JPH03234495A - Steel band driving device of robot arm - Google Patents

Abstract

PURPOSE:To increase the rotating range of a second arm and extend the working area of a robot by laying two steel belts in cross to increase the rotating angle of the second arm. CONSTITUTION:When one steel belt 6 is rotated clockwise from a position in which a mounting member 9 is not in contact with the tangential pulling part of the inclined part of a rotating drum 4, a driven drum 5 is rotated counterclockwise by the action of a tension as the other end of the steel belt 6 is fixed along the outer circumference of the driven drum 5 by a mounting member 12, and consequently, a second arm 3 fixed to the driven drum 5 is rotated. Namely, this rotation is the working angle of the second arm 3. In this case, two steel belts are provided in double level and laid in cross. Hence, the contact angle to each drum 4, 5 is increased, resulting in an increase in rotating range of the second arm 3.

Description

[Detailed description of the invention] [Industrial application fields] The present invention relates to driving a robot arm.

[Background Art] In recent years, various types of horizontal articulated direct drive robots (hereinafter abbreviated as DD robots) have been developed in the robot industry.

An example of driving the conventional robot arm described above will be described below with reference to the drawings.

FIG. 10 shows a plan view of a conventional DD robot. 21 is the main body. Reference numeral 22 denotes a first arm, which is directly connected to and rotates by a first driving means having a first motor and an encoder built into the main body (not shown). A second arm 23 is rotatably provided at the other end of the first arm 22. A rotating drum 24 is directly connected to a second drive means (not shown) having a second motor and an encoder built into the main body 21, and is rotatable with respect to the first arm 22.

A driven drum 25 is directly connected to the second arm 23.

Reference numeral 26 denotes a steel belt A, which is fixed to the rotary drum 24 by a mounting member a29 with screws 30 and 31. The other end is similarly fixed to the driven drum 25 with a screw (not shown) using a mounting member b32. 27 is a steel belt B (the above-mentioned steel belt), and there is a step difference from A26 to the mounting member c3.
3, it is fixed to the rotating drum 24 with screws (not shown).

The other end is similarly fixed to the driven drum 25 with a screw (not shown) using a mounting member d34.

FIG. 11 is a perspective view of the rotating drum 24. The two steel belts A26 and B27 are mounted on the mounting members a29 and c so that they can be driven parallel to each other and at different levels.
It is positioned and fixed at 33.

FIG. 12 shows the rotating drum 24 and the driven drum 25.
2 shows a state in which two steel belts A26 and B27 are attached so that they are at different levels and can be driven parallel to each other.

Two steel belts A26 configured as above,
The driving operation of the B27 will be explained below.

FIG. 13 to FIG. 16 are operational diagrams showing the operation.

First, when the steel belt A26 rotates in the direction of the arrow (clockwise) from a position where the attachment member a29 does not come into contact with the linear tension portion of the rotary drum 24, the other end is fixed by the attachment member c32 along the outer circumference of the driven drum 25. As a result, the driven drum 25 rotates in the direction of the arrow (clockwise) due to tension, and the second arm 23 to which the driven drum 25 is fixed rotates. This rotation angle is the working angle of the second arm 23. FIG. 13 shows the location of the branch, and FIG. 14 shows the location of the end point.

On the other hand, the steel belt B27 is rotated in the direction of the arrow (clockwise) from a position where the attachment member d34 does not come into contact with the linear tension portion of the driven drum 25. Since the other end of the rotary drum 24 is fixed along the outer periphery with the attachment member c33, tension acts and the rotary drum 24 rotates in the direction of the arrow (clockwise).

FIG. 15 shows the position of the starting point, and FIG. 16 shows the position of the ending point.

Next, the operation of returning the second arm 23 counterclockwise is the 16th
When the rotary drum 24 rotates counterclockwise from the state shown in the figure, tension acts on the steel belt B27 side, causing the driven drum 25 to rotate counterclockwise.

Note that FIG. 17 is an enlarged plan view showing a state in which the steel belts are attached to each of the drums shown in FIG. 10 by attachment members.

