JPH06102312B2 - Power transmission mechanism of robot joint - Google Patents
Power transmission mechanism of robot jointInfo
- Publication number
- JPH06102312B2 JPH06102312B2 JP14826085A JP14826085A JPH06102312B2 JP H06102312 B2 JPH06102312 B2 JP H06102312B2 JP 14826085 A JP14826085 A JP 14826085A JP 14826085 A JP14826085 A JP 14826085A JP H06102312 B2 JPH06102312 B2 JP H06102312B2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- gear
- shaft
- bevel gear
- joint
- 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.)
- Expired - Lifetime
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Description
【発明の詳細な説明】 [産業上の利用分野] この発明は工業用ロボットのアーム等の関節部の動力伝
達機構の改良に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to an improvement in a power transmission mechanism of a joint portion such as an arm of an industrial robot.
[従来技術] 工業用ロボットのアーム等、関節部を持った部分を駆動
する際、動力伝達機構の内容によっては一つの駆動系を
動作させると連動運動に伴って他の駆動系をも動作させ
てしまういわゆる誘起運動を生じる場合があることは知
られており、特公昭58-35836号公報にこれの対策の一機
構が開示されている。[Prior Art] When driving a part having a joint, such as an arm of an industrial robot, if one drive system is operated depending on the content of the power transmission mechanism, other drive systems are also operated with the interlocking motion. It is known that a so-called induced motion may occur, which is disclosed in Japanese Patent Publication No. 58-35836.
[発明が解決しようとする課題] しかしながら、工業用ロボットのアーム等でひじと手首
に相当するように関節部が2組並んで配設された条件
で、それぞれの関節部で揺動動作が行われる場合に確実
に誘起運動を防止するようにした動力伝達機構は、各々
の関節部をダイレクトドライブする以外になかった。前
記公報に開示されている内容は手首部分の回転動作にお
ける誘起運動の防止手段であり、前記2組並んだ関節部
の揺動動作の場合とは全く異質であり適用できない。[Problems to be Solved by the Invention] However, under the condition that two sets of joints are arranged side by side so as to correspond to an elbow and a wrist of an industrial robot arm or the like, a swinging motion is performed at each joint. There was no other power transmission mechanism that could prevent the induced motion when it was exposed, except to directly drive each joint. The content disclosed in the above publication is a means for preventing induced motion in the rotational motion of the wrist part, and is completely different from the case of the rocking motion of the joint parts in which the two sets are arranged side by side and cannot be applied.
そしてこの誘起運動は特に塗装作業や溶接作業のように
動作経路の全軌跡を規定するC.P(連続経路制御)方式
を主体とする作業に大きな影響を与える。例えばティー
チングにおいて、動作経路のある移動距離で本来の動き
を止めるたびに誘起運動による動作誤差を修正する必要
があり、ティーチング動作が煩雑かつ多大の時間を要す
る。また、誘起量を考慮した場合、実際の動作角は見か
けの動作角よりも大きめにとる必要がある。従ってアク
チュエータを大型化しなければならず、また、分解能も
低下してしまう。And this induced motion has a great influence on the work mainly based on the CP (Continuous Path Control) method that regulates the entire trajectory of the movement path, such as painting work and welding work. For example, in teaching, it is necessary to correct the motion error due to the induced motion every time the original motion is stopped at a moving distance on the motion path, and the teaching motion is complicated and requires a lot of time. Further, when the induced amount is taken into consideration, the actual operating angle needs to be larger than the apparent operating angle. Therefore, the actuator has to be upsized, and the resolution is also reduced.
この発明は上記従来のロボットアームの問題点に鑑み創
案されたもので、誘起運動を生じないロボット関節部の
動力伝達機構の提供を目的とする。The present invention was devised in view of the problems of the conventional robot arm described above, and an object thereof is to provide a power transmission mechanism for a robot joint that does not cause induced motion.
