WO2022079951A1 - Articulation rotative, et manipulateur ayant une articulation rotative - Google Patents

Articulation rotative, et manipulateur ayant une articulation rotative Download PDF

Info

Publication number
WO2022079951A1
WO2022079951A1 PCT/JP2021/024508 JP2021024508W WO2022079951A1 WO 2022079951 A1 WO2022079951 A1 WO 2022079951A1 JP 2021024508 W JP2021024508 W JP 2021024508W WO 2022079951 A1 WO2022079951 A1 WO 2022079951A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating body
housing
rotary joint
output rotating
input rotating
Prior art date
Application number
PCT/JP2021/024508
Other languages
English (en)
Japanese (ja)
Inventor
英樹 有田
直哉 竹原
雅比古 有田
秀人 石黒
Original Assignee
株式会社石黒エンジニアリング
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社石黒エンジニアリング filed Critical 株式会社石黒エンジニアリング
Publication of WO2022079951A1 publication Critical patent/WO2022079951A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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

Definitions

  • One of the embodiments of the present invention relates to a rotary joint that functions as a joint portion of a manipulator and a manipulator including this rotary joint.
  • the manipulator has a plurality of arms (links) and joints connecting the arms as a basic configuration.
  • the joint changes the angle (offset angle) between the directions in which the two connected arms extend, or changes the helix angle between the connected arms, thereby providing an end effector attached to the end arm. You can move it to any location.
  • a motor is attached to each joint, and the movement of the industrial robot is controlled by appropriately operating the motor (see Patent Documents 1 to 3).
  • One of the tasks of the embodiment of the present invention is to provide a rotary joint having a novel structure that functions as a joint for a manipulator.
  • one of the embodiments of the present invention is to provide a rotary joint capable of forming a manipulator having a compact shape.
  • one of the embodiments of the present invention is to provide a manipulator including the rotary joint.
  • the rotary joint comprises a housing, an input rotating body, a drive motor, and an output rotating body.
  • the input rotating body surrounds at least a part of the housing.
  • the drive motor is fixed to the housing, surrounds the input rotating body, and rotates the input rotating body around at least a part of the housing.
  • the output rotating body surrounds the drive motor, at least a part of which is exposed from the housing, and rotates coaxially with the rotating axis of the input rotating body.
  • the manipulator comprises a rotary joint and a first arm connected to the rotary joint.
  • the rotary joint comprises a housing, an input rotating body, a drive motor, and an output rotating body.
  • the input rotating body surrounds at least a part of the housing.
  • the drive motor is fixed to the housing, surrounds the input rotating body, and rotates the input rotating body around at least a part of the housing.
  • the output rotating body surrounds the drive motor, at least a part of which is exposed from the housing, and rotates coaxially with the rotating axis of the input rotating body.
  • the first arm is connected to the output rotating body of the rotating joint.
  • the rotary joint comprises a housing, an input rotating body, a drive motor, and an output rotating body.
  • the input rotating body surrounds at least a part of the housing.
  • the drive motor is fixed to the housing, surrounds the input rotating body, and rotates the input rotating body around at least a part of the housing.
  • the output rotating body surrounds the drive motor, at least a part of which is exposed from the housing, and rotates coaxially with the rotating axis of the input rotating body.
  • the housing is arranged so as to sandwich the output rotating body, and has a pair of screw holes extending perpendicularly to the rotation axis from the outer surface of the housing.
  • the second arm is fixed via a pair of screw holes.
  • a rotary joint according to one of the embodiments of the present invention and a schematic perspective view of a manipulator including the rotary joint.
  • the conceptual diagram which shows the structure of the rotary joint which concerns on one of the Embodiments of this invention.
  • the schematic perspective view of the rotary joint which concerns on one of the Embodiments of this invention.
  • the schematic perspective view of the rotary joint which concerns on one of the Embodiments of this invention.
  • Schematic cross-sectional perspective view of a rotary joint according to one of the embodiments of the present invention Schematic cross-sectional view of a rotary joint according to one of the embodiments of the present invention.
  • Schematic cross-sectional view of a part of a rotary joint according to one of the embodiments of the present invention Schematic cross-sectional view of a part of a rotary joint according to one of the embodiments of the present invention.
  • the manipulator 200 including the rotary joint 100 and the rotary joint 100 according to the embodiment of the present invention will be described with reference to the drawings and the like.
