WO2014147734A1 - Dispositif d'entraînement composite et robot - Google Patents

Dispositif d'entraînement composite et robot Download PDF

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Publication number
WO2014147734A1
WO2014147734A1 PCT/JP2013/057768 JP2013057768W WO2014147734A1 WO 2014147734 A1 WO2014147734 A1 WO 2014147734A1 JP 2013057768 W JP2013057768 W JP 2013057768W WO 2014147734 A1 WO2014147734 A1 WO 2014147734A1
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WO
WIPO (PCT)
Prior art keywords
output shaft
motor
planetary gear
drive device
gear mechanism
Prior art date
Application number
PCT/JP2013/057768
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English (en)
Japanese (ja)
Inventor
裕光 赤江
崇 萬羽
Original Assignee
株式会社安川電機
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Application filed by 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2013/057768 priority Critical patent/WO2014147734A1/fr
Priority to JP2015506417A priority patent/JP6061022B2/ja
Publication of WO2014147734A1 publication Critical patent/WO2014147734A1/fr

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    • 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
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • F16H37/0806—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts

Definitions

  • the disclosed embodiment relates to a composite drive device and a robot.
  • a joint structure in a robot or the like is generally a structure in which independent actuators are provided for a plurality of axes.
  • a robot has been proposed in which a joint mechanism is configured by a composite drive device using a differential mechanism (for example, a differential gear mechanism called a so-called differential), and a plurality of axes in the joint are combined into one axis (for example, see Patent Document 1).
  • a differential mechanism for example, a differential gear mechanism called a so-called differential
  • the differential gear mechanism having such a configuration has a large transmission torque, a strong material such as iron is used as a material of the gear, and the module and the diameter are increased, resulting in an increase in weight.
  • the speed reducer is provided between the motor and the differential gear mechanism, the axial length is increased, making it difficult to reduce the size of the composite drive device.
  • the disclosed technology has been made in view of the above, and an object thereof is to provide a composite drive device and a robot capable of reducing the amount of backlash of a gear as much as possible while reducing the size of the device. To do.
  • a composite drive apparatus includes a first output shaft, a transmission mechanism, a second output shaft, and a power source, and transmits power from the power source to the first output shaft and the first output shaft. Distributable to 2 output shafts.
  • the first output shaft is supported rotatably about its own axis.
  • the transmission mechanism includes a pair of planetary gear mechanisms that are disposed opposite to each other on the first output shaft.
  • the second output shaft extends between the pair of planetary gear mechanisms in a direction perpendicular to the first output shaft, and is supported so as to be rotatable around its own axis in conjunction with the transmission mechanism.
  • the power source drives the transmission mechanism.
  • the power from the power source can be distributed to the two shafts, and the power source and the transmission mechanism can be directly connected. Therefore, it becomes possible to arrange a reduction gear on the rear stage side of the transmission mechanism, and the backlash amount of the gear of the transmission mechanism can be made as small as possible. Further, the composite drive device can be downsized.
  • FIG. 1A is an explanatory diagram illustrating the composite drive device according to the first embodiment.
  • 1B is a view taken along the line II in FIG. 1A.
  • FIG. 2A is an explanatory view showing a first modification of the above-described composite drive device.
  • FIG. 2B is an explanatory view showing a second modification of the above composite drive device.
  • FIG. 3A is an explanatory diagram illustrating a compound drive device according to a second embodiment.
  • FIG. 3B is an explanatory view showing a modified example of the above composite drive device.
  • FIG. 4A is an explanatory diagram illustrating a further modification of the composite drive device according to the first embodiment.
  • FIG. 4B is a view on arrow A in FIG. 4A.
  • FIG. 5 is an explanatory diagram showing a further modification of the composite drive device according to the second embodiment.
  • FIG. 6 is a front view of the robot according to the embodiment including the composite drive device.
  • FIG. 7 is a plan view of the robot.
  • FIG. 8 is an enlarged view of a main part of the robot according to the embodiment.
  • FIG. 1A is an explanatory view showing the composite drive apparatus according to the first embodiment
  • FIG. 1B is a view taken along the line II in FIG. 1A.
  • the first output shaft 1 extends in the longitudinal direction of the substantially cylindrical housing 6 along the substantially center thereof.
  • the first output shaft 1 is supported so as to be rotatable around its own axis via a bearing 5.
  • the bearing 5 is also provided between the first output shaft 1 and the end side wall of the housing 6.