[課題を解決するための手段] 上記の目的を達成するために本発明は、第1アーム1の
一端側の第1関節部3に同一歯数の第1、第2、第3の
3個のベベルギヤ(13,15,17)の互いの軸を相互に直交
して噛合させた第1ギヤ列19を設け、該第1ギヤ列19の
前記第1アーム側の第3ベベルギヤ17の回転軸心に中空
の第1中間軸35を前記第1アームの他端側の第2関節5
の近傍まで延伸させて設けると共に、前記第3ベベルギ
ヤ17に対向した第1アーム1の外方の第1ベベルギヤ13
の回転軸心に中空の第1入力軸11を固着して設け、かつ
前記第1関節部3の第1ギヤ列19の内側に同一歯数の第
4、第5、第6の3個のベベルギヤ(25,27,29)の互い
の軸を相互に直交して噛合させた第2ギヤ列31を設け、
該第2ギヤ列31の前記第1アーム側の第6ベベルギヤ29
の軸心に前記第1中間軸35と同心の第2中間軸43を固着
して第2関節近傍まで延伸して設けると共に、その延伸
端部に第2アーム駆動用の第7ベベルギア45を固着して
設け、また前記第2ギヤ列31の第1アーム外方の第4ベ
ベルギヤ25の軸心には第2入力軸23を固着して設け、前
記第1入力軸11と第1中間軸35とに設けられた第1、第
3ベベルギヤ(13,17)に噛合する第2ベベルギア15の
軸21を前記第1アーム1に固着して設け、前記第2入力
軸23と第2中間軸43とに設けられた第4、第6ベベルギ
ヤ(25,29)に噛合する第5ベベルギア27の軸の軸33は
前記第1アーム1を回動自在に支承させて設け、また前
記第1アーム1の第2関節部5に差動歯車機構49を設
け、該差動歯車機構49の一方の出力軸61に第2アーム9
を固着して設けると共に前記第1アーム1の第2関節5
に対しては回動自在に設け、さらに前記差動歯車機構49
の他方の出力軸63を前記第2関節5に対して回動自在に
設けると共に該出力軸63に前記差動歯車機構49に回転を
与える第10ベベルギア39を固着して設け、また前記第1
中間軸35の第2関節近傍端部に前記第10ベベルギア39の
軸に直交して噛合する同一歯数の第9ベベルギア37を固
着して設け、さらに前記差動歯車機構49の外殻体59に前
記第2アーム駆動用第7ベベルギア45の軸に直交して噛
合し歯数比が第7ベベルギヤ45の2倍の第8ベベルギア
47を固着して設けてロボット関節部の動力伝達機構を構
成した。[Means for Solving the Problem] In order to achieve the above-mentioned object, the present invention provides three first, second and third teeth having the same number of teeth on the first joint portion 3 on one end side of the first arm 1. Is provided with a first gear train 19 in which mutually mutually engaged shafts of the bevel gears (13, 15, 17) are orthogonal to each other, and the rotation shaft of the third bevel gear 17 on the first arm side of the first gear train 19 is provided. A hollow first intermediate shaft 35 is provided at the center of the second joint 5 on the other end side of the first arm.
The first bevel gear 13 outside the first arm 1 facing the third bevel gear 17 and extending near the
A hollow first input shaft 11 is fixedly provided to the rotation axis of the first gear train 19 of the first joint part 3, and the third, fourth, fifth, and sixth teeth having the same number of teeth are provided inside the first gear train 19. A second gear train 31 in which the axes of the bevel gears (25, 27, 29) are meshed with each other at right angles to each other,
A sixth bevel gear 29 on the side of the first arm of the second gear train 31.
A second intermediate shaft 43, which is concentric with the first intermediate shaft 35, is fixed to the axis of the second intermediate shaft 43 and extends to the vicinity of the second joint, and a seventh bevel gear 45 for driving the second arm is fixed to the extended end thereof. The second input shaft 23 is fixed to the shaft center of the fourth bevel gear 25 outside the first arm of the second gear train 31, and the first input shaft 11 and the first intermediate shaft 35 are provided. A shaft 21 of a second bevel gear 15 that meshes with the first and third bevel gears (13, 17) provided in the first arm 1 is fixedly provided to the first arm 1, and the second input shaft 23 and the second intermediate shaft 43 are provided. The shaft 33 of the shaft of the fifth bevel gear 27 that meshes with the fourth and sixth bevel gears (25, 29) provided on the first arm 1 is rotatably supported. The differential gear mechanism 49 is provided on the second joint portion 5 of the
And the second joint 5 of the first arm 1
Rotatably provided for the differential gear mechanism 49.