  • the present invention can be carried out in various embodiments without departing from the gist thereof, and is not construed as being limited to the description contents of the embodiments exemplified below.
  • a structure is exposed from another structure means an aspect in which a part of one structure is not covered by another structure, and is not covered by another structure.
  • the portion also includes an embodiment covered by yet another structure.
  • FIG. 1 shows a schematic perspective view of a manipulator 100 including a rotary joint 100 and a rotary joint 100. Details will be described later, but in this figure, the housing 110 and the output rotating body 190, which are a part of the structure of the rotating joint 100, are shown.
  • the rotary joint 100 has a cylindrical shape as a whole, and a part of the housing 110 constitutes a part of a side surface of the cylindrical shape.
  • the output rotating body 190 has a cylindrical shape and constitutes a part of the cylindrical side surface of the rotating joint 100.
  • the output rotating body 190 is housed around the central axis of the cylindrical shape (the axis penetrating the center of the upper surface and the bottom surface of the cylindrical shape, and the rotating axis Ar parallel to the x direction in the drawing). It rotates around a part of the body 110 (arrow 216 in the figure).
  • the output rotating body 190 is arranged so as to be sandwiched between a part of the housing 110 in the x direction.
  • the cylinder refers to a three-dimensional shape formed from a top surface and a bottom surface parallel to each other and a curved side surface connecting the top surface and the bottom surface.
  • the cross section of the top surface, bottom surface, and side surface parallel to the top surface or bottom surface is a circle, and the side surface is a surface having a normal line perpendicular to the axis penetrating the center of the top surface and bottom surface.
  • the surface on the more positive side in the x direction (the surface on the right side shown in FIG. 1) is referred to as the upper surface, and the surface facing the surface (not shown) is referred to as the bottom surface.
  • At least two arms 202 can be connected to the rotary joint 100.
  • One arm 202-1 is connected to the output rotating body 190 directly or via an indirect member such as a connector 204 by a screw or the like.
  • the arm 202-1 or the connector 204 can incorporate a motor (not shown) that rotates the arm 202-1 around a rotation axis (arm rotation axis) that extends in the direction in which the arm 202-1 extends.
  • a motor not shown
  • the rotation function centered on the rotation axis Ar due to the rotation of the output rotating body 190 (arrow 208 in the figure) and the rotation function centering on the arm rotation axis by the built-in motor (arrow 210 in the figure) are armed. It can be given to 202-1.
  • the arm 202-1 By connecting the arm 202-1 to the output rotating body 190, the arm 202-1 can be extended from the side surface instead of the upper surface or the bottom surface of the cylindrical shape of the rotating joint 100. Therefore, it is not necessary to offset the arm 202-1 in the x direction when connecting to the rotary joint 100, it is possible to prevent the manipulator 200 from becoming bulky in the x direction, and it is possible to provide a manipulator having a compact shape. ..
  • an end effector may be connected to the end of the arm 202-1 opposite to the rotary joint 100.
  • the other arm 202-2 is connected to the housing 110.
  • the arm 202-2 is connected to the side surface of the housing 110, not to the upper surface or the bottom surface of the cylindrical shape. More specifically, the arm 202-2 is directly connected to the surface of the portion of the housing 110 that sandwiches the output rotating body 190 and has a normal line perpendicular to the rotation axis Ar , or is connected via the connector 206. Will be done.
  • a motor (not shown) is built in the arm 202-2 or the connector 206, and the arm 202 has a rotation function (arrow 212 in the figure) centered on a rotation axis in which the arm 202-2 extends in the extending direction by the motor. Given to -2. With this rotation function, the rotation joint 100 and the arm 202-1 can be rotated about the rotation axis of the arm 202-2.
  • the arm 202-2 is fixed to the side surface of the housing 110 instead of the top surface or the bottom surface of the cylindrical shape. Therefore, it is not necessary to offset the arm 202-2 in the x direction when connecting to the rotary joint 100. Further, when fixing the arm 202-2, it is not necessary to use a fixing member such as a clamp that clamps the rotary joint 100 in the x direction. Therefore, it is possible to prevent the manipulator 200 from becoming bulky in the x direction, and it is possible to provide a manipulator having a compact shape.
  • FIG. 2 is a conceptual diagram for explaining the structure of the rotary joint 100
  • FIGS. 3A and 3B are schematic perspective views showing the entire example of the rotary joint 100.
  • FIG. 2 for ease of viewing, only a part of the housing 110 is shown, and the output rotating body 190 is shown by a dotted line.
  • 4 and 5 are a schematic cross-sectional perspective view and a cross-sectional view of an example of the rotary joint 100, respectively.
