WO2017170302A1 - Mécanisme d'extension/rétraction linéaire et mécanisme de bras de robot - Google Patents

Mécanisme d'extension/rétraction linéaire et mécanisme de bras de robot Download PDF

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Publication number
WO2017170302A1
WO2017170302A1 PCT/JP2017/012208 JP2017012208W WO2017170302A1 WO 2017170302 A1 WO2017170302 A1 WO 2017170302A1 JP 2017012208 W JP2017012208 W JP 2017012208W WO 2017170302 A1 WO2017170302 A1 WO 2017170302A1
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WIPO (PCT)
Prior art keywords
frames
frame
surface side
bearing
shaft
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Application number
PCT/JP2017/012208
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English (en)
Japanese (ja)
Inventor
尹　祐根
Original Assignee
ライフロボティクス株式会社
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Publication of WO2017170302A1 publication Critical patent/WO2017170302A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/44—Needle bearings
    • F16C19/46—Needle bearings with one row or needles
    • 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
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains
    • F16G13/02—Driving-chains
    • F16G13/06—Driving-chains with links connected by parallel driving-pins with or without rollers so called open links
    • 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
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains
    • F16G13/18—Chains having special overall characteristics
    • F16G13/20—Chains having special overall characteristics stiff; Push-pull chains
    • 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
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion

Definitions

  • Embodiments of the present invention relate to a linear motion expansion / contraction mechanism and a robot arm mechanism.
  • the linear motion expansion / contraction mechanism has a plurality of plate-shaped pieces that are flexibly connected at the hinge portion and a plurality of U-shaped grooves that are similarly bent at the hinge portion and connected at the bottom side. Become. These two types of frames are firmly pressed and joined to each other by the roller unit. As a result, a columnar arm portion that is rigidly straightened and has a certain rigidity is formed. A linear gear is provided on the back surface of the plate-shaped frame, and a drive gear connected to the motor is engaged with the linear gear. When the drive gear rotates forward, the columnar arm is fed forward from the roller unit, and when it rotates backward, it is pulled back. At the rear of the roller unit, the two types of frames are separated and recovered to a bent state.
  • the two types of tops recovered to the bent state are bent in the same direction and accommodated inside the column.
  • a wrist part is attached to the tip of the arm part.
  • the wrist is equipped with three joints having three orthogonal rotation axes.
  • one of the important parts of the linear motion expansion / contraction mechanism is a large number of pieces that are flexibly connected, and the bending between the pieces is repeated as the arm part expands and contracts, so the shaft of the hinge part and the bearing wear.
  • the deformation of the shaft and the bearing due to the above becomes a bending load of the top, and the smooth expansion and contraction movement of the arm portion is excluded. Therefore, the exchange frequency of the shaft and the bearing of the hinge portion is relatively high.
  • the purpose is to improve the durability of the hinge part that flexibly connects the frames of the linear motion expansion / contraction mechanism and the robot arm mechanism.
  • the linear motion expansion / contraction mechanism includes a plurality of plate-shaped first frames connected to be bent by the first hinge part, and a cross-sectional U-shape connected to be bent by the second hinge part on the bottom surface side.
  • the first hinge part includes a cylindrical shaft, a bearing part of the shaft provided to protrude rearward or forward at a rear end or a front end of each of the first pieces, and a front end or a rear end of each of the first pieces.
  • a support portion of the shaft provided to protrude forward or rearward, and the bearing portion includes a needle roller bearing.
  • FIG. 1 is a perspective view showing an appearance of a robot arm mechanism equipped with a linear motion expansion / contraction mechanism according to the present embodiment.
  • FIG. 2 is a side view of the robot arm mechanism of FIG.
  • FIG. 3 is a side view showing the internal structure of the robot arm mechanism of FIG.
  • FIG. 4 is a diagram showing the configuration of the robot arm mechanism of FIG.
  • FIG. 5 is a diagram illustrating the arm portion of FIG. 3.
