Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J1/00—Manipulators positioned in space by hand
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
  • B25J9/1025—Harmonic drives
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J17/00—Joints
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
  • B25J9/046—Revolute coordinate type
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
  • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S414/00—Material or article handling
  • Y10S414/13—Handlers utilizing parallel links
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T74/00—Machine element or mechanism
  • Y10T74/19—Gearing
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T74/00—Machine element or mechanism
  • Y10T74/20—Control lever and linkage systems
  • Y10T74/20207—Multiple controlling elements for single controlled element
  • Y10T74/20305—Robotic arm
  • Y10T74/20323—Robotic arm including flaccid drive element

Definitions

• the present invention relates to an articulated robot widely used for industrial purposes, and more particularly, to at least two control arms and an articulation part of a two-arm control arm.
• the present invention relates to an articulation drive mechanism for a multi-joint robot having two opposing reducers on the same axis provided in the robot.
• FIG. 1 is a front view of this conventional example] 9
• Fig. 2 is a side view of the same example
• Fig. 3 is a first arm and a control arm shown in Fig. 1
• FIG. 4 is a detailed cross-sectional view of a joint driving portion of a second arm and a second arm.
• (1) is a fixed base
• (2) is a rotating table rotating on a fixed base
• (3) is a base fixed to a solid rotation table (2).
• the first motor (6) is operated.] 3, the first arm (4) swings back and forth, and the second motor (!
• the link support (10) moves up and down, and the first arm (4), the link (9) and the second arm ( 7 ) move in parallel.
• the second arm (7) moves up and down around the rotation center (8). That is, the first motor (S) and the second motor ttU are controlled.]
• the wrist (12) can be moved to any point in the plane.
• the rotation of the rotary table (2) can be added] 9, and it can be moved to any point in the space including both the left and right, enabling various operations.
• Fig. 3 (15) is a first bracket fixed to the base (3), and the first motor (6) is fixed to the base (3) in a projecting manner.
• . (1) is the 1st motor shaft, which is the output shaft of the 1st motor (6). Is the common name for the 1st sub-plane and 1st flex line described later.
• the first stage of the reduction gear which is called the "motor drive component"
• ⁇ is the first circular plane, which is fixed to the first motor shaft (1st bracket (15) concentrically with 1 ⁇ . (20) is the 1st flexure) Play , ( 2 is the first arm drive shaft, ® is the first bearing, and the first arm drive shaft (21) is fixed to one side of the first arm (4).
• the first bearing (refer to 23) supported by the bracket (15) is provided so that the first bearing ( 4 ) can swing concentrically with the first motor shaft da.
• the first flex line (20) is concentric with the first circulating line (19) and at a position where the teeth of each other mesh. It is fixed to the first arm drive shaft (21), (23) is the first bearing cover, which holds the first bearing (22) in the first bracket (15).
• (24) is a second bracket fixed to the base (3) on the side opposite to the first bracket (15), sandwiching the first arm ( 4 ).
• the inner diameter is fixed to the base (3) so that it is concentric with the first arm drive shaft (21) of the first arm (4).
• ⁇ is the second bearing] 9, using a conical roller bearing, interposed between the sleeve-shaped shaft W fixed to the other side surface of the first system (4).
• the first arm (4) is provided so as to be rotatably supported by the second bracket (24).
• (27) is a second bearing cover, which is provided with a screw portion (2) in the second bracket (24), and is screwed into the screw portion (2) to carry out internal transportation of the second bearing ®.
• the second motor (!) Is placed at the opposite position on the same axis with respect to the first motor ( 6 ) and the first arm (4).
• (29) is a third bracket, which is fixed to the second bracket (24) and has a second motor (11) protruding therefrom.
• the second motor shaft is the output shaft of the second motor dl) is the second wave generator, fixed to the second motor shaft (30).
• (33 is the second circular brass It is fixed to the third bracket) concentrically with the second motor axis ⁇ ).
• Numeral 6 denotes a second flex line, which is located concentrically with the second motor axis, and includes both the second waveform line and the second surplus line.
• a hybrid drive speed reducer is configured.
• the arm support dO) supported at both ends by ( 4 ), and fixed to the second arm drive shaft ⁇ at an intermediate position, moves on the same axis as the second motor shaft W. It is configured. Angular contact ball bearings are used for the third bearing 65) and the fourth bearing (36).
• the first arm ( 4 ) rotates the first motor drive shaft ⁇ via the first harmonic drive speed reducer.
• the motor decelerates and moves around the axis of the first motor shaft.
• the second motor ttU is driven, the rotation of the second shaft drive shaft 64) is reduced by the link support ⁇ ) via the second harmonic drive speed reducer. , And oscillate about the axis of the second motor shaft (30).