The other output shaft 63 is rotatably provided with respect to the second joint 5, and a tenth bevel gear 39 for giving rotation to the differential gear mechanism 49 is fixedly provided on the output shaft 63, and the first output shaft 63 is also provided.
A ninth bevel gear 37 having the same number of teeth, which meshes orthogonally to the axis of the tenth bevel gear 39, is fixedly provided at the end of the intermediate shaft 35 near the second joint, and further, an outer shell 59 of the differential gear mechanism 49 is provided. And an eighth bevel gear which meshes in a direction orthogonal to the axis of the second arm driving seventh bevel gear 45 and has a gear ratio twice that of the seventh bevel gear 45.
47 was fixedly provided to form a power transmission mechanism of the robot joint.
[作用] この発明のロボット関節部の動力伝達機構は上記のよう
に構成されているので、差動歯車機構が有効に作用し、
これに伝導ギヤの歯数比を所定比率に決めて組合せるこ
とで、各関節部を経由して伝達される運動でひき起され
る不都合な誘起運動が打ち消される。[Operation] Since the power transmission mechanism of the robot joint of the present invention is configured as described above, the differential gear mechanism effectively operates,
By setting the tooth ratio of the transmission gear to a predetermined ratio and combining with this, the inconvenient induced motion caused by the motion transmitted via each joint is canceled.
[実施例] 以下この発明のロボット関節部の動力伝達機構の一実施
例を第1図の図面を参照しながら説明する。[Embodiment] An embodiment of the power transmission mechanism of the robot joint according to the present invention will be described below with reference to the drawing of FIG.
円筒形断面の第1アーム1の両端部にそれぞれ関節部が
設けられていて、図面の左側に示される一方が第1関節
部3,図面の右側に示される他方が第2関節部5となって
いる。第1関節部3の外側には別のアーム7が連結され
ており、また第2関節部5の外側には第2アーム9が連
結されている。Joints are provided on both ends of the first arm 1 having a cylindrical cross section, one side shown on the left side of the drawing is the first joint section 3, and the other side shown on the right side of the drawing is the second joint section 5. ing. Another arm 7 is connected to the outer side of the first joint section 3, and a second arm 9 is connected to the outer side of the second joint section 5.
前記別のアーム7の中心部に第1関節部3を駆動するた
めの中空軸形状第1入力軸11がアーム7の長さ方向に沿
って配設されている。第1入力軸11の先端部には第1,第
2及び第3の3個のベベルギヤ13,15,17をコの字形状に
配列噛合させた第1ギヤ列19が設けられており、これら
ベベルギヤのうち第1ベベルギヤ13に第1入力軸11が嵌
入固着されている。第1ギヤ列19のベベルギヤのうち第
1ベベルギヤ13と係合する第2ベベルギヤ15の軸21は第
1入力軸11に対し直角方向に突設した形であり、アーム
7の端部を回動自在に貫通してその外側の第1アーム1
の端部に固着されている。従って第1入力軸11を回転す
ると第1,第2ベベルギヤ13,15を経て軸21が回り、この
回転で第1アーム1が軸21を中心に揺動する。A hollow shaft-shaped first input shaft 11 for driving the first joint part 3 is arranged at the center of the other arm 7 along the length direction of the arm 7. At the tip of the first input shaft 11, there is provided a first gear train 19 in which first, second and third bevel gears 13, 15 and 17 are arranged and meshed in a U shape. The first input shaft 11 is fitted and fixed to the first bevel gear 13 of the bevel gears. Of the bevel gears of the first gear train 19, the shaft 21 of the second bevel gear 15 that engages with the first bevel gear 13 is formed so as to project in the direction perpendicular to the first input shaft 11, and the end portion of the arm 7 is rotated. The first arm 1 on the outside of the arm 1
It is fixed to the end of. Therefore, when the first input shaft 11 is rotated, the shaft 21 rotates via the first and second bevel gears 13 and 15, and this rotation causes the first arm 1 to swing about the shaft 21.
第1アーム1の他方の関節部すなわち第2関節部5を駆
動するための第2入力軸23が第1入力軸11の中空軸の内
部に同心状態で回転自在に嵌入されている。第2入力軸
23の先端部には第4,第5及び第6の3個のベベルギヤ2
5,27,29をコの字形状に配列噛合させた第2ギヤ列31が
設けられており、これらのギヤのうちの第4ベベルギヤ
25に第2入力軸23の先端が嵌入固着されている。A second input shaft 23 for driving the other joint part of the first arm 1, that is, the second joint part 5, is rotatably fitted in the hollow shaft of the first input shaft 11 in a concentric state. 2nd input shaft
At the tip of 23, there are three bevel gears 4th, 5th and 6th.