[Problems to be Solved by the Invention] However, in the configuration of the prior art described above, a steel belt is stretched parallel between each drum and driven, and the rotation range is limited to the mounting member that attaches each steel belt to each drum. It is necessary that the end face of each steel belt be located at the rear of the point where each steel belt becomes parallel. because,
When the attachment portion of the steel belt becomes parallel to the attachment member due to the tension of the steel belt, tension is applied to the bent portion, causing it to break. And if the steel belt is hung parallel,
The problem is that the rotation range of the second arm is constant regardless of the diameter of each drum and the distance between each drum.

SUMMARY OF THE INVENTION In order to solve the problems of the prior art described above, an object of the present invention is to provide a steel belt drive device for a robot arm in which the rotation range of the second arm is increased.

[Means for Solving the Problems] In order to achieve the above object, a steel belt drive device for a robot arm according to the present invention is directly connected to a first drive means of a robot body that includes a first drive means and a second drive means. A first arm that rotates about the same axis, a second arm that is rotatably provided at the other end of the first arm, and is directly connected to the second drive means of the main body to rotate the second arm. A rotary drum is provided rotatably coaxially with the first driving means, and a driven drum directly connected to the second arm is provided at the other end, and each end is connected between the rotary drum and the rotary drum. The present invention is characterized in that two steel belts fixed by attachment members and capable of reciprocating motion are provided at different levels, and the two steel belts are hung in a cross shape to increase the rotation angle of the second arm.

[Function] According to the configuration of the present invention described above, when the two steel belts are hung in a cross shape, the angle of the belt wrapping around each drum becomes larger than when the two steel belts are hung in parallel. The rotation angle can be correspondingly increased. It also corresponds to the diameter of each drum and the distance between the drums. That is, as the drum diameter increases, the rotation angle increases, and as the distance between the drums decreases, the rotation angle increases.

[Embodiment 1] A steel band driving device according to an embodiment of the present invention will be described below with reference to the drawings.

1 to 9 are plan views of a steel band driving device according to a first embodiment of the present invention.

FIG. 1 shows a plan view of the DD robot. 1
is the DD robot body. Reference numeral 2 denotes a first arm, which is directly connected and rotated by a first driving means 15 having a first motor and an encoder built into the main body (as shown in FIG. 2). A second arm 3 is rotatably provided at the other end of the first arm 2. 4 is a rotating drum, and a second driving means 1 having a second motor and an encoder built in the main body 1;
6, and is rotatable with respect to the first arm 2.

A driven drum 5 is directly connected to the second arm 3.

Reference numeral 6 denotes a steel belt A which is fixed to the rotary drum 4 by a mounting member a9 with screws 10 and 11. The other end is similarly fixed to the driven drum 5 with a screw (not shown) using a mounting member b12. Reference numeral 7 denotes a steel belt B, which is fixed to the rotary drum 4 by a screw (not shown) with a mounting member c13 at a step difference from the steel belt A6. The other end is similarly fixed to the driven drum 5 with a screw (not shown) using a mounting member d14.

FIG. 3 is a perspective view of the rotating drum 4.

The two steel belts A6 and B7 are mounted on the mounting members a9 and c so that they can be driven at different levels and in a cross shape.
It is positioned and fixed at 13.

FIG. 4 shows a state in which two steel belts A6 and B7 are attached to the rotary drum 4 and the driven drum 5 so that they can be driven in a criss-cross pattern at different levels.

The driving operation of the two steel belts A6 and B7 constructed as described above will be described below.

FIGS. 5 to 8 are operational diagrams showing the operation. First, when the steel belt A6 rotates in the direction of the arrow (clockwise) from a position where the attachment member a9 does not come into contact with the tangential tension portion of the inclined portion of the rotary drum 4, the other end is attached to the attachment member c12 along the outer circumference of the driven drum 5. Since it is fixed, tension acts on the driven drum 5 and rotates in the direction of the arrow (counterclockwise), causing the second arm 3 fixed to the driven drum 5 to rotate.

This rotation angle is the operating angle of the second arm 3.

FIG. 5 shows the position of the starting point, and FIG. 6 shows the position of the ending point.

On the other hand, the steel belt B7 is rotated in the direction of the arrow (counterclockwise) from a position where the attachment member d14 does not come into contact with the tangential tension portion of the inclined portion of the driven drum 5.

