.

The first arm rotating shaft 24 is supported on the pivot table 2 via the bearings 25 and 26, and has a first arm (eg, a virtue connecting flange 24a on the outer end of the first arm side). A flange end is fitted to the hole provided in 3), and it is clamped by the bolt 27 in the inside of the 1st arm 3. As shown in FIG. The gear 30 which is bitten by the reduction gear output shaft of the 1st arm turning motor 7 is meshed with the gear 29 bitten by the 1st arm rotation shaft 24. As shown in FIG. Furthermore, the reduction gear part of the 1st arm turning motor 7 penetrates inside the turning table 2, and is fixed by a bowl.

Since the wrist swing motor 9 is mounted on the second arm 4 instead of the conventional first arm 3, the connection between the first arm 3 and the second arm 4 is based on the second arm rotation shaft. It is finished only by connection by 31.

The second arm rotating shaft 31 is supported by the first arm 3 via the bearings 32 and 33, and has a second arm with a connecting flange 31a attached to the outer end of the second arm. The flange end is engaged with the hole provided in (4), and it is clamped by the bolt 34 in the inside of the 2nd arm 4. As shown in FIG.

In addition, since the wrist swing motor 9 is mounted on the second arm 4, the second arm swinging motor 8 and the reducer 23 are accommodated inside the first arm 3 so as to accommodate the second arm. The bevel gear 35 which is bitten by the rotating shaft 31 and the bevel gear 36 which is bitten by the output shaft of the reduction gear 23 of the reduction arm 23 of the 2nd arm swinging motor 8 are emptied by the cover 45. .

The wrist swing motor 9 is smart and slender and is secured with a bowl by inserting it into a housing formed inside the second arm 4 to improve the appearance of the robot. Further, the wrist swing motor 9 has a side pulley 37, a timing belt 38, a pulley 39 attached to the outside of the second arm 4 and a first reducer via a power transmission means ( It is possible to swing the wrist (5) via 50 and the portion attached to the outside is negatively covered by the cover (46).

The wrist flange rotating motor 10 is drilled on one arm side wall in the second arm 4 instead of the inside of the wrist 5 to improve the assemblability and maintainability by making the wrist 5 compact and lightweight. It received through the hole and fixed the flange of the motor head to the other side wall with a bolt, and the pulley 40, the timing belt 41, the pulley via the power transmission means attached to the outside of the second arm (4) (42), the bevel gears (43), (44), and the second reducer (51) can be pivoted through the wrist flange (5a), and the cover 47 is tainted. 48 and 49 are also covers.

2 is a detailed cross-sectional view of the wrist portion.

A harmonic drive is used for the first and second reduction gears 50 and 51. The harmonic drives 50 and 51 are of a flat type, and each wrist oscillation shaft 52 is disposed so as to substantially sandwich the wrist 5 between the two-stranded ends of the second arm 4. ) Or a flex spline that is bitten to be integral with the vibratory generator 50a or 51a, which is integrally bitten by the wrist support shaft 53, and the vibratory generator 50a or 51a. 50b or 51b, and circular splines 50c, 50d, 51c, 51d, etc. which internally engage and flex with the splines 50b, 51b. The wrist swing shaft 52 and the wrist support shaft 53 are input shafts of the harmonic drive 50 and 51, respectively, and the flex splines 50b and 51b are the air coolers in the driving pulley. The splines 50c and 51c correspond to the driven pulley in which the differential coolers 50d and 51d are differentially rotated in the middle pulley fixed to the 2nd arm. Further, the thermoacoustic spline 50d of the harmonic drive 50 is fixed to the wrist 5, and the thermoacoustic spline 51d of the harmonic drive 51 is interposed between the bevel gear 43 through the rotary ring 54. And the bevel gear 43 is connected to rotate the wrist flange 5a as the bevel gear 43 is engaged with the bevel gear 44 fixed to the proximal end of the rotation shaft 55 of the wrist flange 5a.

And the wrist swing shaft 52 is fixed to the outer end pulley 39 is connected to the pulley 37 of FIG. 1 by the timing belt 38, and is thus rotated by the motor (9) because of this harmonic The drive 50 is decelerated to swing the wrist. On the other hand, the wrist support shaft 53 has a pulley 42 fixed to the outer end thereof, and is connected to the timing belt 41 and the poly 40 of FIG. 1 and is thus rotated by the motor 10. The drive 51 is decelerated to rotate the wrist flange 5a via the bevel gears 43 and 44.

Since it is configured as above, when assembling the robot base, the turning table, the turning table driving motor, the first arm swinging motor, the first arm rotating shaft and the gear, etc., the first unit is used. 2nd arm turning motor, reducer, 2nd arm rotation shaft and bevel gear, etc. are used as the 2nd unit, 2nd arm, wrist rotation motor, wrist flange rotation motor, rotational force cutting means, and It is possible to assemble the wrist and the like as a third unit by using the third unit, as well as to easily assemble each unit according to the bolt, and the robot appearance is smart and slender.