• the arm support ttO) forms a parallel link together with the second arm), the first arm 1 ⁇ 2), and the link ( 9 ). If the second motor (11) is driven, the second arm is activated and the robot can be operated. In order to ensure the accuracy and rigidity of the robot, the joints shown in Fig. 3 were screwed with the bearing cover (2?). J Preload adjustment management is performed by adjusting.
• the present invention has been made in order to solve the above-mentioned problems, and can maintain stable accuracy without performing an adjustment operation by a skilled person at the time of assembly, and is inexpensive.
• the purpose is to obtain an articulated robot.
• An articulated robot comprises at least two control arms and two reduction gears provided on joints of both control arms and opposed on the same axis.
• the two reduction gears are fixed to the joint of one control arm
• the common sub-plane is A bracket attached to one end of the rasline so as to rotate relative to the circular spline and connected to the joint of the other control arm.
• the first and in a preferred embodiment of the present invention, which comprises the second harmonic drive reduction gear, the common circuit-laser plane and the bracket are used. Cross mouth during
• the other end fixed to the base via a cross-opening bearing at the other end of the common circuit-laser plane. That is, a bracket is provided.
• the first and second mon- ical drive reducers have a common circular plane, and the common circular drive has a common circular drive line.
• a first and a second flex line which are cooperatively coupled on the same axis within the circular line, and each of the flex lines;
• First and second wave generators mounted on the same shaft, and first and second shaft bearings supporting the respective shafts of the wave generator via bearings.
• the bracket is mounted on a bracket, and a cross-opening bearing is interposed between the bracket and the circular brush. ,Is Rukoto.
• each of the first and second wave generators has a respective axis and a respective motor disposed behind or below the two control arms. And the output power of the toothed belt transmission mechanism. It is to be connected.
• a brake device is provided on each shaft of the first and second wave generators.
• FIG. 4 is a sectional view of a joint of a multi-joint robot showing an embodiment of the present invention
• FIG. 5 is an explanatory diagram for explaining the operation of the second arm
• FIG. Figure 1 is an external view of the bot
• Figure 1 is a front view showing a conventional example
• Figure 2 is a side view of the same
• Figure 3 is a cross-sectional view of the joint drive part shown in part A of Figure 1.
• FIG. 4 is a cross-sectional view of the joint of a multi-joint robot showing an embodiment of the present invention.
• FIG. 5 is an explanatory diagram for explaining the operation of the second arm, and FIG. The figure is an external view of an articulated robot.
• symbols (1) to (!, Tt2), tt6), (30) indicate equivalent or equivalent parts to the conventional example.
• (38) is a cover, which is divided into two parts at the top and bottom, to protect the first motor (6), the second motor ttU, etc., and to improve the appearance.
• (0) is a first bracket having a concave shape at the center and having a concave shape, which is fixed to the base (3) with a bolt ⁇ .
• the first bearing ( 43 ) which passes through the sleeve (41), is supported by the first wave generator. It is fixed to the tip of the shaft (42), and
• the 1st moniked drive speed reducer is constructed together with 1 flex line and the common circular line. (20) is the first flex line.] 9, a silk hat shape is formed, and the portion corresponding to the collar is inside the recess of the first bracket (40).
• the bolts are concentrically fixed with the first wave generator shaft (at 43). (Is the first cross roller bearing, and the outer ring is the first bracket.
• La Ke Tsu DOO W is to name a substantially similar shape as the first blanking La Ke Tsu bets (in.
• Reference numeral 61) denotes a second resilient bulge generator, which passes through the sleeve (51) and is supported by a second bearing (), C54). J9, which is fixed to the end of the second wave generator shaft () that is used, and is a common circular line that is common to the second flat line described later. Together with this, it constitutes the second moniked drive reducer () is the second flex line, which is the same as the first flex line (20).
• the collar has the shape of a silk hat, and its collar is the same as the second bracket ( 52 ) in the recess of the second bracket ( 4 ). It is fixed to the heart with bolts ( 55 ).
• ( 56 ) is a second cross-port bearing, the outer ring is fixed to the inner end surface of the second bracket (50) by a bolt ( 57 ), and the inner ring is a common circular drive.
• the first cross-roller bearing (symmetrically with the bolt) is mounted on the other end of the spline.
• (60) is a common circuit which is one of the components of the first and second harmonic drive reduction gears, which are important elements in the present invention. It is a Las Plane.
• This circular line (60) has a tooth profile (spline) on both sides of the inner surface], and the first flex line (20) and the second flex line (20) Flex Plane) are mounted concentrically and concentrically with each other to match the tooth profile. Also, in a common support over queue La scan Breakfast La Lee emissions (6 0) is closed off run-shaped portion (6 1), the first A over arm (4) to the ball Lumpur door (6 2) It is fixed.
