JPS5914490A - Arm of industrial robot - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial robot arm in which one long arm can perform movements such as bending, rotation, and swinging in any direction.

The arm of an industrial robot is employed, for example, in the robot body to perform necessary displacement operations using power from its drive source.

Various such arms have been proposed in the past. For example, an arm 1 as shown in FIG. 1 has tooth surfaces 2A on both ends.
The internal links 2 with the engraved on them mesh with each other, and two external links 3 are formed on the left and right sides of each internal link 2.
universal joint (
It is rotatably supported on a shaft (hereinafter referred to as a shaft bearing part) 5.

In such an arm I, for example, when the external link 3-a is fixed and the internal link 2a supported by it is rotated in the direction of arrow 6, the internal link 2b rotates around the bearing part 5b as shown in FIG. As shown in the figure, it rotates in the direction of arrow 7, and
The external link 3b circumscribed by the arcuate surfaces 3A at both ends also rotates.

This bending action sequentially affects the internal link 2d and external link 3d at the tip, allowing the mechanism 1 as a whole to move flexibly.

Further, when the internal link 2a is rotated in the direction of arrow 8, the rotation is directly transmitted via each support 4 and the external link 3, and the external link 3d at the tip is rotated in the direction of arrow 9. You can also do that.

However, in such an arm, the angular area of the tooth surface carved on the internal link is small, and a universal joint must be used in the shaft bearing, so the bending angle between the internal links and the external link is limited. It is not possible to increase the power transmission efficiency, the power transmission efficiency is low, and the overall rigidity cannot be increased.

The present invention was made in order to solve the above-mentioned problems, and it is possible to increase the bending angle between each link, and in addition, it is a flexible and deformable structure that has a wide bending operation range, high transmission efficiency, and high rigidity. Roboso!・The purpose is to provide an arm. 'Hereinafter, the present invention will be explained in detail based on examples thereof.

FIG. 3 is a sectional view of the arm 10 of the industrial robot of the present invention. This includes a plurality of dihedral gears 11 having two spur gear surfaces 11B and IIC formed on both sides and meshing with each other,
One dihedral gear 11NIM at one end of this dihedral gear train 12
) and one single face gear 13 on which one spur gear surface 13A is formed, and a gear train 14 is provided.

This gear train 14 is provided with another similar gear train 15 in parallel, as shown in the perspective view of FIG. 11B,I
The respective centers 11b and 11C of the IG are arranged to coincide with the centers 16b and 16c of the spur gear surfaces 16B and 16G on the meshing side 17 of the two dihedral gears 16.1G of the other gear train 15. .

And their centers 11b, llc, 16b, 16c
As shown in the figure, the respective shaft bodies 18b and 18c are loosely fitted, and the single face gear 13 is fixed to the shaft body 18b located at the center, and the single face gear 19 of the other gear train 15 is loosely fitted to the shaft body 18b located at its center.

Furthermore, in the gear train 15, the bevel gear 20 for transmitting bending power is connected to the dihedral gear 16 (16M) at the end.
It is fixed concentrically to the non-meshing side 21 of and is loosely fitted to the shaft body 18b at that location. That is, the gear trains 14 and 15 bend the main arm IO via the shafts 18b and 18C and links 26a and 26b, which will be described later, and the bevel gear 20 has a bevel gear 22 meshing therewith, which will be described later. It is secured to a drive shaft 25 which is coaxially integrated into the drive shaft 24 of the base support 23 .

Mutually adjacent shafts 18 of the above-mentioned gear train 14.15
b and 18c are a pair of left and right links 26a and 26, respectively.
b are rotatably connected in sequence.

The shaft body 18b to which the single plane gear 13 is fixed is supported by a base support 23, and the drive shaft 24 of the base support 23 is rotated by a drive source inside the robot body (not shown). It has become.

On the other hand, the single face gear 19 has a shaft body 1 loosely fitted therein.
An end effector 27 is provided which rotates together about 8b.

It goes without saying that any number of gears may be employed in each gear train as long as they fulfill their functions in order to obtain a desired arm length.

Since the present invention is configured as described above, it can be operated as follows.