[Modification]

3 is a modification of the present invention. The motors 9 and 10 come closer to the wrist 5 when compared with the embodiment, so that the second arm 4 is not the whole but only the upper half of the motor box, which is light in weight.

And since the motors 9 and 10 approached the wrist 5, the counterweight 56 was fixed to the lower end of the second arm 4, and one side of the second arm 4 had a large cover ( 57)

For this reason, in the result, the whole is box-shaped and the weight is also substantially the same as the case of FIG. According to this modification, when the second arm 4 is made of casting, the price is reduced and the pulley 37 is attached to the outside, and the timing belt 38 is more easily wound than in the embodiment.

As described above, the articulated robot of the first invention of the present application includes a pivot table, a first arm, a second arm, and a wrist, and the wrist is free of swinging or the wrist is free to swing and In the 5-axis multi-joint robot with free rotation of the wrist flange, the arm side plate has the first motor demand hole, and through this hole, the wrist swing motor is accommodated in the second arm. Since the shaft end of the wrist swing shaft on the same side protrudes more than the arm side plate, and the ends of both shafts are connected by the winding transfer means, the wrist swing motor does not protrude outward with respect to the second arm. In fact, it can be provided to be attached to the outside, and at the same time, a power transmission means composed of pulleys and timing belts can be provided to be attached to the outside. As a result, as compared with the conventional case in which the wrist swing motor is provided on the first arm, assemblability and maintainability are improved.

In addition, since the wrist swing motor can be accommodated in the second arm, as in the embodiment, the first arm and the second arm can be directly connected to the second arm rotation shaft instead of the triple connection structure as in the prior art. The connection of the arm with the second arm is easy, and assembly and maintenance are improved in this respect.

Furthermore, since the wrist swing motor is installed in the second arm, the second arm swinging motor and the reducer can be accommodated in the first arm with a margin in the first arm. As a result, the appearance of the robot becomes smart and smooth.

In addition, the articulated robot of the second invention of the present invention includes a pivoting arm, a first arm, a second arm, and a wrist, the wrist of which is free to rotate and the wrist flange freely rotates in a five-axis articulated robot. The first and second motor accommodating holes are drilled in the arm side plate to allow the wrist swing motor and the wrist flange swing motor to be positioned back and forth with respect to the wrist direction and to face each other in opposite directions. The wrist swing motor and the wrist flange swing motor are respectively disposed outside the second arm because the winding transmission means for the wrist swing and the wrist flange swing are respectively provided to the outside of the second arm. Inward attachment that does not protrude toward, but can be arranged to be substantially outward, and at the same time the rotation of the motor is controlled by the rotation of the wrist or the rotation of the wrist flange. Each transmission means consisting of a pulley for transmission and a timing belt can be provided to be attached to the outside, which is why the wrist swing motor and the wrist flange swing motor are provided on the first arm or wrist as in the prior art. Improved assembly and maintainability, it is possible to reduce the size and lightweight structure of the wrist.

In addition, since the wrist swing motor is accommodated in the second arm, as in the embodiment, the first arm and the second arm can be directly connected to the second arm rotation shaft instead of the triple connection structure as in the prior art. The connection of the arm is easy, and assembly and maintenance are improved in this respect.

In addition, since the wrist swing motor is installed on the second arm, the first arm can easily accommodate the second arm swinging motor and the reducer in the first arm. The robot's appearance is smart and sleek.

Claims (2)

On the free end of the first, second arms (3), (4) and the second arm (4) farthest from the turning table, which are mutually spoken by the arm turning motor so as to be pivotable in the vertical direction. In the articulated robot having a wrist supported at least by the wrist swing motor (9) to be able to swing upward and downward, the second arm (4) is capable of maintaining the wrist swing motor (9) from the outside. The pulley 39 fixed to the support shaft of the wrist with respect to the pulley 37 of the wrist swing motor 9 is installed to protrude to the outside of the arm side plate, and the pulley 37 and the pulley ( An articulated robot, with the timing belt 38 in between. Freedom of the first, second arms (3), (4) and the second arm (4) farthest from the turntable, which are mutually spoken by the arm swing motor to be pivotally supported in the up-and-down direction at the turning target. The wrist supported at the end is rotatably supported by the wrist swing motor 9 and rotatably supported in the left and right directions by the wrist flange rotation motor 10 installed in the second arm 4. In the articulated robot provided, the second arm (4) is installed in such a way that a wrist swing motor (9) and a wrist flange rotation motor (10) can be inserted in a serviceable manner from the outside. A pulley 39 fixed to the support shaft of the wrist with respect to the pulley 37 of the dragon motor 9 is provided to protrude to the outside of the arm side plate, and the timing belt 41 is located between the pulley 37 and the pulley 39. Articulated robot.

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