A second gear train 31 in which 5,27,29 are arranged and meshed in a U shape is provided, and a fourth bevel gear of these gears is provided.
The tip of the second input shaft 23 is fitted and fixed to 25.
第2ギヤ列31のベベルギヤの中間の第5ベベルギヤ27の
軸33は第2入力軸23に対し直角方向に突設した形であ
り、アーム7と第1アーム1の各端部を回動自在に枢支
する状態に貫通している。第1ギヤ列19と第2ギヤ列31
は第1関節部3図示のようにほぼ重設配置された形態と
なっている。そして各ギヤ列19,31の各中間の第2ベベ
ルギヤ及び第5ベベルギヤ15,27の各軸21,33が同一軸心
上に配置されていて、これら各軸21,33が第1関節部の
回動中心、つまり第1アーム1の揺動中心となってい
る。The shaft 33 of the fifth bevel gear 27, which is intermediate between the bevel gears of the second gear train 31, has a shape projecting in a direction perpendicular to the second input shaft 23, and the ends of the arm 7 and the first arm 1 are rotatable. Penetrates into a pivotal state. First gear train 19 and second gear train 31
The first joint portion 3 has a configuration in which the first joint portion 3 is disposed in a substantially overlapping manner as shown in the figure. The shafts 21 and 33 of the second and fifth bevel gears 15 and 27 in the middle of the gear trains 19 and 31 are arranged on the same shaft center, and these shafts 21 and 33 serve as the first joint portion. It is the center of rotation, that is, the center of swing of the first arm 1.
第1ギヤ列19のうちの第3ベベルギヤ17から中空断面の
第1中間軸35が第1アーム1の中心軸線に沿って第2関
節部5付近にまで配設されている。第1中間軸35の先端
部に第9,第10の2個のベベルギヤ37,39をL字形に配列
噛合させた第3ギヤ列41が設けられている。第2ギヤ列
31のうちの第6ベベルギヤ29から第2中間軸43が第1ア
ーム1の中心軸線に沿って第1中間軸35の中空部に回転
自在に嵌入されて第2関節部5付近にまで配設されてい
て、先端部に第2アーム駆動用の第7ベベルギヤ45と、
差動歯車機構へ回転を入力する第8ベベルギヤ47がL字
形に配列噛合して設けられて第2中間軸43と次の差動歯
車機構49とを連結している。From the third bevel gear 17 of the first gear train 19, a first intermediate shaft 35 having a hollow cross section is arranged along the central axis of the first arm 1 to near the second joint 5. At the tip of the first intermediate shaft 35, there is provided a third gear train 41 in which two ninth and tenth bevel gears 37 and 39 are arranged and meshed in an L shape. Second gear train
The sixth bevel gear 29 out of 31 and the second intermediate shaft 43 are rotatably fitted in the hollow portion of the first intermediate shaft 35 along the central axis of the first arm 1 and arranged up to the vicinity of the second joint 5. And a seventh bevel gear 45 for driving the second arm at the tip,
An eighth bevel gear 47 for inputting rotation to the differential gear mechanism is arranged and meshed in an L-shape to connect the second intermediate shaft 43 and the next differential gear mechanism 49.