  • FIG. 6 is a schematic cross-sectional view corresponding to FIG. 5, in which members other than the housing 110 are shown by dotted lines.
  • 7 and 8 are schematic cross-sectional views of a part of an example of the rotary joint 100.
  • the rotary joint 100 includes an input rotating body 130 and a drive motor 150 as a basic configuration in addition to the housing 110 and the output rotating body 190 described above (FIG. 2).
  • the rotary joint 100 can further include a speed reducer 170 that transmits the rotational driving force of the input rotating body 130 to the output rotating body 190.
  • the drive motor 150 causes the input rotating body 130 to rotate around a part of the housing 110 in a circumferential shape.
  • the rotational driving force of the input rotating body 130 can be transmitted to the output rotating body 190 via the speed reducer 170, while the output rotating body 190 surrounds a part of the housing 110, the input rotating body 130, and the drive motor 150. , Rotate around these in a circle.
  • the axis of rotation of the output rotating body 190 and the input rotating body 130 is coaxial, and is the rotation axis Ar .
  • the rotary joint 100 is further provided with an encoder 160 for determining the position of the output rotating body 190, side caps 112 on the portions corresponding to the upper and lower surfaces of the cylindrical shape of the rotary joint 100, and the like as an arbitrary configuration. It may be (see FIGS. 3A to 6). Further, although not shown, a brake may be provided to stop the operation of the input rotating body 130 and the output rotating body 190.
  • housing (1) Structure and function There are no restrictions on the configuration or structure of the housing 110, but as shown in FIGS. 4 and 5, the housing 110 includes a drive motor 150 and a speed reducer fixed in the housing 110.
  • the 170 is fixed and configured to accommodate the input rotating body 130 and the output rotating body 190 which are movable parts. Further, the housing 110 is configured so that a part thereof is surrounded by the input rotating body 130 and covers the inside of the input rotating body 130. Further, the housing 110 is configured so as to partially sandwich the output rotating body 190 in the x direction.
  • the housing 110 may be configured so that the side cap 112 can be fixed at the portions corresponding to the upper surface and the bottom surface of the cylindrical shape.
  • the part 110a which is a part of the housing 110, accommodates the input rotating body 130 so as to sandwich it, and covers the inside of the input rotating body 130 to protect the input rotating body 130 and protect the input rotating body 130. It functions as a support for fixing the speed reducer 170.
  • the part 110b which is another part of the housing 110, imparts sufficient physical strength to the housing 110, covers the side surface of the output rotating body 190 in the x direction, and sandwiches the output rotating body 190.
  • the outer surface of the part 110b and the output rotating body 190 (the outer surface having a normal line perpendicular to the axis of rotation Ar ) constitutes a cylindrical side surface.
  • the outer surface of the part 110b and the output rotating body 190 may be on the same curved surface. That is, in the direction perpendicular to the rotation axis Ar , the distance from the rotation axis Ar to the outer surface of the housing 110 and the distance from the rotation axis Ar to the outer surface of the output rotating body 190 may be the same.
  • the difference between these distances may be 1 mm or more and 10 mm or less.
  • the outer surface of each member refers to a surface far from the rotation axis Ar in the direction perpendicular to the rotation axis Ar .
  • the part 110c which is still another part of the housing 110, protects the drive motor 150 and the input rotating body 130 by covering the drive motor 150 and the input rotating body 130 in cooperation with the part 110b, and is used as a support for fixing the encoder 160. Can be done.
  • the part 110d which is still another part of the housing 110, can function as a rib for fixing the side cap 112.
  • the part 110d can be configured to separate the side cap 112 from other parts of the housing 110 (eg, parts 110a, 110b, etc.) to form a space 118 inside the rotary joint 100.
  • the part 110d can be provided with an opening through which the rotation axis Ar passes, whereby the space 118 can be opened in the x direction by removing the side cap 112.
  • the above-mentioned parts 110a, 110b, 110c, 110d are defined by functions and do not necessarily have to be physically separable.
  • the housing 110 may include parts other than the above-mentioned parts 110a, 110b, 110c and 110d. Therefore, the housing 110 may be a single integrated structure, or may be configured by fixing a plurality of parts with bolts, adhesives, or the like.
  • the above-mentioned parts 110a to 110d may be integrated or may be independent members connected to each other.
  • the housing 110 may be made of a metal material such as iron, aluminum or titanium, or an alloy material such as stainless steel, or may be made of a material containing a polymer such as fiber reinforced plastic.
  • the housing 110 may have a through hole 110f extending along the rotation axis Ar and connecting to the space 118.
