WO2017169419A1 - 回転アクチュエータおよびロボット - Google Patents
回転アクチュエータおよびロボット Download PDFInfo
- Publication number
- WO2017169419A1 WO2017169419A1 PCT/JP2017/007355 JP2017007355W WO2017169419A1 WO 2017169419 A1 WO2017169419 A1 WO 2017169419A1 JP 2017007355 W JP2017007355 W JP 2017007355W WO 2017169419 A1 WO2017169419 A1 WO 2017169419A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tubular member
- inner peripheral
- hollow
- joint
- fixed
- Prior art date
Links
- 230000002093 peripheral effect Effects 0.000 claims abstract description 104
- 239000003638 chemical reducing agent Substances 0.000 claims description 47
- 239000011347 resin Substances 0.000 claims description 11
- 229920005989 resin Polymers 0.000 claims description 11
- 238000003780 insertion Methods 0.000 claims description 8
- 230000037431 insertion Effects 0.000 claims description 8
- 229910000838 Al alloy Inorganic materials 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 239000000696 magnetic material Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- -1 polytetrafluoroethylene Polymers 0.000 description 2
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
- 239000004810 polytetrafluoroethylene Substances 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 229930182556 Polyacetal Natural products 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920006324 polyoxymethylene Polymers 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- 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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
Definitions
- the present invention relates to a hollow rotary actuator including a hollow motor and a hollow speed reducer that are coaxially arranged.
- the present invention also relates to a robot including such a rotary actuator.
- the hollow speed reducer is a hollow wave gear device, and includes an annular device housing, a rigid internal gear fixed to the inner peripheral portion of the device housing, and a rigid internal gear.
- a cup-shaped flexible external gear disposed inside the gear and a wave generator disposed inside the flexible external gear.
- the flexible external gear is rotatably supported by the device housing via a cross roller bearing.
- a part of the wave generator is fixed to the outer peripheral surface of the hollow motor shaft of the hollow motor.
- the hollow motor and the hollow speed reducer are arranged coaxially.
- a sleeve formed in a cylindrical shape is disposed on the inner peripheral side of the hollow motor and the hollow speed reducer.
- the sleeve is fixed by laser welding to a boss constituting a part of the flexible external gear. Therefore, when the flexible external gear rotates, the sleeve rotates together with the flexible external gear.
- the hollow rotary actuator described in Patent Document 1 is used, for example, in a joint part of an industrial robot.
- various wirings and pipes are routed so as to pass through the inner peripheral side of the sleeve.
- a sleeve is fixed to a flexible external gear, and the sleeve rotates when the flexible external gear rotates. If the joint portion is used, the inner peripheral surface of the rotating sleeve may come into contact with the wiring or piping, which may damage the wiring or piping.
- an object of the present invention is to suppress damage to wiring and piping passing through the inner peripheral side of the rotary actuator more than before in a hollow rotary actuator, for example, when used in a joint portion of a robot. It is to provide a possible rotary actuator. Moreover, the subject of this invention is providing the robot provided with this rotation actuator.
- a rotary actuator of the present invention includes a hollow motor having a hollow rotary shaft, and a hollow motor having a hollow input shaft that is arranged coaxially with the rotary shaft and connected to the rotary shaft.
- a reduction gear, a tubular tubular member disposed on the inner peripheral side of the rotary shaft and the input shaft, and a holding member for holding one end side of the tubular member, the holding member on the inner peripheral side of the tubular member A holding portion formed with a through-hole to be communicated, wherein one end side of the tubular member is held by the holding portion, and the other end side of the tubular member is fitted to the output side portion of the hollow speed reducer.
- one end side of the cylindrical tubular member disposed on the inner peripheral side of the rotary shaft of the hollow motor and the input shaft of the hollow reducer is rotatably held by the holding portion of the holding member,
- the other end side of the member is fitted to the output side portion of the hollow speed reducer. That is, the other end side of the tubular member is held in a state where it is not fixed to the output side portion of the hollow speed reducer. Therefore, in this invention, even if the output shaft of a hollow speed reducer rotates, a tubular member does not necessarily rotate.
- the inner peripheral side of the rotary actuator is not affected even if wiring or piping is routed so as to pass through the inner peripheral side of the tubular member. It becomes possible to suppress the damage of the wiring and piping which passes through more than before.
- the other end side of the tubular member is not fixed to the output side portion of the hollow speed reducer, for example, the other end side of the tubular member is fixed to the output side portion of the hollow speed reducer by welding or bonding. As compared with the case where the rotary actuator is present, the assembly work of the rotary actuator becomes easier.
- the rotary actuator further includes, for example, a fixed member fixed to the output shaft of the hollow speed reducer, and the fixed member is inserted into the inner peripheral side of the other end portion of the tubular member.
- the inner peripheral surface of the tubular member and the outer peripheral surface of the inserted portion are in contact with each other. That is, when the inner peripheral surface of the tubular member and the outer peripheral surface of the inserted portion are in contact, the other end side of the tubular member is held by the output side portion of the hollow speed reducer. In this case, the other end side of the tubular member can be held on the output side portion of the hollow speed reducer with a relatively simple configuration.
- the inserted portion is preferably disposed on the inner peripheral side of the input shaft.