  • the composite drive device 10 includes a second output shaft 2 that extends in a direction orthogonal to the first output shaft 1.
  • a bearing 5 is provided between the second output shaft 2 and one side wall of the housing 6, and the second output shaft 2 is rotatably supported via the bearing 5.
  • a transmission mechanism 3 that is linked to the first output shaft 1 and the second output shaft 2 is disposed.
  • the transmission mechanism 3 includes a first planetary gear mechanism 3 ⁇ / b> A and a second planetary gear mechanism 3 ⁇ / b> B disposed to face each other along the first output shaft 1.
  • the first planetary gear mechanism 3A is disposed on the left side and the second planetary gear mechanism 3B is disposed on the right side in FIG. 1A, but the opposite arrangement may be employed.
  • the composite drive device 10 includes a first motor 4A for driving the first planetary gear mechanism 3A and a second motor 4B for driving the second planetary gear mechanism 3B as power sources for driving the transmission mechanism 3.
  • the first motor 4A and the second motor 4B may have a known structure that does not include a speed reduction mechanism. However, at least one of the first motor 4A and the second motor 4B is a hollow motor through which the first output shaft 1 passes.
  • the first motor 4A and the second motor 4B are both hollow motors as shown in the figure.
  • the hollow motor includes a stator fixed to the motor casing 41 and a cylindrical rotor 42 coaxially arranged with a predetermined gap from the stator in the motor casing 41. Can do.
  • the second output shaft 2 extending in the direction orthogonal to the first output shaft 1 is provided between the first planetary gear mechanism 3A and the second planetary gear mechanism 3B, and the first planetary gear mechanism 3A and the second planetary gear mechanism 3B. It can rotate around its own axis in conjunction with the driving of the gear mechanism 3B.
  • an output bevel gear 21 is provided as a transmission gear at the proximal end of the second output shaft 2, and the output bevel gear 21 is connected to the first planetary gear mechanism 3A and the second planetary gear mechanism. It is connected to each internal gear 32 of the gear mechanism 3B.
  • the specific configurations of the first planetary gear mechanism 3A and the second planetary gear mechanism 3B will be described later.
  • the composite drive device 10 includes the first output shaft 1, the transmission mechanism 3, the second output shaft 2, the first motor 4A and the second motor 4B that are power sources. It is the structure provided with. The power from the first motor 4A and the second motor 4B can be distributed to the first output shaft 1 and the second output shaft 2.
  • the composite drive device 10 has the following configuration.
  • the first output shaft 1 is provided in a state of penetrating the housing 6 and the first motor 4A, and is supported so as to be rotatable around its own shaft.
  • the transmission mechanism 3 has a pair of planetary gear mechanisms, that is, a first planetary gear mechanism 3 ⁇ / b> A and a second planetary gear mechanism 3 ⁇ / b> B disposed on the first output shaft 1 so as to face each other in the housing 6.
  • the second output shaft 2 extends in a direction orthogonal to the first output shaft 1 between the first planetary gear mechanism 3A and the second planetary gear mechanism 3B, and is interlocked with the transmission mechanism 3 and includes a housing. 6 is supported so as to be rotatable around its own axis.
  • the first motor 4A which is a power source, drives the first planetary gear mechanism 3A
  • the second motor 4B drives the second planetary gear mechanism 3B.
  • the power generated by the high-speed rotation of the first motor 4A and the second motor 4B can be distributed to the first output shaft 1 and the second output shaft 2 by appropriately increasing or decreasing speed.
  • first output shaft 1 and the second output shaft 2 are supported by the housing 6, and the transmission mechanism 3, the first motor 4A, and the second motor 4B are housed in the housing 6 to form a unit.
  • the convenience of transportation and handling is improved.
  • the first motor 4 ⁇ / b> A and the second motor 4 ⁇ / b> B are not limited to the configuration housed in the housing 6, and may be configured to be mounted on the housing 6.
  • motor mounting holes are provided at both ends of the housing 6, and the first motor 4A and the second motor 4B can be mounted in the motor mounting holes.
  • first planetary gear mechanism 3 ⁇ / b> A and the second planetary gear mechanism 3 ⁇ / b> B configured by a gear mechanism will be specifically described, and the mode of power distribution to the first output shaft 1 and the second output shaft 2 will be described. explain.