  • the size of the through hole 110f can be arbitrarily set, and for example, the diameter thereof may be appropriately selected from the range of 1 cm or more and 20 cm or less.
  • the rotary joint 100 has a so-called hollow structure, and by using this through hole 110f, the motor for driving the arms 202-1 and 202-2 and the sensor mounted on these are used.
  • a power cable for can be arranged through the through hole 110f. As a result, the portion where the power cable of the manipulator 200 is exposed to the outside can be significantly reduced. This contributes not only to the provision of the manipulator 200 having high design, but also to the prevention of accidents and malfunctions due to the interference of the power cable.
  • Opening The housing 110 may be further provided with an opening 110g for inserting a power cable for connecting the drive motor 150 to a power source and a power cable extending from the arm 202 (FIGS. 2 and 4). See FIG. 5).
  • the opening 110g is provided on the outer surface of the housing 110 having a normal line perpendicular to the rotation axis Ar .
  • the opening 110g is formed so as to be connected to the through hole 110f, and the space 118 is connected to the opening 110g.
  • the openings 110g are provided at least two, preferably four or more. When two openings 110g are provided, both of the openings 110g may be provided on the same side with respect to the output rotating body 190, and the two openings 110g may be arranged so as to overlap each other via the rotation axis Ar .
  • the two openings 110g are connected via the space 118, and the power cable can be passed from one opening 110g to the other opening 110g via the space 118.
  • four openings 110g are provided, one pair of openings 110g is provided on one side of the output rotating body 190, and these openings 110g are arranged so as to overlap each other via the rotation axis Ar . ..
  • the other pair of openings 110g is provided on the side opposite to the one pair of openings 110g with respect to the output rotating body 190, and the other pair of openings 110g overlap each other via the rotation axis Ar. Place in. Since each pair of openings 110 g is connected to the space 118, the power cable can be arranged on both the top surface side and the bottom surface side, and the degree of freedom in wiring arrangement can be improved.
  • the housing 110 can be further provided with screw holes 110e for connecting to the arm 202-2 (FIGS. 3A, 3B, 4).
  • the screw hole 110e extends in a direction perpendicular to the rotation axis Ar from the outer surface having a normal line perpendicular to the rotation axis Ar of the housing 110, that is, the surface constituting the side surface of the cylindrical shape. It is preferable to provide at least two screw holes 110e, and four screw holes 110e may be provided. When two screw holes 110e are provided, they are provided so as to sandwich the output rotating body 190.
  • one pair of screw holes 110e is provided on one side of the output rotating body 190, and the other pair of screw holes 110e is provided on the other side of the output rotating body 190.
  • a pair of screw holes 110e are provided so as to sandwich the opening 110g.
  • the input rotating body 130 has a cylindrical shape that surrounds at least a part of the housing 110 (for example, the above-mentioned part 110a), and rotates around a part of the housing 110 in a circumferential shape. Arranged (FIGS. 2, 4, 5). A permanent magnet is arranged on the input rotating body 130, and is driven by an induction action by a current flowing through the drive motor 150.
  • the size of the input rotating body 130 there is no limitation on the size of the input rotating body 130, and the inner diameter thereof may be equal to or larger than the outer diameter of a part of the housing 110 (for example, the part 110a) surrounded by the input rotating body 130.
  • the outer diameter of the input rotating body 130 can be selected in the range of, for example, larger than 3 cm and 50 cm or less.
  • the length (length in the x direction) of the input rotating body 130 can be arbitrarily set, and may be selected from a range of, for example, 10 cm or more and 50 cm or less.
  • the drive motor 150 is a motor having a cylindrical shape for rotating the input rotating body 130, is fixed to the housing 110, and is provided so as to surround at least a part of the outer periphery of the input rotating body 130.
  • the central axis of the cylindrical shape formed by the drive motor 150 may be coaxial with the rotation axis Ar .
  • Power is supplied to the drive motor 150 from an external power source via a power cable passing through the space 118 and the opening 110 g, and this electric energy is used for the rotation of the input rotating body 130.
  • the method of fixing the drive motor 150 is arbitrary, and it may be fixed with screws or may be fixed with an adhesive.
  • a groove 110i may be provided on the surface of the housing 110 in contact with the drive motor 150, and the adhesive may be injected into the groove 110i.
  • the drive motor 150 can be fixed with a sufficient amount of adhesive, so that the drive motor 150 can be firmly fixed in the rotary joint 100. Further, since it is not necessary to use a screw, the weight of the rotary joint 100 can be reduced.