- the rotary actuator further includes a fixed member fixed to the output shaft of the hollow speed reducer, and the fixed member includes an insertion portion into which the other end portion of the tubular member is inserted, and the outer periphery of the tubular member
- the surface and the inner peripheral surface of the insertion portion may be in contact with each other. That is, the other end side of the tubular member may be held by the output side portion of the hollow speed reducer by bringing the outer peripheral surface of the tubular member into contact with the inner peripheral surface of the insertion portion. Also in this case, the other end side of the tubular member can be held on the output side portion of the hollow speed reducer with a relatively simple configuration.
- the tubular member is preferably formed of a resin, or the inner peripheral surface of the tubular member is preferably coated with a resin.
- the rotation actuator is used in the joint portion of the robot and the wiring is routed so as to pass through the inner peripheral side of the tubular member, the inner peripheral surface of the tubular member and the wiring slide. Even if the coating of the wiring that moves and is arranged on the inner peripheral side of the tubular member should be damaged, it is possible to prevent a short circuit between the tubular member and the wiring.
- the rotary actuator of the present invention can be used for a robot including a joint portion constituted by the rotary actuator and a wiring routed so as to pass through the inner peripheral side of the tubular member. In this robot, it is possible to suppress damage to the wiring passing through the inner peripheral side of the rotary actuator more than ever.
- FIG. 1 It is a front view of the industrial robot concerning an embodiment of the invention.
- FIG. 1 is a perspective view of the industrial robot shown in FIG. 1
- FIG. 2 is a perspective view showing a state in which the industrial robot shown in (A) is operating. It is a longitudinal cross-sectional view of the joint part shown in FIG.
- FIG. 1 is a front view of an industrial robot 1 according to an embodiment of the present invention.
- 2A is a perspective view of the industrial robot 1 shown in FIG. 1
- FIG. 2B is a perspective view showing a state in which the industrial robot 1 shown in FIG. 2A is operating. is there.
- the industrial robot 1 of this embodiment (hereinafter referred to as “robot 1”) is an articulated robot used for assembling or manufacturing a predetermined product, and is installed and used in an assembly line or a manufacturing line.
- the robot 1 includes a plurality of joint portions 2 and a plurality of arms 3.
- the robot 1 includes six joint portions 2 and two arms 3.
- each of the six joint portions 2 is represented as “first joint portion 2A”, “second joint portion 2B”, “third joint portion 2C”. ”,“ Fourth joint 2D ”,“ fifth joint 2E ”, and“ sixth joint 2F ”.
- each of the two arms 3 is indicated separately, each of the two arms 3 is referred to as a “first arm 3A” and a “second arm 3B”.
- the robot 1 includes a support member 4 that is connected to the first joint portion 2A so as to be relatively rotatable.
- the support member 4 is formed in a cylindrical shape with a flange having a flange portion 4 a, and a through hole (not shown) penetrating in the axial direction of the support member 4 is formed on the inner peripheral side of the support member 4. Yes.
- the flange portion 4 a is formed in an annular shape and constitutes a bottom surface portion of the robot 1.
- the arm 3 is formed in an elongated cylindrical shape.
- the first joint portion 2A and the second joint portion 2B are connected so as to be relatively rotatable, and the second joint portion 2B and the base end of the first arm 3A are fixed. Further, the tip of the first arm 3A and the third joint 2C are fixed, the third joint 2C and the fourth joint 2D are connected so as to be relatively rotatable, and the fourth joint 2D and the second arm 3B. Is connected to the distal end of the second arm 3B and the fifth joint portion 2E, and the fifth joint portion 2E and the sixth joint portion 2F are connected to each other so as to be relatively rotatable. ing. Moreover, a hand, a tool, or the like can be attached to the sixth joint portion 2F so as to be relatively rotatable.
- the first joint 2A, the second joint 2B, and the third joint 2C are formed in the same size, and the fourth joint 2D and the fifth joint 2E.
- the sixth joint 2F are formed in the same size.
- the sizes of the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C are larger than the sizes of the fourth joint portion 2D, the fifth joint portion 2E, and the sixth joint portion 2F.
- the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C are different from the fourth joint portion 2D, the fifth joint portion 2E, and the sixth joint portion 2F, except that the sizes are different. It is constituted similarly.
- FIG. 3 is a longitudinal sectional view of the joint 2 shown in FIG.
- the Z1 direction side in FIG. 3 is referred to as the “upper” side
- the opposite Z2 direction side is referred to as the “lower” side.
- the joint portion 2 includes a motor 7, a speed reducer 8 coupled to the motor 7, a circuit board 10 to which the motor 7 is electrically connected, and a case in which the motor 7, the speed reducer 8, and the circuit board 10 are accommodated.
- the joint part 2 itself is a rotary actuator. That is, the joint part 2 is comprised by the rotation actuator.
- the motor 7 is a hollow motor in which a through hole is formed at the center in the radial direction, and includes a hollow rotating shaft 13.
- the motor 7 includes a rotor 14 and a stator 15.
- the speed reducer 8 is a hollow speed reducer in which a through hole is formed at the center in the radial direction.
- the motor 7 and the speed reducer 8 are arranged so as to overlap in the vertical direction. Specifically, the motor 7 is disposed on the upper side, and the speed reducer 8 is disposed on the lower side. Further, the motor 7 and the speed reducer 8 are arranged on the same axis.