• the first arm ( 4 ) is the first cross interposed between the common circular brain ( 60 ) and the first bracket. It is supported rotatably with respect to the roller bearings.
• the second bracket W is composed of a second cross roller bearing ( 56 ), a common circular brush (SO), and a first cross roller. It is supported rotatably with the base (3) via a bearing ().
• the above (1, (20), (40) to 4), (46), (50) to [ 54 ], All of the components or elements of C56) and C60) are mounted coaxially, and are assembled around the circular plane ( 60 ).
• (64) and (65) are the first pool respectively.]
• 9 1st motor axis Shaft and the first wave generator axle 3 is fixed to the shaft 3, and the rotation of the first motor (6) is rotated through the first belt ( 66 ) to the first wave generator.
• the transmission to the Neural axis (4). ( 68 ) and (69) are the second Boolean, respectively, the Second motor axis 60) and the second webgear axis ( 52). ), And the rotation of the second motor ⁇ is transmitted to the second web generator shaft 2 ) via the second belt ("70"). ⁇ constitutes a toothed belt transmission mechanism!), And the rotation of the motor is transmitted reliably without producing all] 9.
• ( 72 ) is the first brake, C73.
• the second bracket is attached to the second bracket (50) so that the axis of the joint does not overlap.
• the link support ⁇ ) and the mouth follower ( 49 ) are attached to the second bracket (50).
• the second bracket is mounted on a rotary support flange (not shown) in the same manner as that mounted on the second bracket ().
• ( 7 ) And the first contract ( 4 ) to form a parallel link. ing.
• the drive of the first motor (6) transmits the rotation to the first motor shaft (the first bulge ( 64 ) with a tooth attached to 1 ⁇ ), and the same toothed belt () is used.
• the first pulley ( 65 ) on the driven side is rotated through the first pulley ( 65 ), and the second pulley ( 65 ) is fixed to the first webgetter shaft (42). 1
• the wave generator (18) is rotated and the deceleration function of the first flex line (SO) and the common circular line (SO) Therefore, in this case, the seek pulse ( 60 ) is decelerated and makes a rotational movement with respect to the base (3).
• the circle-laser plane (SO) is rotatably supported via the first bracket (40) and the first cross-roller bearing (). And the first arm (4) is fixed, so that the first motor (6) can be driven.] 9 It is possible to operate the first arm (4). As shown in Fig. 3, in an articulated robot in which the arm operates vertically, when the motor power is turned off, the weight of the arm depends on the weight of the arm. In many cases, the arm falls, and the first brake 2) and the second brake prevent the arm from falling when the power is turned off.
• the driving of the second motor dl) is the same as in the case of the first arm (4), like the second pulley (68) on the driving side.] 9
• the driven side via the second belt (70) The signal is transmitted to the second bridge (69) and rotates the second wave generator (31).
• the first arm (4) Assuming the case where the motor is not driven, it is considered that the common circular plane (so) is fixed integrally with the base. In other words, the rotation of the second wave generator ⁇ ] and the rotation of the second cross drive roller bearing (56) by the function of the second harmonic drive reducer.
• the first bracket W is removed from the base (3) force. If the common servo-uras plane [ 60 ] is removed from the first arm ( 4 ), it can be handled as an independent coaxial joint unit. If the entire unit is replaced, the robot can be recovered in a very short time. In this unit, the sub-lines (C60) are shared as two single-monitor drive components. So, that gear cut! ) Can be performed with high accuracy and at low cost. In addition, for the first and second cross roller bearings, C56), pre-E setting is performed for each part, so that adjustment during assembly is not required, and High rigidity can be obtained as a robot.
• the joint unit integrated with the circular line ( 60 ) of the harmonic drive reducer has been described.
• the robot becomes If the balance during turning of the base (3) is improved, the effect is improved.
• the first motor (6) and the second motor (1) are located behind or below the robot, and without using a force-belt transmission mechanism that takes a balance. The same effect can be obtained even if the motor is mounted directly on the same axis as the wave generator shaft, and the same effect can be obtained.
• This invention relates to a vertical articulated robot / a horizontal articulated robot. It can be widely used for multi-joint robots in general.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)

Priority Applications (3)

Applications Claiming Priority (2)

Publications (1)

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ID=15857284

Family Applications (1)

Country Status (5)

Cited By (1)

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Citations (4)

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• 1987
  • 1987-07-07 JP JP62167852A patent/JPS6411777A/ja active Granted
• 1988
  • 1988-07-07 DE DE883890561T patent/DE3890561T1/de active Pending
  • 1988-07-07 DE DE3890561A patent/DE3890561C2/de not_active Expired - Fee Related
  • 1988-07-07 US US07/354,314 patent/US5054332A/en not_active Expired - Lifetime
  • 1988-07-07 KR KR1019880701640A patent/KR920006657B1/ko not_active IP Right Cessation
  • 1988-07-07 WO PCT/JP1988/000684 patent/WO1989000095A1/ja active Application Filing

Patent Citations (4)

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