Since the other end of the rotary drum 4 is fixed along the outer periphery with the attachment member C13, tension acts and the rotary drum 4 rotates in the direction of the arrow (clockwise).

FIG. 7 shows the position of the starting point, and FIG. 8 shows the position of the ending point.

Next, the action of returning the second arm 3 counterclockwise is caused by the rotation of the rotating drum 4 counterclockwise from the state shown in FIG.
Rotate clockwise.

Note that FIG. 9 is an enlarged plan view showing a state in which the steel belts are attached to each of the drums shown in FIG. 1 using attachment members.

As described above, according to this embodiment, by providing the two steel belts at different levels and intersecting each other in a cross shape, the angle of the winding around each drum increases and the rotation range of the second arm increases. will increase.

"Effects of the Invention" As explained above, according to the present invention, a main body incorporating a first driving means and a second driving means, a first arm that is directly connected to the first driving means of this main body and rotates about the same axis, A second arm rotatably provided at the other end of the first arm, and a rotary drum directly connected to the second drive means of the main body for rotating the second arm are connected to the first drive means. A driven drum is provided rotatably coaxially with the second arm, and a driven drum is directly connected to the second arm at the other end, and each of the two ends is fixed between the rotary drum and the second arm by a mounting member, By providing two steel belts capable of double action at different levels and intersecting them in a cross shape, the angle of winding around each drum becomes large. That is, the point at which the two steel belts become parallel between each drum increases in proportion to the inclination angle of the cross-shaped belt compared to the parallel belt. As the angle of this wrapping increases, the rotation range of the second arm increases, and the work area of the robot increases. In addition, since the two steel belts are crossed, it is possible to prevent the steel belts from shifting, and when the two steel belts are stretched, the adjustment range between each drum becomes smaller, which is a great effect.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of a steel belt drive device for a robot arm in an embodiment of the present invention, and FIG. ! 1 is a side view, FIG. 3 is a perspective view of the rotating drum part in FIG.
The figure is an enlarged plan view of the two steel belts hung in a cross shape between the respective drums in Figure 1, Figures 5 to 8 are plan views showing the operation of Figure 1, and Figure 9 is the Figure 1 is an enlarged plan view showing the state in which the steel belt is attached to each drum using attachment members, and Figure 10 is an enlarged plan view showing the state in which the steel belt is attached to each drum with the attachment member.
- A plan view of the belt drive device, FIG. 11 is a perspective view of the rotating drum part shown in FIG. 10, and FIG. 12 is an enlarged plan view of the two steel belts stretched in parallel between the respective drums shown in FIG. 10. , FIG. 13 to FIG. 16 are plan views 1 showing the operation of FIG. 10, and FIG. 17 is an enlarged plan view showing the state in which the steel belt is attached to the drum with the attachment member in each of FIG. 10. . 1...DD robot body, 2...first arm, 3.
...Second arm, 4... Rotating drum, 5... Followed drum, 6.7... Steel belt, 9, 12, 13
゜14...Mounting member, 10.11...Screw, 1
5... First driving means, 16... Second driving means. 4... Rotating drum Figure 1 5...
- Driven drum 6.7...Steel belt 9.12°t: (,14...Mounting member Fig. 2 Fig. 3 Fig. 9 Fig. 9 Fig. 24... Rotating drum 25... Driven drum 26.27...Steel belt 29.32.33.34...Mounting member 30.31...
・Screws Fig. 12 Fig. 1 7

Claims (1)

[Claims] (1) A first arm that is directly connected to the first drive means of the robot body and rotates about the same axis, which includes a first drive means and a second drive means, and a first arm that is rotatably provided at the other end of the first arm. a second arm, and a rotary drum directly connected to the second drive means of the main body for rotating the second arm, rotatably provided on the same axis as the first drive means, and at the other end. A driven drum directly connected to the second arm is provided, and two steel belts capable of reciprocating motion are provided at different levels between the two rotating drums, each end of which is fixed by a mounting member. A steel belt drive device for a robot arm, characterized in that a steel belt is hung in a cross shape to increase the rotation angle of the second arm.