First, the drive shaft 25 is moved to the bevel gear 22 by a drive source (not shown).
When the bevel gear 20 is rotated at the same time in the direction of the arrow 28, the bevel gear 20 rotates, and the dihedral gear 16M of the gear train 15 integrated with the bevel gear 20 rotates. At this time, since the base support 23 is fixed, the shaft 18c is connected to the shaft 1 on which the dihedral gear 16M is loosely fitted.
8b as the center, it is rotated with a radius of Ll as shown in FIG.

On the other hand, since the rotation of the single face gear 13 of the gear train 14 fixed to the shaft body 18b is prevented by the base support 23, the spur gear surface 11C of the double face gear 11M is 13 on the spur gear surface 13A, which is the shaft body 18b.
is rotated about the shaft body 18c at a radius of l and 1 as described above. These rotational movements cause each of the links 26a, 2
6b.

This operation is successively repeated until the entire device is bent as shown.

Note that the amount of bending displacement of the end effector 27 is the same as that of the bevel gear 22.
It can be arbitrarily set by changing the rotation angle of.

Next, when the drive shaft 24 of the base support 23 is rotated in the direction of arrow 28 by a separately provided drive source, the rotational force is transmitted to the end effector through the shafts 18b, 18c and links 26a, 26b. 27.

By performing the above-described operations appropriately, the wrist (not shown) attached to the end effector 27 can be displaced to an arbitrary position with respect to the base support 23.

In such an operation, the power transmission for the displacement is performed by the tooth surfaces of each gear with high power transmission efficiency, gears and links with high rigidity, and the bending angle can also be made larger than in conventional examples. Figure 6 shows a different embodiment of the invention.
This is an arm 10 of an industrial robot having the structure of the invention described above, which can rotate an output shaft 30 protruding from the end effector 27. Note that the same reference numerals are given to parts that are not different from those in the above invention, and explanations thereof will be omitted.

In addition to the gear train 14.15 having the structure of the invention described above, the present invention provides a single-plane gear consisting of only a plurality of single-plane gears 31 in which one spur gear surface 31A is formed in parallel with these gear trains and mesh with each other. An array body 32 is provided, and the shaft body 18
b and 18c are loosely fitted into the center 31b of each single face gear 31.

Single plane gears 31M, 31 at both ends of this single plane gear train 32
N has bevel gears 33 and 34 for transmitting swinging power.
is loosely fitted and concentrically fixed to the shaft body 18b.

A bevel gear 35 that meshes with the former bevel gear 33 is fixed to a drive shaft 36 that is concentrically incorporated into the drive shaft 24 of the base support 23, and a bevel gear 35 that meshes with the latter bevel gear 34. 37 is engaged with the output shaft 30 protruding from the end effector 27 to rotate it.

Note that the bevel gear 35 is rotated by a drive source inside the robot body (not shown).

According to the above configuration, in addition to the operation of the invention, a swinging operation can also be performed.

That is, when the bevel gear 35 is driven, the bevel gear 33 rotates together with the single face gear 31M. Since all the single plane gears 31 are loosely fitted to the shaft bodies 18b and 18c, their rotational force is sequentially transmitted, and the output shaft 30 can be rotated via the single plane gear 31N and the bevel gears 34 and 37. can.

At this time, the rotation speed can be increased or decreased by appropriately selecting the number of teeth of the bevel gear.

Note that in the two inventions described above, if power transmission by gears is partially impossible, a chain or the like may be partially used, although not shown.

By the way, in the above operation, when driving the drive shaft 24 or 25 that is located on the outer side of the drive shaft 24 of the base support 23 and the other drive shafts 25.36, the inner drive shaft By simultaneously driving 25 and 36 or 36 at an appropriate rotational speed, it is possible to prevent an induced phenomenon such as a swinging operation accompanying a bending operation.

As described in detail above, the present invention includes a plurality of dihedral gears in which two spur gear surfaces are formed on both sides and mesh with each other, and one dihedral gear at one end of the dihedral gear train. A gear train consisting of one single face gear on which two spur gear faces are formed is provided, and another similar gear train is installed in parallel with this gear train. The centers of the spur gear surfaces of the two dihedral gears are aligned with the centers of the meshing side spur gear surfaces of the two dihedral gears of the other gear train, and
A shaft body is loosely fitted in the center of these gears, the single face gear is fixed to the shaft body located at the center, and a bevel gear for transmitting bending power is attached to two ends of the other gear train. It is fixed concentrically to the non-meshing side of the face gear, and is loosely fitted to the shaft body at that location, and the two adjacent shaft bodies are connected in turn in a rotatable manner by a pair of left and right links, respectively. Since it is an industrial robot arm, the bending of the arm can be changed freely in any direction.

