JPH0248192A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- JPH0248192A JPH0248192A JP19754888A JP19754888A JPH0248192A JP H0248192 A JPH0248192 A JP H0248192A JP 19754888 A JP19754888 A JP 19754888A JP 19754888 A JP19754888 A JP 19754888A JP H0248192 A JPH0248192 A JP H0248192A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- drive
- transmission mechanism
- output shaft
- industrial robot
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000001133 acceleration Effects 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は回動動作する腕体を有する産業用ロボット、
特に駆動力の伝達構造に関するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an industrial robot having a rotatable arm;
In particular, it relates to a driving force transmission structure.
第４図は例えば特開昭６２−ＩＬ４Ｂ９４号公報に示さ
れたものに類似した従来の産業用ロボットであ９１図中
、（１）は産業用ロボットの基体で、（２）は基体（１
）に設けられた昇降軸、（３１は一端が昇降軸（２）に
支持されて回動動作する第１腕体、（４１は電動機（４
ａ）と減速機（４ｂ）からなり昇降軸１２＋上端に設け
られて第１腕体１ｇ＋を動作させる第１駆動機、（５）
は一端が第１腕体（３）の回動端に枢持されて回動動作
する第２腕体、Ｃ６）は第１腕体（３）の回動端に設け
られた電動機（６ａ）と減速機（６ｂ）からなシ第２腕
体（５）を動作させる第２駆動機、（７）は第２腕体（
５１の回動端に設けられた電動機（７ａ）と減速機（７
ｂ）とからなシ出力軸（８）に固定された把手用の支持
体（９）を回動動作させる第３駆動機、 ａｄは基体＋
１１と第１〜第３駆動機＋４１ ＋６１１７１間にそれ
ぞれ設けられて電力。FIG. 4 shows a conventional industrial robot similar to the one shown in Japanese Patent Application Laid-open No. 62-IL4B94. In FIG. 91, (1) is the base of the industrial robot, and (2) is the base (1
), (31 is a first arm whose one end is supported by the lift shaft (2) and rotates), (41 is an electric motor (4)
a) and a speed reducer (4b), a first drive machine provided at the upper end of the lifting shaft 12+ and operating the first arm body 1g+; (5)
C6) is a second arm whose one end is pivotally supported by the rotating end of the first arm (3), and C6) is an electric motor (6a) provided at the rotating end of the first arm (3). and a second drive device that operates the second arm body (5) from the speed reducer (6b), (7) is the second arm body (7).
The electric motor (7a) and the speed reducer (7
b) a third drive machine that rotates the support body (9) for the handle fixed to the output shaft (8); ad is the base body +;
11 and the first to third driving machines +41 +61171 respectively.
信号等を送るケーブル、ａｌｌは第１腕体（３）から突
設されてケーブルｔｉＯを支持したケーブルブラケット
である。A cable for transmitting signals, etc., all is a cable bracket that protrudes from the first arm (3) and supports the cable tiO.
従来の産業用ロボットは上記のように構成され。Conventional industrial robots are configured as described above.
昇降軸（２）が昇降動作し、−！だケーブルｎｏを介し
て第１駆動機（４）によシ第１腕体（３）が、第２駆動
機（６）によυ第２腕体（５）が、さらに第３駆動機（
７）により支持体（９）に支持された把手（図示しない
）が駆動されて加工２組立等の所要のロボット作業が行
なわれる。The lifting shaft (2) moves up and down, -! The first arm (3) is connected to the first drive machine (4) through the cable no., the second arm (5) is connected to the second drive machine (6), and the third drive machine (
7) drives a handle (not shown) supported by the support body (9) to perform required robot operations such as processing 2 and assembly.
上記のような従来の産業用ロボットでは、第１腕体（３
）の回動端に第２駆動機（６）が設けられ、第２腕体（
５）の回動端に第３駆動機（７）が設けられているため
、各腕体の回動端の質量が増大して作業の高速化が困難
であるという問題点があった。また各腕体回動端部の外
形寸法が大きくなシ、シかも各腕体回動端部へケーブル
ａ１が配線されているため作業用空間が狭い場合に把手
を送シ込むことが困難となるという問題点があった。In the conventional industrial robot as mentioned above, the first arm (3
A second driving machine (6) is provided at the rotating end of the second arm (
Since the third driving machine (7) is provided at the rotating end of 5), there is a problem in that the mass of the rotating end of each arm increases, making it difficult to speed up the work. In addition, the external dimensions of the rotating end of each arm are large, and the cable A1 is routed to the rotating end of each arm, making it difficult to feed the handle when the working space is narrow. There was a problem with that.