  • the speed reducer 170 reduces the rotation speed of the input rotating body 130 and transmits the rotation driving force obtained from the input rotating body 130 to the output rotating body 190 at a rotation speed lower than the rotation speed of the input rotating body 130.
  • the output rotating body 190 is configured to rotate.
  • the speed reducer 170 may be configured so that the rotation direction of the output rotating body 190 is the same as the rotation direction of the input rotating body 130, or the rotation directions may be opposite to each other.
  • the speed reducer 170 can be configured by, for example, a circular spline 170a, a wave generator 170b, a flexible spline 170c, or the like (FIG. 5).
  • the circular spline 170a and the flexible spline 170c are fixed to the output rotating body 190 and the housing 110, respectively.
  • the wave generator 170b is directly or indirectly connected to the input rotating body 130.
  • the fixing method of the speed reducer 170 is arbitrarily selected, and may be performed by using an adhesive, bolts, screws, or the like. In the example shown in FIGS.
  • a motor shaft 132 is connected to the input rotating body 130, and the input rotating body 130 is fixed to the wave generator 170b by a bolt via the motor shaft 132. Therefore, the rotation of the input rotating body 130 is transmitted to the wave generator 170b via the motor shaft 132.
  • the flexible spline 170c is also fixed to the housing 110 by bolts.
  • the inside of the circular spline 170a and the outside of the flexible spline 170c are engraved with teeth, but since the number of teeth in the latter is larger than the number of teeth in the former, the number of rotations in the latter is less than the number of rotations in the input rotating body 130. Rotates, and along with this, the output rotating body 190 rotates with the torque increased by the speed reducer 170.
  • the output rotating body 190 is a rotating body having a substantially cylindrical shape in appearance, and is not only a part of the housing 110 surrounded by the input rotating body 130 inside the tubular shape, but also the drive motor 150.
  • the input rotating body 130 is arranged (FIG. 2, FIG. 4, FIG. 5).
  • the output rotating body 190 is configured to surround a part of the housing 110, the drive motor 150, and the input rotating body 130.
  • the rotation of the input rotating body 130 is transmitted to the output rotating body 190 by the speed reducer 170, and as a result, the output rotating body 190 rotates around a part of the housing 110, the input rotating body 130, and the drive motor 150. Rotate.
  • the rotation axis of the output rotating body 190 is coaxial with that of the input rotating body 130, and each rotating body rotates about the rotation axis Ar .
  • Examples of the material contained in the output rotating body 190 include metals such as iron, aluminum and titanium, and alloys such as stainless steel.
  • At least a part of the output rotating body 190 is exposed from the housing, and the exposed surface, that is, the outer surface (the surface having a normal line perpendicular to the rotation axis Ar ) is also connected to the arm 202-1.
  • a screw hole 190a for the purpose can be provided (FIGS. 3A to 5).
  • the screw hole 190a extends from the outer surface of the output rotating body 190 in a direction perpendicular to the rotation axis Ar . It is preferable to provide at least two screw holes 190a, and four screw holes 190a may be provided. When two screw holes 190a are provided, they are arranged so as to be located on a straight line parallel to the axis of rotation Ar .
  • one pair of screw holes 190a is arranged so as to be located on a straight line parallel to the rotation axis Ar , and the other screw holes 190a are also different parallel to the rotation axis Ar. It is arranged so that it is located on a straight line. Further, one of one pair of screw holes 190a and one of the other pair of screw holes 190a are arranged on the circumference centered on one point on the rotation axis Ar , and with the other of one pair of screw holes 190a. The other of the other pair of screw holes 190a is arranged on a different circumference centered on a point on the axis of rotation Ar .
  • the encoder 160 includes a magnetically patterned magnetic ring 160a, a magnetic sensor 160b for detecting the magnetic field of the magnetic ring 160a, an encoder substrate 160c for controlling the magnetic sensor 160b, and the like. Can be configured with.
  • the magnetic ring 160a is attached to an input rotating body 130 or a member fixed to the input rotating body 130 and rotating at the same time (for example, a motor shaft 132), and rotates together with the input rotating body 130.
  • the magnetic sensor 160b and the encoder board 160c are fixed to the housing 110.
  • the change in the magnetic field due to the rotation of the magnetic ring 160a is detected by the magnetic sensor 160b, and the change is processed by the encoder board 160c to calculate the number of rotations and the position of the input rotating body 130, and the output rotating body is based on this data.
  • the relative position of the 190 with respect to the housing 110 is determined.