差動歯車機構49は第11,第12,第13及び第14の4個のベベ
ルギヤ51,53,55,57が正方形状に配列噛合した構成に設
けてある。これらのギヤの各軸を回転自在に支承する外
殻体59が各ギヤを包囲した形となっていて、外殻体59の
外周に前記第8ベベルギヤ47が装着されている。差動歯
車機構49の4個のベベルギヤの各軸のうち前記各第1,第
2中間軸35,43に直交する方向に軸心を持つ2本の出力
軸61,63は勿論同一軸線上に配置されているが、それぞ
れ差動歯車機構の外側に突出して延設されている。その
一方の出力軸61は第2アーム9の端部を貫通固着し、更
に第1アーム1の端部を回転自在に貫通している。他方
の出力軸63は前記第3ギヤ列41の第1のベベルギヤ39が
嵌入固着され、更に第1アーム1と第2アーム9の各端
部を回動自在に貫通している。The differential gear mechanism 49 is provided in a configuration in which four bevel gears 51, 53, 55 and 57 of the eleventh, twelfth, thirteenth and fourteenth are arranged and meshed in a square shape. An outer shell body 59 rotatably supporting each shaft of these gears surrounds each gear, and the eighth bevel gear 47 is mounted on the outer circumference of the outer shell body 59. Of the axes of the four bevel gears of the differential gear mechanism 49, the two output shafts 61 and 63 having their axes in the direction orthogonal to the first and second intermediate shafts 35 and 43 are of course on the same axis. Although they are arranged, they respectively extend so as to project to the outside of the differential gear mechanism. One of the output shafts 61 penetrates and fixes the end of the second arm 9, and further rotatably penetrates the end of the first arm 1. The other output shaft 63 is fitted and fixed to the first bevel gear 39 of the third gear train 41, and further rotatably passes through the respective end portions of the first arm 1 and the second arm 9.
前記差動歯車機構49、第3ギヤ列41、及び第7,第8ベベ
ルギヤ45,47の組合せの三者は第2関節部5に図示のよ
うにほぼ重設配置された形態となっている。第2アーム
9は第1アーム1に対して2本の出力軸61,63を中心と
して第2入力軸23の駆動で揺動運動を行なう。このよう
にいわば手首に相当する第2アーム9の先端に、指に相
当するハンド65が装着されている。The combination of the differential gear mechanism 49, the third gear train 41, and the seventh and eighth bevel gears 45, 47 is arranged in the second joint portion 5 as shown in FIG. . The second arm 9 swings with respect to the first arm 1 by driving the second input shaft 23 about the two output shafts 61 and 63. In this way, the hand 65 corresponding to the finger is attached to the tip of the second arm 9 corresponding to the wrist.
以上に述べた第1,第2及び第3の各ギヤ列19,31,41及び
差動歯車機構49に含まれる各ベベルギヤはそれぞれの組
合せにおいて同一歯数、つまり1:1の歯数比にされてい
る。そして第1中間軸35の第2関節部5側端部の第7ベ
ベルギヤ45と第8ベベルギヤ47の組合せだけが1:2の歯
数比でもって構成されている。The bevel gears included in the first, second, and third gear trains 19, 31, 41, and the differential gear mechanism 49 described above have the same number of teeth in each combination, that is, a 1: 1 gear ratio. Has been done. Then, only the combination of the seventh bevel gear 45 and the eighth bevel gear 47 at the end portion of the first intermediate shaft 35 on the second joint portion 5 side is configured with the gear ratio of 1: 2.
なお、以上の構成は第1アーム1,第2アーム9に関連す
る第1関節部3と第2関節部5とについて述べたもの
で、図示していない別のアーム7の回転運動機構,ハン
ド65の回転運動機構と、つかみ運動機構等についてはこ
の発明の対象外の範囲であり説明を省略している。Note that the above-mentioned configuration has been described with respect to the first joint portion 3 and the second joint portion 5 related to the first arm 1 and the second arm 9, and the rotary motion mechanism and the hand of another arm 7 not shown. The rotary motion mechanism 65, the grip motion mechanism, and the like are not included in the scope of the present invention, and a description thereof will be omitted.
以上のように構成したこの発明のロボット関節部の動力
伝達機構の動作について述べる。The operation of the power transmission mechanism of the robot joint of the present invention configured as described above will be described.
今、第2入力軸23は動かさず、第1関節部3を駆動す
る。すなわち第1アーム1を揺動させる第1入力軸11を
例えば90度回動させると、第1ギヤ列19の第1及び第2
ベベルギヤ13,15を介して軸21により第1アーム1は90
度揺動する。しかし同時に第2ギヤ列31の第6ベベルギ
ヤ29も前記第1アーム1の揺動に伴って90度回動するた
めに第5ベベルギヤ27と噛合していて90度の回動に見合
う回動を強制される(誘起運動)。Now, the second input shaft 23 is not moved and the first joint part 3 is driven. That is, when the first input shaft 11 that swings the first arm 1 is rotated by 90 degrees, for example, the first and second gears of the first gear train 19 are rotated.