- the reduction gear 8 of this embodiment is a hollow wave gear device, and includes a rigid internal gear 16, a flexible external gear 17, a wave generator 18, and a cross roller bearing 19.
- the wave generating unit 18 includes a hollow input shaft 20 connected to the rotary shaft 13 and a wave bearing 21 attached to the outer peripheral side of the input shaft 20.
- the rigid internal gear 16 is the output shaft of the speed reducer 8.
- the joint portion 2 is an output fixed to a cylindrical (more specifically, cylindrical) tubular member 26 disposed on the inner peripheral side of the rotary shaft 13 and the input shaft 20 and the rigid internal gear 16. And a side member 27.
- the motor 7 includes the rotor 14 and the stator 15 as described above.
- the rotor 14 includes a rotating shaft 13 and a driving magnet 29 fixed to the rotating shaft 13.
- the rotary shaft 13 is formed in a substantially cylindrical shape that is elongated in the vertical direction, and is arranged so that the axial direction of the rotary shaft 13 coincides with the vertical direction. That is, the vertical direction is the axial direction of the rotating shaft 13 and the axial direction of the rotor 14.
- the rotating shaft 13 functions as a back yoke and is made of a soft magnetic material.
- the rotating shaft 13 of this embodiment is formed of a ferrous metal such as a steel material.
- the driving magnet 29 is formed in a cylindrical shape.
- the length (vertical length) of the drive magnet 29 is shorter than the rotation shaft 13, and the drive magnet 29 is fixed to the outer peripheral surface of the lower end side portion of the rotation shaft 13.
- the driving magnet 29 is fixed to the outer peripheral surface of the rotating shaft 13 so that the lower end surface of the rotating shaft 13 and the lower end surface of the driving magnet 29 coincide.
- the stator 15 is formed in a substantially cylindrical shape as a whole, and is disposed on the outer peripheral side of the driving magnet 29 so as to cover the outer peripheral surface of the driving magnet 29.
- the upper end side portion of the rotating shaft 13 protrudes above the upper end surface of the stator 15.
- the stator 15 includes a driving coil and a stator core having a plurality of salient poles around which the driving coil is wound via an insulator.
- the salient pole of the stator core is formed so as to project toward the inner peripheral side, and the tip end face of the salient pole faces the outer peripheral surface of the drive magnet 29.
- the stator 15 is fixed to the case body 11.
- the speed reducer 8 includes the rigid internal gear 16, the flexible external gear 17, the wave generation unit 18, and the cross roller bearing 19 as described above.
- the rigid internal gear 16 is formed in a flat and substantially cylindrical shape, and is arranged so that the axial direction and the vertical direction of the rigid internal gear 16 coincide. That is, the vertical direction is the axial direction of the rigid internal gear 16 that is the output shaft of the speed reducer 8.
- the rigid internal gear 16 is fixed to the inner ring 19 a of the cross roller bearing 19.
- the outer ring 19 b of the cross roller bearing 19 is fixed to the lower end portion of the case body 11, and the rigid internal gear 16 is rotatably held on the lower end portion of the case body 11 via the cross roller bearing 19. Yes.
- the flexible external gear 17 is formed in a substantially cylindrical shape with a flange having a flange portion 17a at the upper end.
- the flange portion 17 a is formed in a substantially annular shape, and the outer peripheral side portion of the flange portion 17 a is fixed to the case body 11.
- the rigid internal gear 16 constitutes a lower end side portion of the speed reducer 8.
- the flange portion 17 a constitutes the upper end side portion of the speed reducer 8.
- Internal teeth are formed on the inner peripheral surface of the rigid internal gear 16. On the outer peripheral surface on the lower end side of the flexible external gear 17, external teeth that mesh with the internal teeth of the rigid internal gear 16 are formed.
- the wave generation unit 18 includes the input shaft 20 and the wave bearing 21 as described above.
- the input shaft 20 is formed in a cylindrical shape that is elongated in the vertical direction as a whole, and is arranged so that the axial direction of the input shaft 20 coincides with the vertical direction.
- the input shaft 20 is made of a material having a specific gravity smaller than that of the soft magnetic material forming the rotating shaft 13.
- the input shaft 20 is made of a nonmagnetic material. Specifically, the input shaft 20 is made of an aluminum alloy. Portions other than the lower end portion of the input shaft 20 are formed in an elongated and substantially cylindrical shape.
- the shape of the inner peripheral surface when viewed from the axial direction of the input shaft 20 is circular, and the shape of the outer peripheral surface when viewed from the axial direction of the input shaft 20 is elliptical.
- An elliptical portion 20a is formed.
- the input shaft 20 may be formed of a material other than an aluminum alloy as long as the input shaft 20 is formed of a material having a specific gravity smaller than that of the soft magnetic material forming the rotating shaft 13.
- the rotary shaft 13 and the input shaft 20 are coaxially arranged, and the inner peripheral side of the input shaft 20 communicates with the inner peripheral side of the rotary shaft 13.
- the upper end portion of the input shaft 20 is inserted and fixed on the inner peripheral side of the lower end portion of the rotary shaft 13.