  • the magnetic ring 160a of the encoder 160 is attached to the output rotating body 190 or a member fixed to the output rotating body 190, and the rotating joint 100 is configured so that the magnetic change due to the rotation of the output rotating body 190 is detected by the magnetic sensor 160b. May be good.
  • the side cap 112 which is an arbitrary configuration, has a main surface perpendicular to the rotation axis Ar , and can be arranged so as to form a top surface or a bottom surface of the cylindrical shape of the rotation joint 100.
  • the side cap 112 is attached to the housing 110 so as to be attached to and detached from the housing 110 using only frictional force or using screws 114 and 116 (FIGS. 3A and 3B).
  • the side cap 112 can function as a side wall of the space 118 connected to the opening 110 g, and is provided so that the space 118 can be opened in the x direction by removing the side cap 112. Therefore, by removing the side cap 112, the power cable arranged in the space 118 can be visually recognized, and as a result, the state of the power cable can be easily confirmed.
  • the side cap 112 may be provided with a through hole that overlaps with the through hole 110f of the housing 110 in the x direction.
  • the power cable connecting the arm 202-1 and the power supply can be extended from the through hole of the side cap 112 to the through hole 110f of the housing 110, so that the power cable is the manipulator 200. The length of the portion exposed from the can be reduced.
  • the bearing rotary joint 100 includes an input rotating body 130 and an output rotating body 190 as rotatable portions. Therefore, bearings may be provided in order to smoothly rotate these rotating bodies.
  • the arrangement of the bearings is arbitrary, but as shown in FIG. 5, for example, a pair of bearings 140 and 142 can be provided between the output rotating body 190 and the housing 110. Similarly, a pair of bearings 144 and 146 can be provided between the input rotating body 130 and the housing 110.
  • bearings 140, 142, 144, 146 can be provided so as to mesh with the step provided in the housing 110.
  • the housing has a step 110h formed by a surface whose cross section perpendicular to the rotation axis Ar is concentric with the rotation axis Ar and a surface perpendicular to the surface.
  • the bearings 140 and 142 can be arranged at the 110 so as to mesh with the step 110h. That is, the bearings 140 and 142 can be arranged so that the two surfaces of the housing 110 constituting the step 110h are in contact with the bearing 140 or 142 at the same time.
  • the bearing can be stably arranged in the housing 110.
  • the method of fixing the bearings 140, 142, 144, 146 is arbitrary, and they may be simply physically arranged or fixed with screws or adhesives.
  • a groove is formed on the surface of the housing 110, the input rotating body 130, and / or the output rotating body 190 in contact with the bearing, and the bearing is fixed by injecting the adhesive into the groove.
  • You may.
  • a groove 190b may be provided on a part of the surface of the output rotating body 190 in contact with the bearing 140, and an adhesive (not shown) may be injected into the groove 190b.
  • a groove 110i may be provided on a part of the surface where the housing 110 comes into contact with the bearing 142, and the adhesive may be injected into the groove 110i.
  • a groove may be formed in a part of the surface of the input rotating body 130 in contact with the bearing 144 or 146, and an adhesive may be applied to the groove.
  • a groove may be formed on the contact surface, and an adhesive may be provided in the groove.
  • the oil seal reducer 170 uses a relatively large amount of oil to prevent wear.
  • An oil seal can be provided to prevent this oil from leaking to the outside or entering the drive motor 150.
  • the number, structure, and arrangement of oil seals can be selected as appropriate.
  • oil seals 120 and 126 for preventing leakage to the outside are provided between the housing 110 and the output rotating body 190, and further, an oil seal for preventing intrusion into the drive motor 150.
  • 122 and 124 are provided between the housing and the motor shaft 132.
  • the oil seal has a ring shape, and its cross section (a cross section parallel to the rotation axis Ar when placed on the rotary joint 100) is a flat surface on the outside of the oil seal and sharp on the inside. ..
  • these oil seals 120, 122, 124, 126 may be arranged so that the housing 110, which is a fixing portion, is in contact with the outside of the oil seal, or the inside is in contact with the housing 110. It may be arranged.
  • the rotary joint 100 includes an input rotating body 130 and an output rotating body 190 that coaxially rotate around the housing 110, and the output rotating body 190 rotates as an input. While surrounding the body 130, it rotates around the input rotating body 130 in a circumferential shape.
  • the central axis of the cylindrical drive motor 150 that drives the input rotating body 130 may be coaxial with the rotating axis Ar of the input rotating body 130 and the output rotating body 190.
  • the output rotating body 190 is configured so that the arm is connected to an outer surface having a normal line perpendicular to the rotation axis Ar , and the housing 110 has an outer surface having a normal line perpendicular to the rotation axis Ar .