この発明は、かかる問題点を解決するためになされたも
のであり、高速作業が可能であって、狭い作業用空間で
あっても作業可能な産業用ロボットを提供することを目
的としている。The present invention was made to solve these problems, and an object of the present invention is to provide an industrial robot that is capable of high-speed work and is capable of working even in a narrow work space.
この発明にかかわる産業用ロボットにおいては腕体の枢
持端に設けられた駆動機によシ伝動機構を介して腕体回
動端の出力軸が駆動され、また腕体の枢持端の駆動機と
基体の間にケーブルが設けられる。In the industrial robot according to the present invention, the output shaft at the pivoting end of the arm is driven by the drive machine provided at the pivoting end of the arm via the transmission mechanism, and the output shaft at the pivoting end of the arm is driven. A cable is provided between the machine and the base.
上記のように構成された産業用ロボットの腕体は回動端
の質量が減少し、外形寸法が小さく小形のものとなる。The arm of the industrial robot configured as described above has a reduced mass at the rotating end, and has a small external dimension.
以下、第１図及び第２図によってこの発明の一実施例を
説明する。An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.
図中、第４図と同符号は相当部分を示し、（６）は昇降
軸（２）上端からなる支持体により枢動可能に設けられ
た第１腕体（３）の枢持端に設けられた第２駆動機、ｎ
ｚＦｉ第１腕体（３）の長手に沿って設けられた第１伝
動機構で、 （＋２ａ）は一端が第２駆動機（６）に
接続され第１腕体（３１の回動端側にかさ歯車（＋２ｂ
）が設けられた伝動軸、 （＋２ｃ）は伝動軸（＋２
ａ）に直交し一端にがさ歯車（＋２ｂ）とかみ合うかさ
歯車（＋２ｄ）が設けられ他端には支持体０３が設けら
れた出力軸、（７）は支持体０（により枢動可能に設け
られた第２腕体（５）の枢持端に設けられた第３駆動機
。In the figure, the same reference numerals as in FIG. 4 indicate corresponding parts, and (6) is provided at the pivoting end of the first arm (3) which is pivotably provided by a support consisting of the upper end of the lifting shaft (2). second drive machine, n
zFi The first transmission mechanism is provided along the length of the first arm body (3), and (+2a) is connected to the second driving machine (6) at one end and is connected to the rotating end side of the first arm body (31). Bevel gear (+2b
) is installed on the transmission shaft, (+2c) is the transmission shaft (+2
The output shaft is orthogonal to a) and has a bevel gear (+2d) that meshes with the bevel gear (+2b) at one end and a support 03 at the other end, (7) is pivotable by the support 0 ( A third driving machine is provided at the pivot end of the provided second arm body (5).
■は第２腕体（５）の長手に沿って設けられた第２伝動
機構で、 （＋４ａ）は一端が第３駆動機（７）に接
続され第２腕体（５）の回動端側にがさ歯車（＋４ｂ）
が設けられた伝動軸、 （＋４Ｃ）は伝動軸（１４ａ
）に直交し一端にがさ歯車（１４ｂ）とかみ合うかさ歯
車（ｕｄ）が設けられ他端には支持体（９）が設けられ
た出力軸。■ is a second transmission mechanism provided along the length of the second arm (5), and (+4a) is a rotating end of the second arm (5) with one end connected to the third drive unit (7). Bevel gear on the side (+4b)
(+4C) is the transmission shaft (14a
), the output shaft is provided with a bevel gear (ud) that meshes with the bevel gear (14b) at one end and a support (9) at the other end.
＋１１Ｆｉ第３駆動機（７）よりも基体＋１１寄りに設
けられたケーブルである。+11Fi This is a cable provided closer to the base body +11 than the third drive unit (7).
上記のように構成された産業用ロボットにおいては、第
１腕体（３１の枢持端寄シに設けられた第２駆動機（６
）により第１伝動機構α２を介して第２腕体（５）が駆
動され、また第２腕体（５）の枢持端寄りに設けられた
第３駆動機（７）によシ第２伝動機構（１４１を介して
把手用の支持体（９）が駆動される、したがって。In the industrial robot configured as described above, the second drive machine (6) provided at the pivot end of the first arm (31)
) drives the second arm body (5) via the first transmission mechanism α2, and the second arm body (5) is driven by the third drive machine (7) provided near the pivot end of the second arm body (5). Via the transmission mechanism (141) the handle support (9) is therefore driven.