  • FIG. 6 is a diagram showing the structure of the first frame in FIG.
  • FIG. 7 is a diagram showing the structure of the second frame in FIG.
  • FIG. 8 is a view showing the structure of the bearing of FIG.
  • FIG. 9 is a view showing the structure of the movable part of the first hinge part of FIG.
  • linear motion expansion / contraction mechanism according to the present embodiment will be described with reference to the drawings.
  • linear motion expansion-contraction mechanism which concerns on this embodiment can be used as an independent mechanism (joint).
  • a robot arm mechanism in which one joint portion of the plurality of joint portions is configured by the linear motion extension mechanism according to the present embodiment will be described as an example.
  • the robot arm mechanism a vertical articulated robot arm mechanism provided with a linear motion expansion / contraction mechanism will be described here, but other types of robot arm mechanisms may be used.
  • components having substantially the same function and configuration are denoted by the same reference numerals, and redundant description will be given only when necessary.
  • FIG. 1 shows the external appearance of a robot arm mechanism equipped with a linear motion expansion / contraction mechanism according to this embodiment.
  • FIG. 2 is a side view of the robot arm mechanism of FIG.
  • FIG. 3 is a side view showing the internal structure of the robot arm mechanism of FIG.
  • the robot arm mechanism includes a base 1, a turning part (supporting part) 2, an undulating part 4, an arm part 5, and a wrist part 6.
  • the swivel unit 2, the undulating unit 4, the arm unit 5, and the wrist unit 6 are arranged in order from the base 1.
  • the plurality of joint portions J1, J2, J3, J4, J5, and J6 are arranged in order from the base 1.
  • the base 1 is typically provided with a swivel portion 2 that forms a cylindrical body vertically.
  • the swivel unit 2 houses a first joint J1 as a swivel rotary joint.
  • the first joint portion J1 includes a torsional rotation axis RA1.
  • the rotation axis RA1 is parallel to the vertical direction.
  • the swivel unit 2 has a lower frame 21 and an upper frame 22.
  • One end of the lower frame 21 is connected to the fixed portion of the first joint portion J1.
  • the other end of the lower frame 21 is connected to the base 1.
  • the lower frame 21 is covered with a cylindrical housing 31.
  • the upper frame 22 is connected to the rotating portion of the first joint portion J1, and rotates about the rotation axis RA1.
  • the upper frame 22 is covered with a cylindrical housing 32.
  • First and second frame rows 51 and 52 of a third joint portion J3 serving as a linear motion extending / contracting mechanism to be described later are housed in the hollow interior of the swivel portion 2 forming a cylindrical body.
  • the undulation part 4 that houses the second joint part J2 as the undulation rotation joint part is installed on the upper part of the turning part 2.
  • the second joint portion J2 is a bending rotation joint.
  • the rotation axis RA2 of the second joint portion J2 is perpendicular to the rotation axis RA1.
  • the undulating part 4 has a pair of side frames 23 as a fixing part (support part) of the second joint part J2.
  • the pair of side frames 23 are connected to the upper frame 22.
  • the pair of side frames 23 is covered with a bowl-shaped cover 33.
  • the pair of side frames 23 supports a cylindrical body 24 as a rotating portion of the second joint portion J2 that also serves as a motor housing.
  • a delivery mechanism 25 is attached to the peripheral surface of the cylindrical body 24.
  • the delivery mechanism 25 is covered with a cylindrical cover 34.
  • the gap between the bowl-shaped cover 33 and the cylindrical cover 34 is covered with a U-shaped bellows cover 14 having a U-shaped cross section.
  • the U-shaped bellows cover 14 expands and contracts following the up-and-down movement of the second joint portion J2.
  • the delivery mechanism 25 holds a drive gear 56, a guide roller 57, and a roller unit 58. As the cylindrical body 24 rotates, the delivery mechanism 25 rotates, and the arm portion 5 supported by the delivery mechanism 25 undulates up and down.