The first arm 1 is 90 by the shaft 21 via the bevel gears 13 and 15.
Swing once. However, at the same time, the sixth bevel gear 29 of the second gear train 31 is also rotated by 90 degrees with the swing of the first arm 1, so that the sixth bevel gear 27 is meshed with the fifth bevel gear 27 and is rotated corresponding to the rotation of 90 degrees. Forced (induced movement).
そして第7,第8ベベルギヤ45,47を介して差動歯車機構4
9の外殻体59を45度回動させ、第12,第14ベベルギヤ53,5
7は45度の回動を生じ、第13ベベルギヤ55を90度回動さ
せる動き、つまり第2アーム9を90度揺動させる誘起運
動を発生する。Then, through the seventh and eighth bevel gears 45 and 47, the differential gear mechanism 4
Rotate the outer shell 59 of 9 by 45 degrees to move the 12th and 14th bevel gears 53, 5
7 makes a rotation of 45 degrees and generates a movement for rotating the thirteenth bevel gear 55 by 90 degrees, that is, an induced movement for swinging the second arm 9 by 90 degrees.
しかしながら、第1ギヤ列19の第3ベベルギヤ17が90度
回動して第1中間軸35が回り、第3ギヤ列41の第9,第10
ベベルギヤ37,39を介して出力軸63を経て差動歯車機構4
9内の第11ベベルギヤ51を90度回動させる。この動作に
よって前記第2アーム9を90度揺動させる誘起運動、つ
まり第13ベベルギヤ55を90度回動させる動きを打消して
しまう。従って誘起運動は生じない。However, the third bevel gear 17 of the first gear train 19 rotates 90 degrees, the first intermediate shaft 35 rotates, and the ninth and tenth gears of the third gear train 41
Differential gear mechanism 4 via output shaft 63 via bevel gears 37, 39
The eleventh bevel gear 51 in 9 is rotated 90 degrees. This action cancels the induced motion that causes the second arm 9 to swing 90 degrees, that is, the motion that causes the thirteenth bevel gear 55 to rotate 90 degrees. Therefore, no induced motion occurs.
次に第1入力軸11を動かさず、第2関節部5を駆動す
る、すなわち第2アーム9を揺動させる第2入力軸23を
例えば90度回動させると、第2ギヤ列31の第4,第5及び
第6ベベルギヤ25,27,29を介して第2中間軸43が90度回
動する。続いて第7,第8ベベルギヤ45,47を介して差動
歯車機構49の外殻体59が45度回動して第12,第14ベベル
ギヤ53,57が45度回動する。この時、第1入力軸11は停
止していて、これに連結される第10ベベルギヤ39の軸63
も静止している。当然第11ベベルギヤ51は動かないので
差動歯車機構の機能により前記第12,第14ベベルギヤ53,
57の45度回動は第13ベベルギヤ55を90度回動させて第2
アーム9を90度回動させる。Next, when the second input shaft 23 that drives the second joint portion 5, that is, swings the second arm 9 is rotated, for example, 90 degrees without moving the first input shaft 11, when the second gear train 31 The second intermediate shaft 43 rotates 90 degrees via the fourth, fifth and sixth bevel gears 25, 27 and 29. Subsequently, the outer shell 59 of the differential gear mechanism 49 rotates 45 degrees via the seventh and eighth bevel gears 45 and 47, and the twelfth and fourteenth bevel gears 53 and 57 rotate 45 degrees. At this time, the first input shaft 11 is stopped and the shaft 63 of the tenth bevel gear 39 connected to the first input shaft 11 is stopped.
Is also stationary. Of course, the eleventh bevel gear 51 does not move, so the twelfth, fourteenth bevel gear 53,
The rotation of 57 by 45 degrees causes the 13th bevel gear 55 to rotate by 90 degrees, and the second
The arm 9 is rotated 90 degrees.
以上のように第1関節部3、第2関節部5共に誘起運動
を発生させることなしに各入力軸の回転角度に対応した
揺動運動を行わせることができる。As described above, the swing motion corresponding to the rotation angle of each input shaft can be performed without generating the induced motion in the first joint part 3 and the second joint part 5.