- the upper end side portion of the input shaft 20 is inserted and fixed on the inner peripheral side of the portion of the rotating shaft 13 to which the drive magnet 29 is fixed.
- the rotating shaft 13 includes a cylindrical (more specifically, cylindrical) magnet fixing portion 13a to which the driving magnet 29 is fixed on the outer peripheral side on the lower end side of the rotating shaft 13, and the input shaft 20 The upper end side is inserted and fixed on the inner peripheral side of the magnet fixing portion 13a.
- the upper end side part of the input shaft 20 is being fixed to the rotating shaft 13 by adhesion
- the upper end surface of the drive magnet 29 and the upper end surface of the input shaft 20 are arranged at the same position in the vertical direction.
- the central portion of the input shaft 20 in the vertical direction is rotatably supported by the bearing 30.
- the bearing 30 is a ball bearing.
- the bearing 30 is attached to a bearing holding member 31, and the bearing holding member 31 is fixed to the case body 11. That is, the input shaft 20 is rotatably supported by the bearing 30 attached to the case body 11 via the bearing holding member 31.
- the bearing holding member 31 is formed in an annular and flat plate shape, and is fixed to the case body 11 so as to overlap the flange portion 17a of the flexible external gear 17 in the vertical direction.
- the wave bearing 21 is a ball bearing having a flexible inner ring and an outer ring.
- the wave bearing 21 is disposed along the outer peripheral surface of the elliptical portion 20a and is bent in an elliptical shape.
- the lower end side portion of the flexible external gear 17 where the external teeth are formed is disposed on the outer peripheral side of the wave bearing 21 so as to surround the wave bearing 21, and this portion is bent in an elliptical shape.
- the external teeth of the flexible external gear 17 mesh with the internal teeth of the rigid internal gear 16 at two locations in the major axis direction of the lower end side portion of the flexible external gear 17 that bends in an elliptical shape. .
- the output side member 27 is formed in a substantially cylindrical shape with a flange having a flange portion 27a and a cylindrical portion 27b.
- the output side member 27 is arranged so that the axial direction of the output side member 27 coincides with the vertical direction, and a through hole 27 c penetrating in the vertical direction is formed on the inner peripheral side of the output side member 27.
- the flange portion 27a is formed in a flat plate shape and an annular shape, and is connected to the lower end of the cylindrical portion 27b.
- the flange portion 27 a is fixed to the rigid internal gear 16 so that the upper surface of the flange portion 27 a contacts the lower surface of the rigid internal gear 16. Further, the flange portion 27 a is disposed below the lower end of the case body 11 and is disposed outside the case body 11.
- a small-diameter portion 27d having a smaller outer diameter than the lower end side portion of the cylindrical portion 27b is formed on the upper end side of the cylindrical portion 27b, and a circle orthogonal to the vertical direction is formed on the outer peripheral side of the upper end side portion of the cylindrical portion 27b.
- An annular step surface 27e is formed.
- the small diameter portion 27d is inserted on the inner peripheral side of the lower end side portion of the tubular member 26, and the lower end surface of the tubular member 26 faces the step surface 27e.
- the through hole 27 c communicates with the inner peripheral side of the tubular member 26.
- the inner peripheral surface of the tubular member 26 and the outer peripheral surface of the small diameter portion 27d are in contact with each other. Further, the lower end side of the tubular member 26 is held by the output side member 27 by the inner peripheral surface of the tubular member 26 and the outer peripheral surface of the small diameter portion 27d being in contact with each other. That is, when the inner peripheral surface of the tubular member 26 and the outer peripheral surface of the small-diameter portion 27 d are in contact with each other, the reduction gear 8 constituted by the rigid internal gear 16 that is the output shaft of the reduction gear 8 and the output side member 27. The lower end side of the tubular member 26 is held at the output side portion, and the lower end side of the tubular member 26 is fitted to the output side portion of the speed reducer 8.
- the output side member 27 of this embodiment is a fixed member that is fixed to the rigid internal gear 16 that is the output shaft of the speed reducer 8, and the small diameter portion 27 d is on the inner peripheral side of the other end side portion of the tubular member 26. It is an inserted part to be inserted.
- the state where the movement is fitted means that the lower end side of the tubular member 26 is held in a state where it is not fixed to the output side portion of the speed reducer 8.
- the upper end side portion of the cylindrical portion 27 b is disposed on the inner peripheral side of the lower end side portion of the input shaft 20. That is, the small diameter portion 27 d is disposed on the inner peripheral side of the lower end side portion of the input shaft 20.
- a bearing 34 is disposed between the outer peripheral surface of the cylindrical portion 27 b and the inner peripheral surface of the lower end side portion of the input shaft 20.
- the bearing 34 is a ball bearing.
- the tubular member 26 is made of an aluminum alloy.
- the tubular member 26 is formed in a cylindrical shape that is elongated in the vertical direction, and is arranged so that the axial direction of the tubular member 26 and the vertical direction coincide with each other. That is, the vertical direction is the axial direction of the tubular member 26.
- the tubular member 26 may be made of a metal other than an aluminum alloy.
- the tubular member 26 is inserted on the inner peripheral side of the rotary shaft 13 and the input shaft 20.