  • the first planetary gear mechanism 3 ⁇ / b> A includes a sun gear 31, an internal gear 32, a planetary gear 33, and a planet carrier 34.
  • the sun gear 31 is fixed to the first output shaft 1, the internal gear 32 is provided concentrically with the sun gear 31, and the outer bevel gear 35 that meshes with the output bevel gear 21 of the second output shaft 2 is provided on the inner surface. It is formed on the surface opposite to the power source.
  • a plurality of planetary gears 33 are arranged between the sun gear 31 and the internal gear 32 so as to mesh with each other, and are respectively supported by the planetary carrier 34.
  • the planetary gear 33 rotates around the support shaft 37 and revolves around the sun gear 31 via the planetary carrier 34.
  • it is set as two planetary gears 33 here, it is not limited to two, It sets to an appropriate number in consideration of a predetermined condition.
  • the rotational force from the power source (the first motor 4A and the second motor 4B) is transmitted to the planetary carrier 34. That is, the first motor 4A and the second motor 4B are coupled to the planet carriers 34 of the first planetary gear mechanism 3A and the second planetary gear mechanism 3B, respectively.
  • the rotational force of the power source can be distributed to the first output shaft 1 and the second output shaft 2 at a predetermined rate. A specific example regarding the power distribution will be described later.
  • first planetary gear mechanism 3A and the second planetary gear mechanism 3B are disposed so that the outer bevel gear 35 provided on the inner surface of the internal gear 32 faces the second output shaft 2 therebetween.
  • the first output shaft 1 is connected to the sun gears 31 of the first planetary gear mechanism 3A and the second planetary gear mechanism 3B.
  • gear ratios of the sun gear 31, the internal gear 32, the planetary gear 33, the output bevel gear 21, the outer bevel gear 35, and the like are the power to be output from the first output shaft 1 and the second output shaft 2. It is set accordingly.
  • the rotational force from the power source (first motor 4A, second motor 4B) is input from the planet carrier 34 to the first planetary gear mechanism 3A (second planetary gear mechanism 3B). Then, the rotation of the planet carrier 34, that is, the revolution of the planetary gear 33 rotates the sun gear 31 and the internal gear 32. Then, the first output shaft 1 connected to the sun gear 31 and the second output shaft 2 connected to the output bevel gear 21 meshing with the outer bevel gear 35 rotating integrally with the internal gear 32 are rotated. Become.
  • the composite drive apparatus 10 according to the first embodiment is not limited to the configuration shown in FIGS. 1A and 1B.
  • FIG. 2A is an explanatory diagram illustrating a first modification of the composite drive device 10
  • FIG. 2B is an explanatory diagram illustrating a second modification of the composite drive device 10. 2A and 2B, the same components as those in FIGS. 1A and 1B are denoted by the same reference numerals, and redundant description is omitted.
  • the outer bevel gear 35 is provided close to the outer surface (surface on the power source side) of the internal gear 32, not on the inner surface (surface opposite to the power source) of the internal gear 32. Yes. Therefore, for example, when the diameter of the output bevel gear 21 provided on the second output shaft 2 is defined to a predetermined length, the distance between the first planetary gear mechanism 3A and the second planetary gear mechanism 3B facing each other is It can be made smaller than the configuration shown in FIGS. 1A and 1B.
  • the outer bevel gear 35 is positioned on the inner surface side of the internal gear 32 and has a shape widened in the radial direction. Therefore, for example, as shown in the figure, the first motor 4A and the second motor 4B, which are power sources, can be disposed between the opposing first planetary gear mechanism 3A and the second planetary gear mechanism 3B. At this time, the diameter of the output bevel gear 21 is inevitably large, but the outer bevel gear 35 is located on the inner surface side of the internal gear 32, so that it is provided on the outer surface side of the internal gear 32. Small but small.
  • the configuration of the composite drive device 10 is not necessarily constant, and can be appropriately changed according to the use conditions of the composite drive device 10 such as the shape and configuration of another device on which the composite drive device 10 is mounted.
  • the mechanical basic conditions of the transmission mechanism 3 (the first planetary gear mechanism 3A and the second planetary gear mechanism 3B) are as follows.
  • the second output shaft 2 does not move around the first output shaft 1, and the output bevel gear 21 provided at the base end thereof does not move.
  • conditional expressions (a), (b), and (c) are satisfied as operation conditions. That is, the rotation speed of the planet carrier 34a is n1, the rotation speed of the outer bevel gear 35a is n2, the rotation speed of the second output shaft 2 is n3, the rotation speed of the outer bevel gear 35b is n4, and the rotation speed of the planet carrier 34b is n5.