  • the third joint portion J3 is provided by a linear motion expansion / contraction mechanism.
  • the linear motion expansion / contraction mechanism has a structure newly developed by the inventors, and is clearly distinguished from a so-called conventional linear motion joint in terms of a movable range.
  • the arm portion 5 of the third joint portion J3 is freely bendable, the bending is limited when the arm portion 5 is fed forward along the central axis (extension / contraction center axis RA3) from the base feed mechanism 25 of the arm portion 5, and linear rigidity is obtained. Is secured. When the arm part 5 is pulled back, the bending is recovered.
  • the arm unit 5 includes a first frame row 51 and a second frame row 52.
  • the first frame row 51 is composed of a plurality of first frames 53 that are connected to be freely bent.
  • the first frame 53 is formed in a substantially flat plate shape.
  • the first frame 53 is connected to be bent at the first hinge portion 300 at the end portion.
  • the second frame row 52 includes a plurality of second frames 54.
  • the second frame 54 is configured as a groove-shaped body having a U-shaped cross section or a cylindrical body having a rectangular shape.
  • the second frame 54 is connected to bendable at the second hinge portion 400 at the end portion of the bottom plate.
  • the bending of the second frame row 52 is limited at a position where the end surfaces of the side plates of the second frame 54 come into contact with each other. At that position, the second frame row 52 is linearly arranged. Details of the first and second hinge portions 300 and 400 will be described later.
  • the first first frame 53 of the first frame sequence 51 and the second second frame 54 of the second frame sequence 52 are connected by a combined frame 55.
  • the combined frame 55 has a shape obtained by combining the first frame 53 and the second frame 54.
  • the first and second frame rows 51 and 52 are pressed and joined to each other by the roller 59 when passing through the roller unit 58 of the feed mechanism 25. By joining, the first and second frame rows 51 and 52 exhibit linear rigidity and constitute a columnar arm portion 5.
  • a drive gear 56 is disposed behind the roller unit 58 together with the guide roller 57. The drive gear 56 is connected to a motor unit (not shown). The motor unit generates power for rotating the drive gear 56.
  • a linear gear 539 is formed along the connecting direction in the center of the width of the inner surface of the first frame 53, that is, the surface to be joined to the second frame 54. When the plurality of first frames 53 are aligned in a straight line, the adjacent linear gears 539 are connected in a straight line to form a long linear gear.
  • the drive gear 56 is engaged with the linear gear 539 of the first frame 53 pressed by the guide roller 57.
  • the linear gear 539 connected in a straight line forms a rack and pinion mechanism together with the drive gear 56.
  • the drive gear 56 rotates forward, the first and second frame rows 51 and 52 are fed forward from the roller unit 58.
  • the drive gear 56 rotates in the reverse direction, the first and second frame rows 51 and 52 are pulled back to the rear of the roller unit 58.
  • the pulled back first and second frame rows 51 and 52 are separated from each other between the roller unit 58 and the drive gear 56.
  • the separated first and second frame rows 51 and 52 are returned to a bendable state.
  • the first and second frame rows 51, 52 that have returned to the bendable state are both bent in the same direction (inner side) and stored vertically in the turning unit 2. At this time, the first frame row 51 is stored in a state of being substantially aligned with the second frame row 52 substantially in parallel.
  • the wrist part 6 is attached to the tip of the arm part 5.
  • the wrist 6 is equipped with fourth to sixth joints J4 to J6.
  • the fourth to sixth joints J4 to J6 are each provided with three orthogonal rotation axes RA4 to RA6.
  • the fourth joint portion J4 is a torsional rotary joint centered on a fourth rotation axis RA4 that substantially coincides with the expansion / contraction center axis RA3, and the end effector is swung and rotated by the rotation of the fourth joint portion J4.
  • the fifth joint portion J5 is a bending rotation joint about the fifth rotation axis RA5 arranged perpendicular to the fourth rotation axis RA4, and the end effector is tilted back and forth by the rotation of the fifth joint portion J5.