- the upper end surface of the tubular member 26 is disposed above the upper end surface of the rotating shaft 13, and the lower end surface of the tubular member 26 is disposed above the lower end surface of the input shaft 20.
- the small-diameter portion 27d of the output side member 27 is inserted into the inner peripheral side of the lower end portion of the tubular member 26, and the lower end surface of the tubular member 26 faces the step surface 27e.
- the lower end side of 26 is held by the output side member 27.
- the lower end side of the tubular member 26 is held by the output side member 27 so that the tubular member 26 can be rotated relative to the output side member 27 with the vertical direction as the axial direction of rotation.
- the holding member 32 is fixed to the column 33, and the column 33 is fixed to the case body 11. That is, the holding member 32 is fixed to the case body 11 via the support column 33.
- the holding member 32 includes a cylindrical holding portion 32 a that holds the upper end side of the tubular member 26.
- the holding portion 32a is arranged so that the axial direction of the holding portion 32a coincides with the vertical direction, and a through hole 32b penetrating in the vertical direction is formed on the inner peripheral side of the holding portion 32a.
- the column 33 may be fixed to the circuit board 10.
- a large-diameter portion 32c having a larger inner diameter than the upper end side of the holding portion 32a is formed on the lower end side of the holding portion 32a, and a circle perpendicular to the vertical direction is formed on the inner peripheral side of the lower end side portion of the holding portion 32a.
- An annular step surface 32d is formed.
- the upper end side of the tubular member 26 is inserted into the inner peripheral side of the large diameter portion 32c, and the upper end surface of the tubular member 26 faces the step surface 32d.
- the upper end side of the tubular member 26 is held by the holding portion 32a so that the tubular member 26 can be rotated with the vertical direction as the axial direction of rotation.
- the through hole 32 b of the holding portion 32 a communicates with the inner peripheral side of the tubular member 26. That is, the holding member 32 is formed with a through hole 32 b that communicates with the inner peripheral side of the tubular member 26.
- the case body 11 includes a case main body 41 that is open at both upper and lower ends, and a cover 42 that closes the opening on the upper end side of the case main body 41.
- the opening on the lower end side of the case body 41 is blocked by the speed reducer 8.
- An opening 41 a that opens in a direction orthogonal to the up-down direction is formed on the side surface of the case body 41. That is, the case body 11 is formed with an opening 41a that opens in a direction perpendicular to the vertical direction.
- the opening 41 a is formed so as to penetrate the side surface portion of the case main body 41.
- the circuit board 10 is a rigid board such as a glass epoxy board, and is formed in a flat plate shape.
- the circuit board 10 is fixed to the case body 11 so that the thickness direction of the circuit board 10 coincides with the vertical direction.
- the circuit board 10 is fixed to the upper end side of the case body 11.
- the upper end of the tubular member 26 is disposed above the upper surface of the circuit board 10.
- a motor drive circuit for driving the motor 7 is mounted on the circuit board 10.
- At least two connectors are mounted on the circuit board 10.
- the wiring 60 connected to one of the two connectors is routed so as to pass through the inner peripheral side of the tubular member 26, and then pulled out from the through hole 27 c of the output side member 27. That is, the wiring 60 is drawn out from the through hole 27 c of the output side member 27 after being routed so as to pass through the inner peripheral side of the rotary shaft 13 and the input shaft 20. Further, the wiring 61 connected to the other of the two connectors is drawn out from the opening 41 a of the case body 11.
- connection structure As a connection structure of the joint portion 2 and the arm 3 of the robot 1, for example, the joint portion 2 and the arm 3 are arranged as follows so that the robot 1 can perform the operation shown in FIG. It is connected.
- the axial direction of the rigid internal gear 16 of the first joint portion 2A is referred to as “the axial direction of the first joint portion 2A”, and the axial direction of the rigid internal gear 16 of the second joint portion 2B is “ The axial direction of the rigid internal gear 16 of the third joint portion 2C, the axial direction of the rigid internal gear 16 of the third joint portion 2C, and the axial direction of the rigid internal gear 16 of the fourth joint portion 2D.
- the axial direction is “the axial direction of the fourth joint portion 2D”
- the axial direction of the rigid internal gear 16 of the fifth joint portion 2E is “the axial direction of the fifth joint portion 2E”, and within the rigidity of the sixth joint portion 2F.
- the axial direction of the tooth gear 16 is defined as “the axial direction of the sixth joint portion 2 ⁇ / b> F”.
- the support member 4 and the first joint portion 2A are connected to the flange portion 27a of the first joint portion 2A by fixing the end surface of the support member 4 on the side where the flange portion 4a is not formed. Yes. That is, the support member 4 and the first joint portion 2A are coupled so that the axial direction of the first joint portion 2A and the axial direction of the support member 4 coincide.
- the first joint part 2A and the second joint part 2B are connected so that the axial direction of the first joint part 2A and the axial direction of the second joint part 2B are orthogonal to each other. Further, the side surface of the case body 41 of the first joint portion 2A where the opening 41a is formed is fixed to the flange portion 27a of the second joint portion 2B.
- the second joint portion 2B and the first arm 3A are connected so that the axial direction of the second joint portion 2B and the longitudinal direction (axial direction) of the first arm 3A are orthogonal to each other. Further, the base end of the first arm 3A is fixed to the side surface of the case body 41 of the second joint 2B where the opening 41a is formed.