  • the rotation speed of the first output shaft 1 is n6.
  • the rotational speed of the output bevel gear 21 is the same as the rotational speed n3 of the second output shaft 2.
  • n2 -n4 ...
  • Number of rotations of planet carrier 34b 1000 (rpm)
  • both the first motor 4A and the second motor 4B rotate forward at 1000 rpm.
  • the first motor 4A is rotating forward at 1000 rpm
  • the second motor 4B is rotating backward at 1000 rpm.
  • the rotation speed of the first motor 4A is 1000 rpm and the rotation speed of the second motor 4B is 500 rpm
  • the rotation speed of the first output shaft 1 is 2250 rpm and the power increases.
  • the second output shaft 2 is rotated at a speed of 750 rpm.
  • the rotation speed of the first motor 4A is 1000 rpm and the rotation speed of the second motor 4B that rotates in the reverse direction is 500 rpm
  • the rotation speed of the first output shaft 1 is 750 rpm
  • the number of rotations of the two output shafts 2 is increased to 2250 rpm and distributed.
  • the rotation speed of the first motor 4A is 900 rpm and the rotation speed of the second motor 4B is 600 rpm
  • the rotation speed of the first output shaft 1 is 2000 rpm and the power increases. It is distributed at high speed, and the rotation speed of the second output shaft 2 is reduced to 400 rpm and distributed.
  • Number of rotations of planet carrier 34b ⁇ 600 (rpm)
  • the rotation speed of the first motor 4A is 900 rpm and the rotation speed of the second motor 4B that rotates in the reverse direction is 600 rpm
  • the rotation speed of the first output shaft 1 is reduced to 400 rpm.
  • the rotational speed of the second output shaft 2 is increased to 2000 rpm and distributed at an increased speed.
  • the composite drive device 10 uses a pair of planetary gear mechanisms (the first planetary gear mechanism 3A and the second planetary gear mechanism 3B) as the transmission mechanism 3. Therefore, it is possible to reduce the size of the apparatus, and hence it is possible to reduce the inertia of the output shaft. Further, by appropriately setting the conditions, it becomes possible to distribute the power from the drive source at an increased speed or at a reduced speed. In particular, when the speed is increased and distributed, the speed reduction ratio of the reduction gear provided in the subsequent stage can be increased, and the backlash can be reduced. Further, when distributing at a reduced speed, it is possible to dispense with a reduction gear. In addition, the power source itself can be downsized.
  • FIG. 3A is an explanatory view showing the composite drive apparatus 10 according to the second embodiment
  • FIG. 3B is an explanatory view showing a modification thereof.
  • symbol is used and detailed description is abbreviate
  • the above-described composite drive device 10 transmits the rotational force from the first motor 4A and the second motor 4B to the planetary carrier 34, respectively.
  • the rotors 42 of the first motor 4A and the second motor 4B are coupled to the internal gear 32 of the first planetary gear mechanism 3A and the second planetary gear mechanism 3B.
  • the planet carrier 34 is provided on the inner side of the internal gear 32.
  • the planet carrier 34 is provided with an outer bevel gear 35 c that meshes with the output bevel gear 21 of the second output shaft 2.
  • the first output shaft 1 passes through the outer bevel gear 35c on one side (the first planetary gear mechanism 3A side).
  • a bearing 5 for supporting the first output shaft 1 is provided.
  • the first planetary gear mechanism that faces the first motor 4A and the second motor 4B that are the power source is opposed. It can be disposed between 3A and the second planetary gear mechanism 3B.
  • first planetary gear mechanism 3A and the second planetary gear mechanism 3B shown in FIG. 3A are arranged so as to be inverted by 180 degrees, the back surfaces of the internal gear 32 face each other, and the planet carriers 34 oppose each other. Try to face to the side.
  • the configuration of the composite drive apparatus 10 according to the second embodiment can be changed as appropriate. Therefore, the composite drive device 10 may be designed in accordance with the shape or configuration of another device to which the composite drive device 10 is mounted.
  • the operation of the composite drive device 10 according to the second embodiment will be specifically described through a fourth operation example and a fifth operation example.
  • the configuration requirements of the first planetary gear mechanism 3A are denoted by a
  • the configuration requirements of the second planetary gear mechanism 3B are denoted by b.