  • the sixth joint portion J6 is a torsional rotational joint about the sixth rotational axis RA6 that is arranged perpendicular to the fourth rotational axis RA4 and the fifth rotational axis RA5. By the rotation of the sixth joint portion J6, The end effector is pivoted.
  • the end effector (hand effector) is attached to an adapter 7 provided at the lower part of the rotating part of the sixth joint part J6 of the wrist part 6.
  • the end effector is a part having a function of directly acting on a work target (work) by the robot, and various tools such as a gripping part, a vacuum suction part, a nut fastener, a welding gun, and a spray gun exist.
  • the end effector is moved to an arbitrary position by the first, second, and third joint portions J1, J2, and J3, and is disposed in an arbitrary posture by the fourth, fifth, and sixth joint portions J4, J5, and J6.
  • the length of the expansion / contraction distance of the arm portion 5 of the third joint portion J3 enables the end effector to reach a wide range of objects from the proximity position of the base 1 to the remote position.
  • the third joint portion J3 is a characteristic point that is different from the conventional linear motion joint in the linear expansion / contraction operation realized by the linear motion expansion / contraction mechanism constituting the third joint portion J3 and the length of the expansion / contraction distance.
  • Fig. 4 shows the configuration of the robot arm mechanism in graphical symbols.
  • three position degrees of freedom are realized by the first joint portion J1, the second joint portion J2, and the third joint portion J3 that form the three base axes.
  • three posture degrees of freedom are realized by the fourth joint portion J4, the fifth joint portion J5, and the sixth joint portion J6 constituting the wrist three axes.
  • the rotation axis RA1 of the first joint portion J1 is provided in the vertical direction.
  • the rotation axis RA2 of the second joint portion J2 is provided in the horizontal direction.
  • the second joint portion J2 is offset with respect to the first joint portion J1 with respect to the two directions of the rotation axis RA1 and an axis orthogonal to the rotation axis RA1.
  • the rotation axis RA2 of the second joint portion J2 does not intersect the rotation axis RA1 of the first joint portion J1.
  • the movement axis RA3 of the third joint portion J3 is provided in a direction perpendicular to the rotation axis RA2.
  • the third joint portion J2 is offset with respect to the second joint portion J2 with respect to two directions of the rotation axis RA1 and an axis orthogonal to the rotation axis RA1.
  • the rotation axis RA3 of the third joint portion J3 does not intersect the rotation axis RA2 of the second joint portion J2.
  • One bending joint part of the base three axes of the plurality of joint parts J1-J6 is replaced with a linear motion expansion joint part J3, and the second joint part J2 is offset in two directions with respect to the first joint part J1,
  • the robot arm mechanism of the robot apparatus eliminates the singularity posture structurally.
  • FIG. 5 is a diagram showing the arm portion 5 of FIG.
  • FIG. 6 is a diagram showing the structure of the first frame 53 of FIG.
  • FIG. 7 is a diagram showing the structure of the second frame 54 of FIG.
  • FIG. 8 is a view showing the structure of the bearing 538-1 shown in FIG.
  • FIG. 9 is a view showing the structure of the movable part of the first hinge part 300 of FIG.
  • the first hinge part 300 includes a shaft 60, a support part at the front end of the first frame 53, and a bearing part at the rear end of the first frame 53.
  • the first frame 53 is a substantially flat plate as a whole.
  • the first frame 53 has a rectangular flat plate body 531.
  • a pair of support blocks 532-1 and 532-2 are provided to protrude forward on both sides of the front end of the main body portion 531.
  • a pair of shaft holes 534-1 and 534-2 are penetrated through the pair of support blocks 532-1 and 532-2 in parallel with the width direction of the first frame 53.
  • the pair of shaft holes 534-1 and 534-2 has a diameter that is equivalent to or slightly larger than the inner diameter of bearings 538-1 and 538-2 described later.