- the first arm 3A and the third joint 2C are connected so that the longitudinal direction of the first arm 3A and the axial direction of the third joint 2C are orthogonal to each other.
- the tip of the first arm 3A is fixed to the side surface of the case body 41 of the third joint 2C where the opening 41a is formed.
- the third joint portion 2C and the fourth joint portion 2D are connected so that the axial direction of the third joint portion 2C and the axial direction of the fourth joint portion 2D are orthogonal to each other. Further, the side surface of the case body 41 of the fourth joint 2D where the opening 41a is formed is fixed to the flange 27a of the third joint 2C. More specifically, the fourth joint portion is connected to the flange portion 27a of the third joint portion 2C via a connecting member 63 fixed to the side surface of the case main body 41 of the fourth joint portion 2D where the opening 41a is formed. The side surface on which the opening 41a of the 2D case body 41 is formed is fixed. The connecting member 63 is formed in a cylindrical shape with a flange provided with a flange portion 63a fixed to the flange portion 27a of the third joint portion 2C.
- the fourth joint 2D and the second arm 3B are connected so that the axial direction of the fourth joint 2D and the longitudinal direction of the second arm 3B coincide.
- the base end of the 2nd arm 3B is being fixed to the flange part 27a of 4th joint part 2D.
- the flange part 3a for fixing the base end of the 2nd arm 3B to the flange part 27a of 4th joint part 2D is formed in the base end of the 2nd arm 3B, The flange of 4th joint part 2D
- the portion 27a and the flange portion 3a are fixed to each other.
- the second arm 3B and the fifth joint 2E are connected so that the longitudinal direction of the second arm 3B and the axial direction of the fifth joint 2E are orthogonal to each other.
- the tip of the second arm 3B is fixed to the side surface of the case body 41 of the fifth joint 2E where the opening 41a is formed.
- the fifth joint portion 2E and the sixth joint portion 2F are connected so that the axial direction of the fifth joint portion 2E and the axial direction of the sixth joint portion 2F are orthogonal to each other. Further, the side surface of the case body 41 of the sixth joint 2F where the opening 41a is formed is fixed to the flange 27a of the fifth joint 2E.
- the upper end side of the tubular member 26 is held by the holding portion 32a so that the tubular member 26 can be rotated with the vertical direction as the axial direction of rotation.
- the lower end side of the tubular member 26 is fitted to the output side member 27. Therefore, in this embodiment, even if the output side member 27 fixed to the rigid internal gear 16 rotates together with the rigid internal gear 16, the tubular member 26 does not necessarily rotate. Therefore, in this embodiment, it is possible to suppress damage to the wiring 60 passing through the inner peripheral side of the tubular member 26 more than ever.
- the lower end side of the tubular member 26 is held by the output side member 27 by the inner peripheral surface of the tubular member 26 and the outer peripheral surface of the small diameter portion 27d of the output side member 27 coming into contact with each other. Therefore, in this embodiment, it is possible to hold the lower end side of the tubular member 26 on the output side member 27 with a relatively simple configuration. Further, in this embodiment, since the small diameter portion 27d is disposed on the inner peripheral side of the lower end portion of the input shaft 20, the small diameter portion 27d and the input shaft 20 are disposed in a state of being shifted in the vertical direction. In comparison, the joint portion 2 can be downsized in the vertical direction.
- the tubular member 26 is formed of a metal such as an aluminum alloy, but the tubular member 26 may be formed of a resin. Moreover, resin may be coated on the inner peripheral surface of the metallic tubular member 26. In this case, even if the inner peripheral surface of the tubular member 26 and the wiring 60 slide and the coating of the wiring 60 disposed on the inner peripheral side of the tubular member 26 is damaged, the tubular member 26 and the wiring 60 are damaged. It is possible to prevent a short circuit with 60.
- the tubular member 26 is preferably formed of a resin excellent in slidability.
- the tubular member 26 is preferably made of polytetrafluoroethylene or polyacetal.
- the resin is coated on the inner peripheral surface of the tubular member 26, it is preferable that the inner peripheral surface of the tubular member 26 is coated with a resin having excellent slidability such as polytetrafluoroethylene. In these cases, even if the inner peripheral surface of the tubular member 26 and the wiring 60 slide, the coating of the wiring 60 is not easily damaged.
- the tubular member 26 and the holding member 32 may be integrally formed.
- the lower end side of the tubular member 26 is held by the output side member 27 when the inner peripheral surface of the tubular member 26 and the outer peripheral surface of the small diameter portion 27d of the output side member 27 are in contact with each other.
- an insertion portion into which the lower end side portion of the tubular member 26 is inserted is formed on the upper end side of the cylindrical portion 27 b of the output side member 27, and the inner peripheral surface of this insertion portion and the tubular member 26 are The lower end side of the tubular member 26 may be held by the output side member 27 by contacting the outer peripheral surface of the lower end side portion. Even in this case, the lower end side of the tubular member 26 can be held by the output side member 27 with a relatively simple configuration.
- the lower end side of the tubular member 26 is fitted to the output side member 27, but the lower end side of the tubular member 26 is moved to the rigid internal gear 16 that is the output shaft of the speed reducer 8. May be used.