第２腕体（５）の回動端に駆動機がなく、また第２腕体
（５）の枢持端寄りを除いた外周のケーブルａ１が不要
となる。このため少なくとも第２腕体（５）の回動端の
質量が減少し、動作の加速度、減速度を高くすることが
容易になり、高速作業が可能となって能率を向上させる
ことができる。また第２腕体（５）の外周にケーブル０
０が設けられないため作業用空間が狭い場合であっても
把手を進入させることができロボット作業の制約を少な
くすることができる。さらに第２腕体（５）の回動端に
駆動機、ケーブル等の電、気品がないためロボット作業
部位において耐水性、耐油性、耐熱性等が要求される場
合にも容易に適用することができる。There is no driver at the rotation end of the second arm (5), and the cable a1 on the outer periphery of the second arm (5) except for the part near the pivoting end is unnecessary. Therefore, the mass of at least the rotating end of the second arm body (5) is reduced, and it becomes easier to increase the acceleration and deceleration of the operation, making it possible to work at high speed and improve efficiency. Also, the cable 0 is attached to the outer periphery of the second arm body (5).
Since no zero is provided, the handle can be inserted even if the working space is narrow, and restrictions on robot work can be reduced. Furthermore, it can be easily applied to cases where water resistance, oil resistance, heat resistance, etc. are required in the robot work area because there is no electricity or equipment such as a drive machine or cable at the rotating end of the second arm (5). Can be done.
第３図はこの発明の他の実施例を示すもので。FIG. 3 shows another embodiment of the invention.
図中、第１図、第２図と同符号は相当部分を示し。In the figure, the same symbols as in FIGS. 1 and 2 indicate corresponding parts.
ａ９は第２伝動機構Ｉの出力軸（１４ｃ）に固定された
Ｌ字状の支持体、 ｍｅは第２腕体（５）と同様に構成
された第３腕体で、支持体ａ９に枢持されてこの枢持端
に電動機（＋７ａ）、減速機（１７ｂ）からなる第４駆
動機（Ｉ７１が設けられている。ｕＶｉ第３腕体０Ｇに
設けられて第２伝動機構ａ４と同様に構成された第３伝
動機構で、出力軸（１８ｃ）が設けられてこの出力軸（
１８ｃ）に把手用の支持体（９）が固定されている。ａ
Ｏは第４駆動機ａｎよりも基体＋１１寄りに設けられた
ケーブルである。a9 is an L-shaped support fixed to the output shaft (14c) of the second transmission mechanism I, and me is a third arm configured similarly to the second arm (5), which is pivotally attached to the support a9. A fourth drive mechanism (I71) consisting of an electric motor (+7a) and a speed reducer (17b) is installed at this pivot end. In the configured third transmission mechanism, an output shaft (18c) is provided and the output shaft (18c) is
A handle support (9) is fixed to 18c). a
O is a cable provided closer to the base body +11 than the fourth driving machine an.
すなわち、第３腕体（１６１からなる最先端の腕体の回
動端に駆動機がなく、また最先端の腕体の枢持端寄りを
除いた外周にテーブルが配置されない。That is, there is no drive machine at the rotational end of the third arm (161) at the most extreme end, and no table is disposed around the outer periphery of the most advanced arm except for near the pivoting end.
したがって詳細な説明を省略するが、第３図の実施例に
おいても第１図、第２図の実施例とほぼ同様な作用が得
られることは明白である。Therefore, although a detailed explanation will be omitted, it is clear that the embodiment shown in FIG. 3 provides substantially the same effect as the embodiments shown in FIGS. 1 and 2.
また、第３図の実施例は、第１図、第２図の実施例にお
ける第２腕体（５）を規格化して互換性のあるものとし
た第３腕体ＵＳを、支持体ｔｔＳを介して第２伝動機構
ｆｉ４１の出力軸（＋４ｃ）に装着したものである。こ
のように腕体を規格化して長さの異なる腕体を適宜に組
合せて作業範囲の異なる産業用ロボットを得ることがで
き、また支持体（ＩＳのように変形した支持体を設ける
ことによって腕体を適宜な姿勢に配置することができる
。In addition, the embodiment shown in FIG. 3 has a third arm US which is made compatible by standardizing the second arm (5) in the embodiments shown in FIGS. 1 and 2, and a support ttS. It is attached to the output shaft (+4c) of the second transmission mechanism fi41 via the transmission mechanism fi41. In this way, by standardizing the arms and appropriately combining arms of different lengths, it is possible to obtain industrial robots with different working ranges. The body can be placed in an appropriate position.