この発明のロボット関節部の動力伝達機構は前記一実施
例に限定されず、種々の変形、応用が可能である。例え
ば各ギヤ列のベベルギヤの代りにスパイラルギヤを用い
て回転をより円滑に伝達することもできる。あるいはま
た、前記第1アームと第1、第2中間軸の三者をそれぞ
れスプライン機構等で回転方向係合し軸方向には伸縮移
動可能として第1、第2関節部間隔、すなわち第1アー
ム長さ可変とする構造も容易に実現できる。The power transmission mechanism of the robot joint portion according to the present invention is not limited to the one embodiment described above, and various modifications and applications are possible. For example, a spiral gear may be used instead of the bevel gear of each gear train to more smoothly transmit the rotation. Alternatively, the first arm and the first and second intermediate shafts are rotationally engaged with each other by a spline mechanism or the like so that the first arm and the second intermediate shaft can be expanded and contracted in the axial direction. A structure with variable length can be easily realized.
[発明の効果] 以上の説明で明らかなように、この発明の構成によれば
誘起運動を確実に発生させない構造としたロボット関節
部の動力伝達機構がまとまりのよいコンパクトな状態で
得られる。[Effects of the Invention] As is clear from the above description, according to the configuration of the present invention, the power transmission mechanism of the robot joint having the structure that does not reliably generate the induced motion can be obtained in a compact and cohesive state.
第1図はこの発明のロボット関節部の動力伝達装置の一
実施例の概略を示す構成図である。 主要な図面の説明 1……第1アーム、3……第1関節部 5……第2関節部、9……第2アーム 11……第1入力軸、19……第1ギヤ列 23……第2入力軸、31……第2ギヤ列 35……第1中間軸、41……第3ギヤ列 43……第2中間軸、49……差動歯車機構FIG. 1 is a schematic diagram showing an embodiment of a power transmission device for a robot joint according to the present invention. Description of main drawings 1 ... 1st arm, 3 ... 1st joint part 5 ... 2nd joint part, 9 ... 2nd arm 11 ... 1st input shaft, 19 ... 1st gear train 23 ... … Second input shaft, 31 …… Second gear train 35 …… First intermediate shaft, 41 …… Third gear train 43 …… Second intermediate shaft, 49 …… Differential gear mechanism
Claims (1)
ットの関節部の動力伝達機構にして、第1アーム1の一
端側の第1関節部3に同一歯数の第1、第2、第3の3
個のベベルギヤ(13,15,17)の互いの軸を相互に直交し
て噛合させた第1ギヤ列19を設け、該第1ギヤ列19の前
記第1アーム側の第3ベベルギヤ17の回転軸心に中空の
第1中間軸35を前記第1アームの他端側の第2関節5の
近傍まで延伸させて設けると共に、前記第3ベベルギヤ
17に対向した第1アーム1の外方の第1ベベルギヤ13の
回転軸心に中空の第1入力軸11を固着して設け、かつ前
記第1関節部3の第1ギヤ列19の内側に同一歯数の第
4、第5、第6の3個のベベルギヤ(25,27,29)の互い
の軸を相互に直交して噛合させた第2ギヤ列31を設け、
該第2ギヤ列31の前記第1アーム側の第6ベベルギヤ29
の軸心に前記第1中間軸35と同心の第2中間軸43を固着
して第2関節近傍まで延伸して設けると共に、その延伸
端部に第2アーム駆動用の第7ベベルギア45を固着して
設け、また前記第2ギヤ列31の第1アーム外方の第4ベ
ベルギヤ25の軸心には第2入力軸23を固着して設け、前
記第1入力軸11と第1中間軸35とに設けられた第1、第
3ベベルギヤ(13,17)に噛合する第2ベベルギア15の
軸21を前記第1アーム1に固着して設け、前記第2入力
軸23と第2中間軸43とに設けられた第4、第6ベベルギ
ヤ(25,29)に噛合する第5ベベルギア27の軸33は前記
第1アーム1を回動自在に支承させて設け、また前記第
1アーム1の第2関節部5に差動歯車機構49を設け、該
差動歯車機構49の一方の出力軸61に第2アーム9を固着
して設けると共に前記第1アーム1の第2関節5に対し
ては回動自在に設け、さらに前記差動歯車機構49の他方
の出力軸63を前記第2関節5に対して回動自在に設ける
と共に該出力軸63に前記差動歯車機構49に回転を与える
第10ベベルギア39を固着して設け、また前記第1中間軸
35の第2関節近傍端部に前記第10ベベルギア39の軸に直
交して噛合する同一歯数の第9ベベルギア37を固着して
設け、さらに前記差動歯車機構49の外殻体59に前記第2
アーム駆動用第7ベベルギア45の軸に直交して噛合し歯
数比が第7ベベルギヤ45の2倍の第8ベベルギア47を固
着して設けたことを特徴とするロボット関節部の動力伝
達機構。1. A power transmission mechanism for a joint part of an articulated robot comprising a plurality of joints and arms, wherein the first joint part 3 on one end side of the first arm 1 has first and second teeth having the same number of teeth. The third 3
A first gear train 19 in which the axes of the individual bevel gears (13, 15, 17) are meshed with each other at right angles to each other is provided, and the rotation of the third bevel gear 17 of the first gear train 19 on the side of the first arm is provided. A hollow first intermediate shaft 35 is provided so as to extend to the vicinity of the second joint 5 on the other end side of the first arm, and the third bevel gear is provided.