- the small diameter portion 27 d of the output side member 27 is disposed on the inner peripheral side of the lower end side portion of the input shaft 20, but the small diameter portion 27 d may be disposed below the input shaft 20. .
- the rigid internal gear 16 is the output shaft of the speed reducer 8, but the flexible external gear 17 may be the output shaft of the speed reducer 8.
- the rigid internal gear 16 is fixed to the case body 11, and the flexible external gear 17 is fixed to the inner ring 19 a of the cross roller bearing 19.
- the reduction gear 8 is a hollow wave gear apparatus
- the reduction gear 8 may be hollow reduction gears other than a hollow wave gear apparatus.
- the motor 7 is a so-called inner rotor type motor, but the motor 7 may be an outer rotor type motor.
- the robot 1 includes the six joint portions 2. However, the number of the joint portions 2 included in the robot 1 may be five or less, or may be seven or more. . In the above-described form, the robot 1 includes the two arms 3. However, the number of the arms 3 included in the robot 1 may be one, or may be three or more. In the embodiment described above, the air piping is routed so as to pass through the inner peripheral side of the joint portion 2 (that is, the inner peripheral side of the tubular member 26 (the inner peripheral side of the rotary shaft 13 and the input shaft 20)). Also good.
- the joint portion 2 of the robot 1 is configured by a rotary actuator having the motor 7 and the speed reducer 8, but the rotary actuator may be used in addition to the joint portion 2 of the robot 1.
- the rotary actuator may be used in a drive unit of a ⁇ stage (rotary stage).
- the robot 1 is an industrial robot, the robot 1 is applicable to various uses.
- the robot 1 may be a service robot.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
図1は、本発明の実施の形態にかかる産業用ロボット1の正面図である。図2(A)は、図1に示す産業用ロボット1の斜視図であり、図2(B)は、図2(A)に示す産業用ロボット1が動作している状態を示す斜視図である。
図3は、図1に示す関節部2の縦断面図である。以下では、説明の便宜上、図3のZ1方向側を「上」側とし、その反対側であるZ2方向側を「下」側とする。
ロボット1の関節部2およびアーム3の連結構造として、たとえば、図2(B)に示す動作をロボット1が行うことが可能となるように、以下のように、各関節部2およびアーム3が連結されている。
以上説明したように、本形態では、管状部材26の上端側は、上下方向を回転の軸方向とする管状部材26の回転が可能となるように保持部32aに保持されている。また、本形態では、管状部材26の下端側は、出力側部材27に動きばめされている。そのため、本形態では、剛性内歯歯車16に固定される出力側部材27が剛性内歯歯車16と一緒に回転しても管状部材26は必ずしも回転しない。したがって、本形態では、管状部材26の内周側を通過する配線60の損傷を従来以上に抑制することが可能になる。また、本形態では、管状部材26の下端側が出力側部材27に固定されていないため、管状部材26の下端側が出力側部材27に溶接や接着等で固定されている場合と比較して、関節部2の組立作業が容易になる。
上述した形態は、本発明の好適な形態の一例ではあるが、これに限定されるものではなく本発明の要旨を変更しない範囲において種々変形実施が可能である。
2 関節部(回転アクチュエータ)
7 モータ(中空モータ)
8 減速機(中空減速機)
13 回転軸
16 剛性内歯歯車(中空減速機の出力軸、中空減速機の出力側部分の一部)
20 入力軸
26 管状部材
27 出力側部材(被固定部材、中空減速機の出力側部分の一部)
27d 小径部(被挿入部)
32 保持部材
32a 保持部
32b 貫通孔
60 配線
Claims (6)
- 中空状の回転軸を有する中空モータと、
前記回転軸と同軸上に配置されるとともに前記回転軸に連結される中空状の入力軸を有する中空減速機と、
前記回転軸および前記入力軸の内周側に配置される筒状の管状部材と、
前記管状部材の一端側を保持する保持部材と、を備え、
前記保持部材は、前記管状部材の内周側に通じる貫通孔が形成された保持部を備え、
前記管状部材の一端側は、前記保持部に保持され、
前記管状部材の他端側は、前記中空減速機の出力側部分に動きばめされていることを特徴とする回転アクチュエータ。 - 前記中空減速機の出力軸に固定される被固定部材をさらに備え、
前記被固定部材は、前記管状部材の他端側部分の内周側に挿入される被挿入部を備え、
前記管状部材の内周面と前記被挿入部の外周面とが接触していることを特徴とする請求項1記載の回転アクチュエータ。 - 前記被挿入部は、前記入力軸の内周側に配置されていることを特徴とする請求項2記載の回転アクチュエータ。
- 前記中空減速機の出力軸に固定される被固定部材をさらに備え、
前記被固定部材は、前記管状部材の他端側部分が挿入される挿入部を備え、
前記管状部材の外周面と前記挿入部の内周面とが接触していることを特徴とする請求項1記載の回転アクチュエータ。 - 前記管状部材は、樹脂で形成されていること、または、前記管状部材の内周面には、樹脂がコーティングされていることを特徴とする請求項1から4のいずれかに記載の回転アクチュエータ。
- 請求項1から5のいずれかに記載の回転アクチュエータによって構成される関節部と、前記管状部材の内周側を通過するように引き回される配線とを備えることを特徴とするロボット。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010704257.0A CN111906813B (zh) | 2016-03-30 | 2017-02-27 | 旋转致动器及机器人 |
KR1020187028015A KR102080882B1 (ko) | 2016-03-30 | 2017-02-27 | 회전 액추에이터 및 로봇 |