  • the rotation direction is distinguished by showing a negative (-) sign in the case of reverse rotation.
  • the mechanical basic conditions of the transmission mechanism 3 (the first planetary gear mechanism 3A and the second planetary gear mechanism 3B) in the second embodiment are as follows.
  • the second output shaft 2 does not move around the first output shaft 1, and the output bevel gear 21 provided at the base end thereof does not move.
  • conditional expressions (a), (b), and (c) are satisfied as operation conditions. That is, the rotational speed of the internal gear 32a is n1, the rotational speed of the outer bevel gear 35a is n2, the rotational speed of the second output shaft 2 is n3, the rotational speed of the outer bevel gear 35b is n4, and the rotational speed of the internal gear 32b is n5.
  • the rotation speed of the first output shaft 1 is n6.
  • the rotational speed of the output bevel gear 21 is the same as the rotational speed n3 of the second output shaft 2.
  • n2 -n4 ...
  • n1 n2 + (n2-n6) ⁇ Za / Zc ⁇ Condition
  • n5 n4 + (n4-n6) ⁇ Za / Zc ⁇ Condition
  • n6 ⁇ 1 / 2 ⁇ Zc / Za ⁇ (X + Y) ⁇ (formula 4) is obtained.
  • the rotation speed of the first motor 4A is 1000 rpm and the rotation speed of the second motor 4B is 500 rpm
  • the rotation speed of the first output shaft 1 is 2250 rpm and the power increases. It is distributed at high speed, and the rotation speed of the second output shaft 2 is 1000 rpm.
  • the rotation speed of the first motor 4A is 500 rpm and the rotation speed of the second motor 4B is 1000 rpm
  • the rotation speed of the first output shaft 1 is 1250 rpm and the speed is increased.
  • the rotation speed of the second output shaft 2 is 2000 rpm, and the rotation direction is reversed.
  • the apparatus can be reduced in size, and the inertia of the output shaft can also be reduced. Further, by appropriately setting the conditions, it becomes possible to distribute the power from the drive source at an increased or decreased speed. In particular, when the speed is increased and distributed, the speed reduction ratio of the reduction gear provided in the subsequent stage can be increased, and the backlash can be reduced. Further, when distributing at a reduced speed, it is possible to dispense with a reduction gear. In addition, the power source itself can be downsized.
  • the 1st motor 4A and the 2nd motor 4B all have the axial center corresponded with the axial center of the 1st output shaft 1, and the power transmission path
  • At least one of the first motor 4A and the second motor 4B is configured such that the power transmission path to the transmission mechanism 3 is bent and the power is transmitted via a predetermined power transmission unit. Can do.
  • the power source does not need to have a hollow structure like a hollow motor.
  • FIG. 4A is an explanatory view showing a further modification of the composite drive device 10 according to the first embodiment
  • FIG. 4B is a view as seen from an arrow A in FIG. 4A.
  • both of the first motor 4A and the second motor 4B use the first and second spur gears 71 and 72 as power transmission portions to transmit power to the transmission mechanism 3. Is bent.
  • the rotor 42 of the power source (the first motor 4A and the second motor 4B) is connected to the transmission mechanism 3 (the first planetary gear mechanism 3A and the second gear planet). It was connected to the planet carrier 34 of mechanism 3B).
  • the first spur gear 71 is connected to the planet carrier 34
  • the second spur gear 72 is connected to the rotor 42 of the power source (first motor 4A and second motor 4B). The gear 71 and the second spur gear 72 are engaged with each other.
  • the length in the thickness direction of the housing 6 is increased as the composite drive device 10, the length in the axial direction can be greatly reduced.
  • FIG. 5 is an explanatory diagram showing a further modification of the composite drive device 10 according to the second embodiment. That is, in the composite drive device 10 according to the second embodiment, the rotor 42 of the power source (the first motor 4A and the second motor 4B) is connected to the transmission mechanism 3 (the first planetary gear mechanism 3A and the second gear planet). It was connected to the internal gear 32 of the mechanism 3B). On the other hand, here, for example, a gear is formed on the outer edge of the internal gear 32, and the second spur gear 72 connected to the rotor 42 of the power source (first motor 4A and second motor 4B) is meshed with this gear. ing. In this case, the axial length can be made shorter than in the example shown in FIGS. 4A and 4B.
