JPS6377677A - Joint type robot - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an articulated industrial robot in which a second arm pivots relative to a first arm that is pivotably provided with respect to a base.

(Prior Art) In such a conventional articulated robot, there is a drive mechanism for rotating a second arm relative to a first arm that is rotatably provided with respect to a base. As shown in Japanese Unexamined Patent Publication No. 59-69283, the II mechanism is generally controlled by constraints on the layout of each member and by reducing the amount of suspension at the end of the rotation. From the viewpoint of improvement, a motor and a deceleration mechanism are provided on the first arm's climbing end side, and the output after deceleration of this deceleration is transmitted to the arm support shaft of the joint part of the first arm and the second arm. There is.

However, when the output after deceleration is used as the input to the drive transmission mechanism of the joint part, the effects of play in the joint part (transmitted on the output side of the joint part, that is, the second arm) immediately appear, and the λ motor side becomes high. Even if the second arm is precisely controlled, the accuracy of position control of the second arm is reduced.

Therefore, it is conceivable to provide a deceleration mechanism in the joint part and transmit the driving force at high speed without decelerating to the input of this deceleration mechanism from the converter on the first arm side.
If a normal speed reduction mechanism is installed at the joint, it will be difficult to install the wiring (or piping) from the first arm side to the second arm side through the inside of the joint, and if this wiring etc. is exposed to the outside, it will be difficult to install it. Not only is the appearance undesirable, but it may also interfere with operation.

(Object of the Invention) The present invention was made in view of the above-mentioned problems, and it reduces the inertial mass on the swinging end side of the arm and reduces the influence of play in the drive force transmission mechanism, thereby increasing the To provide an articulated robot capable of precise position control, and in which wiring etc. can be inserted into the joints without interfering with turning movements.

(Structure of the Invention) In the present invention, a second arm is rotatably supported on a first arm that is rotatably provided with respect to a base, and the second arm is rotatably supported by a rotational driving force of a motor provided on the first arm side. In an articulated robot whose arms are rotatably driven, a deceleration mechanism is provided on the rgJi part where the first arm and the second arm are supported by bearings, and is arranged coaxially with the bearings, and a deceleration mechanism is provided on the base end side of the first arm. The driving force of the provided motor is transmitted to the input shaft of the reduction mechanism via a belt, and the output of the reduction #R structure is transmitted to the second arm, and - the reduction mechanism has a hollow structure in the axial direction, The tip of the second arm is installed inside this hollow part (
=j is passed through the wiring for the digitized tool.

The second arm is pivotably supported on the first arm, and the second arm is rotatably driven by the rotational driving force of a motor provided on the first arm side. A 21-section robot is equipped with a deceleration mechanism at the joint where the first arm and the second arm are pivotally supported, and the driving force of the motor provided at the base end of the first arm is transmitted through a belt to reduce the speed. transmits the output of the deceleration mechanism to the input shaft of the mechanism and the output of the deceleration mechanism to the second arm; It is.

(Embodiment) An embodiment of the present invention will be described with reference to the drawings. The first arm 1 is provided with its proximal end rotatable by a drive source (not shown) with respect to the base B of the robot, and this first arm 1. A second arm 2 is provided on the distal end side of the arm 1 so that the proximal end side thereof can pivot, and each frame on the distal end side of the first arm 1 and the proximal end side of the second arm 2 has a joint portion 3. It is rotatably supported via a bearing 4. And the first
A motor 5 is provided on the base end side of the arm 1 and the joint portion 3
is equipped with a deceleration mechanism 6 capable of large deceleration.

This speed reduction mechanism 6 includes, for example, a wave generator called Harmonic Drive (trademark of Harmonic Drive Systems, Inc.) consisting of an elliptical cam and a ball bearing housed on its outer periphery, and a thin-walled wave generator. It consists of a flexspline, which is a metal elastic body and has teeth on its outer periphery, and the outer periphery of the wave generator is in abrasive contact with the inner periphery, and a circular spline, which is a rigid ring and has the same pitch as the flexspline and a slightly smaller number of teeth, on the inner periphery. use something

In the present invention, the input corresponding to the wave generator @
7 has a hollow structure in the axial direction, and this is connected to the 1st and 2nd arms 1.
．． The intermediate tooth member 8, which corresponds to a flexspline, has a cylindrical structure extending in the axial direction. The output gear 9 corresponding to a circular spline is arranged on the outer periphery of the cam 7a1 and the hall bearing 7b.
2fllH9a, 9b) are arranged in parallel in the axial direction on the outer periphery of the intermediate tooth member 8, one output gear 9a is fixed to the first arm 1 side, and the other output gear 9b is fixed to the second arm 2 side. There is.