EP17773964.6A EP3439153A4 (en) | 2016-03-30 | 2017-02-27 | ROTARY ACTUATOR AND ROBOT |
CN201780021382.8A CN109075659A (zh) | 2016-03-30 | 2017-02-27 | 旋转致动器及机器人 |
US16/089,391 US20200298426A1 (en) | 2016-03-30 | 2017-02-27 | Rotary actuator and robot |
TW106110107A TW201736755A (zh) | 2016-03-30 | 2017-03-27 | 旋轉致動器及機器人 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016067467 | 2016-03-30 | ||
JP2016-067467 | 2016-03-30 | ||
JP2016190548A JP6849363B2 (ja) | 2016-03-30 | 2016-09-29 | 回転アクチュエータおよびロボット |
JP2016-190548 | 2016-09-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017169419A1 true WO2017169419A1 (ja) | 2017-10-05 |
Family
ID=59964207
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2017/007355 WO2017169419A1 (ja) | 2016-03-30 | 2017-02-27 | 回転アクチュエータおよびロボット |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN111906813B (ja) |
WO (1) | WO2017169419A1 (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000257674A (ja) * | 1999-03-08 | 2000-09-19 | Sumitomo Heavy Ind Ltd | 中空パイプを貫通させたギヤドモータ |
WO2006073182A1 (ja) * | 2005-01-07 | 2006-07-13 | Sumitomo Heavy Industries, Ltd. | 動力伝達装置 |
JP2007288870A (ja) * | 2006-04-13 | 2007-11-01 | Yaskawa Electric Corp | 中空アクチュエータ |
JP2009024738A (ja) * | 2007-07-17 | 2009-02-05 | Nabtesco Corp | 偏心揺動型歯車装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2539796B2 (ja) * | 1986-09-22 | 1996-10-02 | ヤマハ発動機株式会社 | 関節型ロボット |
JPH0825153B2 (ja) * | 1993-07-09 | 1996-03-13 | ヤマハ発動機株式会社 | 産業用ロボットのアーム制御装置 |
CN1240990C (zh) * | 2001-09-20 | 2006-02-08 | 株式会社三丰 | 线性执行机构 |
JP4112251B2 (ja) * | 2002-03-14 | 2008-07-02 | 株式会社ロブテックス | 作動工具 |
JP5057843B2 (ja) * | 2007-05-14 | 2012-10-24 | 津田駒工業株式会社 | 工作機械用の角度割出し装置 |
US9293962B2 (en) * | 2012-03-30 | 2016-03-22 | Korea Institute Of Machinery & Materials | Hollow driving module |
-
2017
- 2017-02-27 CN CN202010704257.0A patent/CN111906813B/zh active Active
- 2017-02-27 WO PCT/JP2017/007355 patent/WO2017169419A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000257674A (ja) * | 1999-03-08 | 2000-09-19 | Sumitomo Heavy Ind Ltd | 中空パイプを貫通させたギヤドモータ |
WO2006073182A1 (ja) * | 2005-01-07 | 2006-07-13 | Sumitomo Heavy Industries, Ltd. | 動力伝達装置 |
JP2007288870A (ja) * | 2006-04-13 | 2007-11-01 | Yaskawa Electric Corp | 中空アクチュエータ |
JP2009024738A (ja) * | 2007-07-17 | 2009-02-05 | Nabtesco Corp | 偏心揺動型歯車装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP3439153A4 * |
Also Published As
Publication number | Publication date |
---|---|
CN111906813B (zh) | 2024-06-18 |
CN111906813A (zh) | 2020-11-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2017169418A1 (ja) | 回転アクチュエータおよびロボット | |
JP2017187165A (ja) | 回転アクチュエータおよびロボット | |
JP6610477B2 (ja) | 回転アクチュエータおよびロボット | |
WO2017169576A1 (ja) | ロボット | |
WO2017169605A1 (ja) | ロボット | |
WO2010073568A1 (ja) | 水平多関節型ロボット | |
JP6599220B2 (ja) | 電動機付き減速機 | |
TW201323167A (zh) | 機器人臂部件 | |
JP2020205742A (ja) | 回転アクチュエータおよびロボット | |
JP6229779B2 (ja) | 水平多関節型ロボット | |
JP6601836B2 (ja) | 電動機付き減速機 | |
JP2010187460A (ja) | サーボユニット | |
JP2017216760A (ja) | ロボット、モーター、及びモーターの製造方法 | |
WO2017169419A1 (ja) | 回転アクチュエータおよびロボット | |
JP2021191169A (ja) | モータ、モータユニット | |
JP6015797B2 (ja) | 水平多関節型ロボット | |
JP2015186324A (ja) | コイルボビン、モーター、及びロボット | |
JP2023098473A (ja) | 旋回装置及びロボットアーム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 20187028015 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2017773964 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2017773964 Country of ref document: EP Effective date: 20181030 |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17773964 Country of ref document: EP Kind code of ref document: A1 |