  • a bevel gear may be attached, and a bevel gear may be provided on the rotation shafts of the first motor 4A and the second motor 4B so that the bevel gears mesh with each other.
  • the axial direction of the power source is orthogonal to the first output shaft 1 and parallel to the second output shaft 2.
  • the compound drive device 10 described through the respective embodiments uses the transmission mechanism 3 including two planetary gear mechanisms, the first planetary gear mechanism 3A and the second planetary gear mechanism 3B. Therefore, it is possible to reduce the size of the composite drive device 10, and it is not necessary to perform precise tooth alignment and the maintenance performance can be improved. Further, even if the shaft rotates at high speed, a practical reduction drive 10 can be provided by providing a reduction gear at the subsequent stage. Therefore, the composite apparatus 10 employing the light and small transmission mechanism 3 with extremely small backlash can be suitably used for, for example, a robot joint described later.
  • the composite drive device 10 can be connected to a reduction gear at the subsequent stage of the first output shaft 1 and the second output shaft 2, respectively. That is, in the present embodiment, the first motor 4A and the first planetary gear mechanism 3A are directly connected, and the second motor 4B and the second planetary gear mechanism 3B are directly connected. There are no reduction gears.
  • the rear stage of the transmission mechanism 3 specifically, the lower side of the first output shaft 1, and the second output shaft 2 It is good to connect a reduction gear with the lower side of each.
  • the backlash amount generated in the transmission mechanism 3 can be reduced to 1 / reduction ratio. Therefore, positioning accuracy when using the composite drive device 10 is improved, and application to a device that requires precise operation is possible.
  • FIG. 6 is a front view of a robot including the composite driving apparatus 10 according to the embodiment
  • FIG. 7 is a plan view of the robot
  • FIG. 8 is an enlarged view of a main part of the robot.
  • the direction of gravity is referred to as “vertical direction”
  • the direction orthogonal to the vertical direction is referred to as “horizontal direction”.
  • the robot 110 including the compound drive device 10 according to the embodiment has a shoulder portion that turns in the horizontal direction around the turning shaft 200 that extends in the vertical direction at the upper end of the body portion 800. 300, and the left and right end portions of the shoulder portion 300 are double-arm robots each provided with an arm unit 500 that can rotate around a rotation shaft 400 extending in the horizontal direction.
  • the left and right arm units 500 have the same configuration and each have six joints.
  • the robot 110 can move like a human with two arms.
  • the left and right arm units 500 each have a base end connected to the shoulder portion 300 via a rotation shaft 400, and a first arm portion 510 that rolls around the rotation shaft 400, and a vertical movement to the first arm portion 510. And a second arm portion 520 that is connected via a first shaft 410 extending in the direction and pivots in the horizontal direction about the first shaft 410.
  • the left and right arm units 500 are connected to the second arm portion 520 via a second shaft 420 extending in the horizontal direction, and a third arm portion 530 that rolls around the second shaft 420, and A fourth arm portion 540 that is connected to the third arm portion 530 via a third shaft 430 extending in the vertical direction and pivots in the horizontal direction about the third shaft 430 is provided.
  • the left and right arm units 500 are connected to the fourth arm portion 540 via a fourth shaft 440 extending in the horizontal direction, and a fifth arm portion 550 that rolls around the fourth shaft 440, and this
  • the fifth arm portion 550 includes a sixth arm portion 560 that is connected to the fifth arm portion 550 via a fifth shaft 450 extending in the vertical direction and pivots in the horizontal direction about the fifth shaft 450.
  • the wrist 570 is connected to the tip of the sixth arm 560 via a sixth shaft 460 extending in the horizontal direction, and the wrist 570 can be rolled around the sixth shaft 460.
  • an end effector (not shown) is provided at the tip of the wrist 570, and the robot 110 can execute, for example, an unpacking operation of a cardboard box with an efficiency higher than that of a human.
  • the composite drive device 10 described above is used in a joint portion 700 of a first arm portion 510 that is interlocked with a shoulder portion 300 of the robot 110 as shown in FIG.
  • the composite driving apparatus 10 is disposed in the first arm portion 510 to constitute the joint portion 700.
  • the second output shaft 2 is applied to the first shaft 410 as the rotation shaft 400.
  • the composite drive device 10 and the first arm unit 510 are connected via frames 600 and 610.