  • a flange receiving portion 535-1 for receiving a flange portion 61 of the shaft 60 described later is provided on the outer surface of the one bearing block 532-1.
  • a ring accommodating portion 535-2 that accommodates a locking ring 65 that fits into a groove portion 63 at the tip of the shaft 60 described later is provided.
  • a bearing block 533 is provided to protrude rearward at the center of the rear end of the main body portion 531.
  • the total width of the width of the bearing block 533 of the first frame 53 and the width of the pair of support blocks 532-1 and 532-2 is substantially equivalent to the width of the first frame 53.
  • the width of the bearing block 533 of the first frame 53 is wider than the total width of the pair of support blocks 532-1 and 532-2.
  • the bearing block 533 includes bearings that rotatably support the shaft 60 with respect to the bearing block 533, here, a pair of bearings 538-1 and 538-2.
  • a shaft hole 536 passes through the bearing block 533 in parallel with the width direction of the first frame 53.
  • the shaft hole 536 has a diameter substantially equivalent to the inner diameter of bearings 538-1 and 538-2 described later.
  • a pair of bearing housing portions 537-1 and 537-2 are provided at both ends of the shaft hole 536.
  • the pair of bearings 538-1 and 538-2 are fitted into the pair of bearing housing portions 537-1 and 537-2.
  • the bearings 538-1 and 538-2 are needle bearings (needle roller bearings) as roller bearings that include, as rolling elements, “rollers” that are in line contact with the surface of the shaft among a plurality of types of bearings. ).
  • a bearing including a rolling element that is in line contact with the surface of the shaft has a higher load capacity than the ball bearing that is in point contact with the surface of the shaft, and is advantageous for vibration and impact loads.
  • Needle bearings needle roller bearings
  • a pair of shaft holes 534-1, 534-2 and the shaft hole 537 are continuously connected.
  • the shaft 60 is inserted through the continuously connected through holes.
  • the shaft 60 inserted through the continuously connected through hole is rotatably supported by bearings 538-1 and 538-2 provided in the bearing block 533 of the first frame 53, whereby the front and rear first frames 53 are
  • the shafts 60 are connected to each other so as to be rotatable.
  • the shaft 60 has a cylindrical main body 62 having a diameter substantially equivalent to the inner diameter of the bearings 538-1 and 538-2.
  • the rear end of the main body 62 is provided with a flange 61 having a non-circular shape, here a D-shaped cross section.
  • a groove 63 is provided along the circumference of the main body 62 at the tip of the main body 62.
  • a locking ring 65 is fitted into the groove 63.
  • the length from the rear end to the front end of the shaft 60 is substantially equivalent to the width of the first frame 53 or slightly shorter than the width of the first frame 53.
  • the bearing block at the center of the rear end of the first frame 53 includes the pair of bearings 538-1 and 538-2.
  • Making the width of the bearing block 533 at the center of the rear end of the first frame 53 wider than the total width of the support blocks 532-1 and 532-2 on both sides of the front end of the first frame 53 means that a pair of bearings 538-1, It is possible to adopt a needle bearing for 538-2.
  • the width of the bearing block 533 is equivalent to or shorter than the total width of the pair of support blocks 532-1 and 532-2. May be.
  • Adopting needle bearings with higher load performance than ball bearings as bearings 538-1 and 538-2 that rotatably support the shaft 60 that connects the front and rear first frames 53 is that of the first hinge unit 300. Improve durability performance. Improving the durability performance of the first hinge part 300 not only suppresses the backlash between the front and rear first frames 53 and realizes smooth expansion and contraction of the arm part 5, but also the shaft 60 and the bearing 538-1. , 538-2 and the first frame 53 are reduced.
  • the pair of bearings 538-1 and 538-2 may be other bearings including rolling elements that are in line contact with the surface of the shaft, such as cylindrical roller bearings, instead of the needle bearings.
  • the bearing block 533 includes a pair of needle bearings 538-1 and 538-2.