Furthermore, since the configuration of the above invention is made such that the output shaft protruding from the end effector can be rotated, the arm can be bent in any direction and the wrist attached to the end effector can be bent. The swing of the head can be changed freely.

In addition, since the present invention employs gears with high rigidity, large transmission power, and good transmission efficiency, the bending angle between each link can be increased and the bending operation range can be widened, and in addition,
It can be used as an industrial robot arm with high transmission efficiency and rigidity.

[Brief explanation of the drawing]

Fig. 1 is a conventional flexible and deformable link device, Fig. 2 is an explanatory diagram of its operation, Fig. 3 is a sectional view of the arm of the industrial robot of the present invention, and Fig. 4 is a perspective view of the gear train. , FIG. 5 is an explanatory diagram of its operation, and FIG. 6 is a sectional view of an arm of an industrial robot according to a different invention. 10...Industrial robot arm, 11.16...
Dihedral gear, IIB, lIC116B, 16c. 31A... Spur gear surface, llb, lIC116b, 16
C131b... Center, 12... Dihedral gear train, 13.
19.31...Single face gear, 13A, 31A...Spur gear face, 14.15...11 gear bodies, 17...Meshing side, 18b, 18cm shaft body, 20.33.34 ・・・・
Bevel gear, 21...Non-meshing side, 26a, 26b...Link patent applicant Kawa 1l11i Heavy Industries Co., Ltd. Agent
Patent Attorney Katsutoshi Yoshimura Figure 3 10 493- Figure 4

Claims (2)

[Claims] (1) A plurality of dihedral gears with two cylindrical gear surfaces formed on both sides and meshing with each other, and a single cylindrical gear surface meshing with one dihedral gear at one end of the dihedral gear train. A gear train consisting of one single face gear is provided, and another similar gear train is provided in parallel with this gear train, and the cylindrical gear surface of one double face gear of this one gear train is provided. The centers of each are aligned with the centers of the cylindrical gear surfaces on the meshing side of the two dihedral gears of the other gear train, and the shaft is loosely fitted in their centers, and the single dihedral gear is aligned with the center of the two dihedral gears. a bevel gear for transmitting bending power is fixed concentrically to the non-meshing side of the dihedral gear at the end of the other gear train;
It is characterized by having a mechanism that loosely fits into the shaft body at that location, and that the two adjacent shaft bodies are rotatably sequentially connected by a pair of left and right links, respectively, and that rotates the shaft body and the link as a whole. An industrial robot arm that can bend in any direction. (2) A plurality of dihedral gears with two cylindrical gear surfaces formed on both sides and meshing with each other, and a single cylindrical gear surface meshing with one dihedral gear at one end of this dihedral gear train. A gear train consisting of one single-face gear is provided, and another similar gear train is arranged in parallel with this gear train, and only a plurality of single-face gears are formed with one cylindrical gear surface and mesh with each other. are arranged in parallel, and each center of the cylindrical gear surface of one dihedral gear of the one gear train is connected to the cylinder on the meshing side of the two dihedral gears of the other gear train. The centers of the single face gears are made to coincide with the centers of the gear faces, and the centers of the single face gears are made to match the centers of all of the centers, and the shaft bodies are loosely fitted to the centers of the single face gears, and the single face gears of the two gear trains are aligned with each other. a bevel gear fixed to the shaft located at the center and for transmitting bending power is fixed concentrically to the non-meshing side of the dihedral gear at the end of the other gear train;
A bevel gear loosely fitted to the shaft body at that location and concentrically fixed to the single face gear at both ends of the single face gear train, and a bevel gear for transmitting oscillating power is attached to the shaft body at that location. Bending in any direction, characterized in that the two adjacent shaft bodies are loosely fitted and are rotatably connected one after another by a pair of left and right links, and have a mechanism for rotating the shaft bodies and the links as a whole; and an industrial robot arm that can swing freely.