  • the power from the first motor 4A and the second motor 4B includes the first planetary gear mechanism 3A and the second planetary gear mechanism 3B, and the lightweight and small-sized backlash is reduced as much as possible. It is distributed to the rotating shaft 400 and the first shaft 410 via a gear mechanism.
  • the robot 110 uses a transmission mechanism 3 including two planetary gear mechanisms, ie, a first planetary gear mechanism 3A and a second planetary gear mechanism 3B, and a reduction gear 9 is provided at the subsequent stage of the transmission mechanism 3.
  • the combined drive device 10 is applied to the joint structure.
  • the speed reducer 9 is provided downstream of the first output shaft 1 and on the lower side of the second output shaft 2. Are connected to each other. Therefore, the transmission mechanism 3 can be reduced in weight and size, and the backlash can be extremely reduced.
  • the positioning accuracy when the composite drive device 10 is applied to the joint structure is improved, and the robot 110 can easily perform more precise work.
  • the robot 110 has been described as a double-arm robot including a plurality of arm portions of the first arm portion 510 to the sixth arm portion 560, the present invention is not limited to this, and a joint to which the composite drive device 10 can be applied. Any robot may be used. Further, the present invention is not limited to unpacking the cardboard box, and any work may be performed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Transmission Devices (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention porte sur un dispositif d'entraînement composite, lequel dispositif est de faible poids et compact et a un faible jeu. Le dispositif d'entraînement composite comprend un premier arbre de sortie, un mécanisme de transmission, un second arbre de sortie et une source de puissance motrice, et est apte à répartir la puissance motrice à partir de la source de puissance motrice entre le premier arbre de sortie et le second arbre de sortie. Le premier arbre de sortie est supporté rotatif autour de son propre axe. Le mécanisme de transmission a une paire de mécanismes d'engrenages planétaires disposés de façon à se faire mutuellement face sur le premier arbre de sortie. Le second arbre de sortie s'étend dans une direction orthogonale par rapport au premier arbre de sortie, entre la paire de mécanismes d'engrenages planétaires, est relié au mécanisme de transmission, et est supporté rotatif autour de son propre axe. La source de puissance motrice entraîne le mécanisme de transmission.
PCT/JP2013/057768 2013-03-19 2013-03-19 Dispositif d'entraînement composite et robot WO2014147734A1 (fr)

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JP2015506417A JP6061022B2 (ja) 2013-03-19 2013-03-19 複合駆動装置およびロボット

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CN110397706A (zh) * 2019-08-22 2019-11-01 宁波新宏液压有限公司 一种双向输出的多级行星减速机
CN110774277A (zh) * 2019-12-02 2020-02-11 福州大学 蛇形臂三自由度手腕关节及运动方法
JP2020148324A (ja) * 2019-03-15 2020-09-17 株式会社リコー 駆動装置、ロボットおよび画像形成装置
JP2020533530A (ja) * 2017-09-08 2020-11-19 チュー，ショーン 可変速モータによって管理される差動率を有する段付遊星歯車を含む差動システム及び関連する動作方法
US11092213B2 (en) 2018-12-27 2021-08-17 Fanuc Corporation Gear mechanism, gear adjustment method and robot

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JPS6215089A (ja) * 1985-07-15 1987-01-23 株式会社日立製作所 ロボツトの手首動作検出装置
JP2004211709A (ja) * 2004-01-13 2004-07-29 Toyota Motor Corp ハイブリッド駆動装置
JP2008215519A (ja) * 2007-03-05 2008-09-18 Fuji Heavy Ind Ltd 駆動力配分装置および車両制御装置
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Publication number Priority date Publication date Assignee Title
JP2020533530A (ja) * 2017-09-08 2020-11-19 チュー，ショーン 可変速モータによって管理される差動率を有する段付遊星歯車を含む差動システム及び関連する動作方法
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US11092213B2 (en) 2018-12-27 2021-08-17 Fanuc Corporation Gear mechanism, gear adjustment method and robot
JP2020148324A (ja) * 2019-03-15 2020-09-17 株式会社リコー 駆動装置、ロボットおよび画像形成装置
JP7253141B2 (ja) 2019-03-15 2023-04-06 株式会社リコー 駆動装置、ロボットおよび画像形成装置
CN110397706A (zh) * 2019-08-22 2019-11-01 宁波新宏液压有限公司 一种双向输出的多级行星减速机
CN110774277A (zh) * 2019-12-02 2020-02-11 福州大学 蛇形臂三自由度手腕关节及运动方法

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