A hollow first input shaft 11 is fixedly provided on the rotation shaft center of the outer first bevel gear 13 of the first arm 1 opposed to the first arm 1 and inside the first gear train 19 of the first joint portion 3. The second gear train 31 in which the axes of the three bevel gears (25, 27, 29) having the same number of teeth, that is, the fourth, the fifth, and the sixth, are meshed at right angles to each other, is provided.
A sixth bevel gear 29 on the side of the first arm of the second gear train 31.
The second intermediate shaft 43, which is concentric with the first intermediate shaft 35, is fixed to the axis of the second intermediate shaft 43 and extends to the vicinity of the second joint, and the seventh bevel gear 45 for driving the second arm is fixed to the extended end thereof. The second input shaft 23 is fixed to the shaft center of the fourth bevel gear 25 outside the first arm of the second gear train 31, and the first input shaft 11 and the first intermediate shaft 35 are provided. A shaft 21 of a second bevel gear 15 that meshes with the first and third bevel gears (13, 17) provided in and is fixedly provided to the first arm 1, and the second input shaft 23 and the second intermediate shaft 43 are provided. A shaft 33 of a fifth bevel gear 27 that meshes with the fourth and sixth bevel gears (25, 29) provided on the first arm 1 is rotatably supported on the shaft 33. A differential gear mechanism 49 is provided on the two-joint portion 5, a second arm 9 is fixedly provided on one output shaft 61 of the differential gear mechanism 49, and the first arm 1 is provided. The second joint 5 is rotatably provided, and the other output shaft 63 of the differential gear mechanism 49 is rotatably provided with respect to the second joint 5 and the output shaft 63 is provided with the differential. A tenth bevel gear 39 that provides rotation to the gear mechanism 49 is fixedly provided, and the first intermediate shaft is also provided.
A ninth bevel gear 37 having the same number of teeth, which meshes at right angles with the axis of the tenth bevel gear 39, is fixedly provided at an end portion of the second joint 35 near the second joint 35, and the outer shell body 59 of the differential gear mechanism 49 is further provided with the above-mentioned. Second
A power transmission mechanism for a robot joint, comprising an eighth bevel gear 47 fixedly provided, which meshes at right angles with the axis of the arm driving seventh bevel gear 45 and has a gear ratio of twice that of the seventh bevel gear 45.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14826085A JPH06102312B2 (en) | 1985-07-08 | 1985-07-08 | Power transmission mechanism of robot joint |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14826085A JPH06102312B2 (en) | 1985-07-08 | 1985-07-08 | Power transmission mechanism of robot joint |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS629893A JPS629893A (en) | 1987-01-17 |
JPH06102312B2 true JPH06102312B2 (en) | 1994-12-14 |
Family
ID=15448798
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP14826085A Expired - Lifetime JPH06102312B2 (en) | 1985-07-08 | 1985-07-08 | Power transmission mechanism of robot joint |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH06102312B2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114670205B (en) * | 2022-04-29 | 2023-11-21 | 长沙长泰机器人有限公司 | Mechanical transmission decoupling method for multi-axis robot |
-
1985
- 1985-07-08 JP JP14826085A patent/JPH06102312B2/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JPS629893A (en) | 1987-01-17 |
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