Landscapes

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

Abstract

Le problème à résoudre par la présente invention est de fournir une articulation rotative fonctionnant comme une articulation pour un manipulateur. La solution selon l'invention porte sur l'articulation rotative comprenant un boîtier, un corps rotatif d'entrée, un moteur d'entraînement et un corps rotatif de sortie. Le corps rotatif d'entrée entoure au moins une partie du boîtier. Le moteur d'entraînement est fixé au boîtier, entoure le corps rotatif d'entrée, et amène le corps rotatif d'entrée à tourner autour de l'au moins une partie du boîtier. Le corps rotatif de sortie entoure le moteur d'entraînement, est tel qu'au moins une partie de celui-ci est exposée à partir du boîtier, et tourne de manière coaxiale avec un arbre rotatif du corps rotatif d'entrée.
PCT/JP2021/024508 2020-10-12 2021-06-29 Articulation rotative, et manipulateur ayant une articulation rotative WO2022079951A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-171828 2020-10-12
JP2020171828A JP6820633B1 (ja) 2020-10-12 2020-10-12 回転ジョイントおよび回転ジョイントを有するマニピュレータ

Publications (1)

Publication Number Publication Date
WO2022079951A1 true WO2022079951A1 (fr) 2022-04-21

Family

ID=74200308

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/024508 WO2022079951A1 (fr) 2020-10-12 2021-06-29 Articulation rotative, et manipulateur ayant une articulation rotative

Country Status (2)