The input shaft 7 and the output QSb of the motor 5 are arranged in parallel, and a pulley 1 is attached to the end of the input @7 on the first arm side.
0 is fixed by a key 11, and a timing belt 13 is stretched between this pulley 10 and a pulley 12 fixed to the output shaft of the motor 5. Furthermore, the second arm 2
A cylindrical member 14 made of a resin material or the like and having one end fixed to the frame extends to the other end (upper end) of the hollow portion of the L input shaft 7. This cylindrical member 14 is for protecting wiring (or piping) 17, which will be described later.

Covers 15 and 16 are attached to each frame of the first arm 1 and the second arm 2, and the first frame formed by these covers 15 and 16 are attached to each frame of the first arm 1 and the second arm 2, respectively. Inside the second arm 1.2 and in the hollow part of the cylindrical member 14 in the joint portion 3, electrical wiring and piping for operating compressed air are connected from the first arm side to the tool attached to the tip of the second arm. I am passing through 17. Note that a hand or tool (
A mayubrator 18 to which a tool) is attached is provided,
The above-mentioned arrangement is applied to the motor etc. built into this manipulator 18! ! ;117 is connected.

In the structure F, when the motor 5 is driven,
The driving force is transmitted via the pulley 12, the timing belt 13, and the pulley 10 to the input shaft 7 of the deceleration type @6 in the joint portion 3, and therefore, one output gear 98 is fixed via the intermediate tooth member 8. Therefore, the other output tooth m9b is driven at a large deceleration. As a result, the second arm 2 is driven to rotate relative to the first arm 1.

Here, in the present invention, since the driving force of the motor 5 is applied to the input shaft (side) of the speed reduction mechanism 6 provided at the r@ node part 3 at high speed without being decelerated, the driving force after deceleration is Compared to the case where the drive force transmission mechanism is applied to the 1111-section portion, play and backlash in the transmission mechanism are reduced, allowing highly accurate positioning.

In addition, since the wiring 17 is passed through the hollow part of the deceleration mechanism 6 of the joint part 3, the wiring 17 is not exposed to the outside at the 11th minute, which not only improves the appearance but also prevents movement. This also eliminates the generation of dust due to twisting, etc. Furthermore, since the wiring 17 passes through the hollow part of the cylindrical member 14, the wiring 17
There is no possibility that the input shaft 7 of the speed reduction mechanism 6, which is being driven to rotate at high speed, will come into contact with the input shaft 7 and be damaged.

(Effects of the Invention) As described above, according to the present invention, a deceleration mechanism is provided at the joint portion where the first arm and the second arm are supported by bearings, and the deceleration mechanism is arranged coaxially with the bearings. By transmitting the driving force of the motor installed on the end side to the input shaft of the speed reduction mechanism through the belt, the first arm can pivot! l] It is possible to reduce the inertia on the end side and the backlash in the transmission mechanism, thereby maintaining and improving high control accuracy.Moreover, the reduction mechanism can be made of a hollow I structure. By passing the wire through this hollow part,
This eliminates the possibility of wiring interfering with the rotation of the arm.

[Brief explanation of the drawing]

The drawing is a partial plan view of an articulated robot according to an embodiment of the present invention. B...Base, 1...First arm, 2...Second arm, 3...I30 section, 4...Cross roller bearing, 5...Motor, 6...Reduction mechanism , 7... Input shaft, 8... Intermediate tooth member, 9... Output gear, 10.1
2...Pulley, 13...Timing belt, 17.
··wiring.

Claims (1)

[Claims] 1. A second arm is pivotably supported on a first arm that is pivotably provided with respect to the base, and the second arm is rotationally driven by the rotational driving force of a motor provided on the first arm side. In this articulated robot, a deceleration mechanism arranged coaxially with the bearings is provided at the joint where the first arm and the second arm are supported by bearings, and the driving force of the motor provided at the proximal end of the first arm is transmits the output of the speed reduction mechanism to the input shaft of the speed reduction mechanism via a belt, and transmits the output of the speed reduction mechanism to a second arm, and the speed reduction mechanism has a hollow structure in the axial direction;
An articulated robot characterized in that a wiring for a tool attached to the tip of the second arm is routed through the hollow portion.