この発明は、腕体の枢持端に設けられた駆動機によシ伝
動機構を介して腕体回動端の出力軸を駆動し、また腕体
の枢持端の駆動機と基体の間にケーブルを設けたもので
ある。そして、出力軸に設けられた把手によってロボッ
ト作業が行なわれるが、腕体回動端部の質量が小さいた
め高速作業が可能となり、また最先端の腕体の枢持端寄
シを除いた外周にケーブルがないため狭い作業空間であ
っても把手の進入が可能であってロボット作業を制約を
少なくする効果がある。This invention drives an output shaft at the rotating end of the arm via a transmission mechanism by a drive machine provided at the pivoting end of the arm, and also connects the drive machine at the pivoting end of the arm and the base. A cable is attached to the The robot work is carried out using the handle provided on the output shaft, and the low mass of the rotating end of the arm makes it possible to work at high speed. Since there are no cables in the robot, the handle can enter even in narrow work spaces, which has the effect of reducing restrictions on robot work.
第１図はこの発明による産業用ロボットの一実施例を示
す正面図、第２図は第１図の■部を一部破断して示す拡
大図、第３図はこの発明による産業用ロボットの他の実
施例を示す第１図相当図。
第４図は従来の産業用ロボットを示す第１図相当図であ
る。
（２）・・・昇降軸（支持体）、Ｃ３＋・・・第１腕体
（腕体）。
（５）・・・第２腕体（腕体）、＋６＋・・・第２駆動
機（駆動機）。
（７）・・・第３駆動機（駆動機）、０２・・・第１伝
動機構（伝動機構）、 （１２Ｃ）・・・出力軸、ｏ
３・・・支持体。
０４１・・・第２伝動機構（伝動機構）、 （＋４Ｃ
）・・・出力軸なお９図中同一部分または相当部分は同
一符号により示す。FIG. 1 is a front view showing an embodiment of the industrial robot according to the present invention, FIG. 2 is an enlarged view showing a partially cut away section ▪ in FIG. 1, and FIG. 3 is a front view showing an embodiment of the industrial robot according to the present invention. FIG. 2 is a diagram corresponding to FIG. 1 showing another embodiment. FIG. 4 is a diagram corresponding to FIG. 1 showing a conventional industrial robot. (2) Elevating shaft (support body), C3+... first arm body (arm body). (5)... Second arm body (arm body), +6+... Second drive machine (drive machine). (7)... Third drive machine (drive machine), 02... First transmission mechanism (transmission mechanism), (12C)... Output shaft, o
3...Support. 041...Second transmission mechanism (transmission mechanism), (+4C
)... Output shaft Identical or equivalent parts in Figure 9 are indicated by the same reference numerals.
Claims (1)
に装着された駆動機と、上記腕体の長手に沿つて設けら
れて一端が上記駆動機に接続され他端は上記腕体の回動
端に設けられた出力軸に接続されて上記駆動機の動作を
上記出力軸に伝動する伝動機構とを備えた産業用ロボッ
ト。an arm whose one end is pivotally supported by a support body; a driver attached to the pivoting end of the arm; one end of which is provided along the length of the arm and whose one end is connected to the driver and whose other end is connected to the driver; An industrial robot comprising: a transmission mechanism connected to an output shaft provided at a rotating end of the arm body to transmit the operation of the drive machine to the output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19754888A JPH0248192A (en) | 1988-08-08 | 1988-08-08 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19754888A JPH0248192A (en) | 1988-08-08 | 1988-08-08 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0248192A true JPH0248192A (en) | 1990-02-16 |
Family
ID=16376316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19754888A Pending JPH0248192A (en) | 1988-08-08 | 1988-08-08 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0248192A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1930130A1 (en) * | 2006-12-07 | 2008-06-11 | Abb Ab | Industrial robot comprising an extended transmission shaft |
| JP2010115776A (en) * | 2008-10-17 | 2010-05-27 | Staeubli Faverges | Articulated structure of multiple-axis robot and robot comprising such structure |
| JP2011088262A (en) * | 2009-10-26 | 2011-05-06 | Fanuc Ltd | Parallel link robot |
-
1988
- 1988-08-08 JP JP19754888A patent/JPH0248192A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1930130A1 (en) * | 2006-12-07 | 2008-06-11 | Abb Ab | Industrial robot comprising an extended transmission shaft |
| JP2010115776A (en) * | 2008-10-17 | 2010-05-27 | Staeubli Faverges | Articulated structure of multiple-axis robot and robot comprising such structure |
| JP2011088262A (en) * | 2009-10-26 | 2011-05-06 | Fanuc Ltd | Parallel link robot |
| US8307732B2 (en) | 2009-10-26 | 2012-11-13 | Fanuc Ltd | Parallel link robot |
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