Country Link
JP (2) JP6820633B1 (fr)
WO (1) WO2022079951A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112022002641T5 (de) 2021-05-17 2024-04-04 Keio University Aktuator

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07124884A (ja) * 1993-10-27 1995-05-16 Yaskawa Electric Corp 産業用ロボットの関節部駆動構造
JP2012223081A (ja) * 2011-04-14 2012-11-12 Jtekt Corp 電動アクチュエータ及び関節装置
CN204076277U (zh) * 2014-09-11 2015-01-07 南京工业职业技术学院 一种机器人关节
JP2017101734A (ja) * 2015-12-01 2017-06-08 日本電産シンポ株式会社 電動機付き減速機
EP3270000A2 (fr) * 2016-07-12 2018-01-17 Phase Motion Control S.p.A. Moteur à engrenages
JP2018035885A (ja) * 2016-08-31 2018-03-08 日本電産シンポ株式会社 電動機付き波動歯車減速機
JP2018066468A (ja) * 2016-10-23 2018-04-26 水野　博 遊星歯車装置
JP2019092300A (ja) * 2017-11-15 2019-06-13 セイコーエプソン株式会社 モーター、およびロボット
JP2019152282A (ja) * 2018-03-05 2019-09-12 住友重機械工業株式会社 減速装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07124884A (ja) * 1993-10-27 1995-05-16 Yaskawa Electric Corp 産業用ロボットの関節部駆動構造
JP2012223081A (ja) * 2011-04-14 2012-11-12 Jtekt Corp 電動アクチュエータ及び関節装置
CN204076277U (zh) * 2014-09-11 2015-01-07 南京工业职业技术学院 一种机器人关节
JP2017101734A (ja) * 2015-12-01 2017-06-08 日本電産シンポ株式会社 電動機付き減速機
EP3270000A2 (fr) * 2016-07-12 2018-01-17 Phase Motion Control S.p.A. Moteur à engrenages
JP2018035885A (ja) * 2016-08-31 2018-03-08 日本電産シンポ株式会社 電動機付き波動歯車減速機
JP2018066468A (ja) * 2016-10-23 2018-04-26 水野　博 遊星歯車装置
JP2019092300A (ja) * 2017-11-15 2019-06-13 セイコーエプソン株式会社 モーター、およびロボット
JP2019152282A (ja) * 2018-03-05 2019-09-12 住友重機械工業株式会社 減速装置

Also Published As

Publication number Publication date
JP6820633B1 (ja) 2021-01-27
JP2022063521A (ja) 2022-04-22
JP2022063827A (ja) 2022-04-22

Similar Documents

Publication Publication Date Title
US7230402B2 (en) Swing device of industrial robot
US9278455B2 (en) Robot joint structure
US8881617B2 (en) Robot arm with cable protection structure
US5437490A (en) Finger module, finger module structure, and robot hand
KR900005109B1 (ko) 로보트의 관절기구
JP2004216535A (ja) 多関節ロボット
EP0502832B1 (fr) Poignet pour robot industriel
WO2022079951A1 (fr) Articulation rotative, et manipulateur ayant une articulation rotative
IE53744B1 (en) Split-ball type wrist and manipulator assembly for robot
US7556299B2 (en) Finger unit and multi-finger grasping mechanism
JP2008073775A (ja) 産業用ロボット
JP6229779B2 (ja) 水平多関節型ロボット
US20060182595A1 (en) Robot wrist comprising a drive unit incorporated in a tilt
US11376729B2 (en) Robot
JP2009160721A (ja) 電動回転継手
JP2006273295A (ja) 車両用操舵装置
JP2540695B2 (ja) マニプレ―タ
KR19980701448A (ko) 다관절 로봇의 손목기구
WO2018008679A1 (fr) Dispositif d'entraînement de bras
US11260546B2 (en) Robot
EP3441643B1 (fr) Réducteur de vitesse et actionneur
KR100660661B1 (ko) 산업용 로봇의 선회장치
CN220516855U (zh) 关节结构及机器人
JPH0446791A (ja) 産業用ロボット
WO2022163789A1 (fr) Robot à bras

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21879695

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21879695

Country of ref document: EP

Kind code of ref document: A1