  • the bearing block 533 may include a wide single needle bearing.
  • the bearing block 533 at the center of the rear end of the first frame 53 is provided with a pair of needle bearings 538-1 and 538-2.
  • a pair of support blocks 532-1 and 53-1 on both sides of the front end of the first frame 53 are provided.
  • 532-2 may include a pair of needle bearings 538-1 and 538-2.
  • the structure of the first hinge unit 300 is not limited to this.
  • the structure of the front and rear ends of the first frame 53 described above may be reversed. That is, the bearing block may be provided to protrude forward in the center of the front end of the first frame 53, and the support block may be provided to protrude rearward on both sides of the rear end of the first frame 53. Further, the first bearing block may be provided to protrude forward on the right side of the front end of the first frame 53, and the second bearing block may be provided to protrude rearward on the left side of the rear end of the first frame 53. At this time, the first and second bearing blocks are equipped with a pair of needle bearings.
  • the second frame 54 is connected to bendable at the second hinge portion 400 at the end portion of the bottom plate.
  • the second hinge part 400 has a shaft 70, a support part at the front end of the second piece 54, and a bearing part at the rear end of the second piece 54.
  • the second hinge part 400 has the same structure as the first hinge part 300 of the first frame 53.
  • the second frame 54 is a groove-like body having a U-shaped cross section or a cylindrical body having a rectangular shape as a whole.
  • the second frame 54 has a groove-shaped (hook-shaped) main body.
  • the main body is formed by connecting a pair of side plates 540-1 and 540-2 having the same size and shape in parallel by a bottom plate 541.
  • a pair of support blocks 542-1 and 542-2 are provided to protrude forward on both sides of the front end of the bottom plate 541 as support portions for the front end of the second frame 54.
  • a pair of shaft holes 544-1 and 544-2 are penetrated through the pair of support blocks 542-1 and 542-2 in parallel with the width direction of the second frame 54.
  • the pair of shaft holes 544-1 and 544-2 have a diameter equivalent to or slightly larger than the inner diameter of bearings 548-1 and 548-2 described later.
  • a flange receiving portion 545 that receives the flange portion 71 of the shaft 70 is provided on the outer surface of the one bearing block 542-1.
  • a ring housing portion 545-2 for housing a locking ring 75 that fits into the groove 73 at the tip of the shaft 70 is provided.
  • a bearing block 543 is provided at the center of the rear end of the bottom plate 541 so as to protrude rearward.
  • the total width of the bearing block 543 and the pair of support blocks 542-1 and 542-2 of the second frame 54 is substantially equivalent to the width of the second frame 54.
  • the width of the bearing block 543 of the second frame 54 is wider than the total width of the pair of support blocks 542-1 and 542-2.
  • the bearing block 543 includes bearings that support the shaft 70 rotatably with respect to the bearing block 543, here, a pair of bearings 548-1 and 548-2.
  • a shaft hole 546 passes through the bearing block 543 in parallel with the width direction of the second frame 54.
  • the shaft hole 546 has a diameter substantially equivalent to the inner diameter of the bearings 548-1 and 548-2.
  • a pair of bearing housing portions 547-1 and 547-2 are provided at both ends of the shaft hole 546.
  • the pair of bearings 548-1 and 548-2 are fitted into the pair of bearing housing portions 547-1 and 547-2.
  • the bearings 548-1 and 548-2 are preferably the same type and the same size as the bearing 538-1 provided in the first frame 53.
  • the locking ring 75 is fitted into the groove at the tip of the shaft 70 in a state where the shaft 70 is inserted through the continuously connected through holes.
  • the shaft 70 and the locking ring 75 are preferably the same type and the same size as the shaft 60 and the locking ring 65 of the first frame 53.
  • the shaft 70 inserted through the continuously connected through hole is rotatably supported by bearings 548-1 and 548-2 provided in the bearing block 543 of the second frame 54, whereby the front and rear second frames 54 are The shafts 70 are connected to each other so as to be rotatable.
  • the same effect as that of the first hinge part 300 is exhibited. That is, by adopting needle bearings having higher load performance than the ball bearings for the bearings 548-1 and 548-2 that rotatably support the shaft 70 that connects the front and rear second pieces 54, the second hinge portion. 400 durability performance is improved. Improving the durability performance of the second hinge part 400 not only suppresses backlash between the front and rear second frames 54, but also realizes smooth expansion and contraction of the arm part 5, as well as the shaft 70 and the bearing 548-1. , 548-2 and the second frame 54 are reduced.
  • needle bearings needle roller bearings 538-1, 538-2, 548-1, and 548-2 have been described as rolling bearings, but load capacity, vibration, and impact load are allowable. Is not a complete denial of being a cylindrical sliding bearing made of self-lubricating resin such as polyacetal (POM), polyamide (PA), polytetrafluoroethylene (PTFE; fluororesin). .
  • POM polyacetal
  • PA polyamide
  • PTFE polytetrafluoroethylene
  • 53 first frame, 531 ... main body, 532-1, 532-2 ... support block, 533 ... bearing block, 534-1, 534-2, 536 ... shaft hole, 535-1 ... collar receiving portion, 535- 2 ... Ring housing portion, 537-1, 537-2 ... Bearing housing portion, 538-1, 538-2 ... Bearing.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

La présente invention vise à améliorer la durée de vie d'une partie d'articulation qui se couple, de manière pliable, à des pièces d'un mécanisme d'extension/rétraction linéaire et d'un mécanisme de bras de robot. A cet effet, l'invention concerne un mécanisme d'extension/rétraction linéaire, lequel mécanisme comprend : une pluralité de premières pièces (53) dont chacune a une forme de plaque, et qui sont accouplées entre elles d'une manière pliable par l'intermédiaire d'une première partie d'articulation (300) ; et une pluralité de secondes pièces (54) dont chacune a une section transversale en forme de U ou une section transversale rectangulaire et qui sont accouplées entre elles, du côté de la surface inférieure, d'une manière pliable par l'intermédiaire d'une seconde partie d'articulation (400). La première partie d'articulation (300) comprend : un arbre cylindrique (60) ; une partie de palier d'arbre (533) disposée à l'extrémité arrière ou avant de chacune des premières pièces de façon à faire saillie vers l'arrière ou vers l'avant ; et une partie de support d'arbre (532) disposée à l'extrémité avant ou arrière de chacune des premières pièces de façon à faire saillie vers l'avant ou vers l'arrière. La partie de support comporte des roulements à aiguilles (538-1, 538-2).
PCT/JP2017/012208 2016-03-29 2017-03-26 Mécanisme d'extension/rétraction linéaire et mécanisme de bras de robot WO2017170302A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016066892A JP2019094911A (ja) 2016-03-29 2016-03-29 直動伸縮機構及びロボットアーム機構
JP2016-066892 2016-03-29

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS53152388U (fr) * 1977-05-09 1978-11-30
WO2011152265A1 (fr) * 2010-05-31 2011-12-08 独立行政法人産業技術総合研究所 Mécanisme à bras extensible et rétractable à action directe, et bras de robot pourvu d'un mécanisme à bras extensible et rétractable à action directe
US20130205926A1 (en) * 2011-08-11 2013-08-15 Siemens Aktiengesellschaft Push chain, linear motion driving device and patient table

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS53152388U (fr) * 1977-05-09 1978-11-30
WO2011152265A1 (fr) * 2010-05-31 2011-12-08 独立行政法人産業技術総合研究所 Mécanisme à bras extensible et rétractable à action directe, et bras de robot pourvu d'un mécanisme à bras extensible et rétractable à action directe
US20130205926A1 (en) * 2011-08-11 2013-08-15 Siemens Aktiengesellschaft Push chain, linear motion driving device and patient table

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