JPS59107896A - Joint device - Google Patents
Joint deviceInfo
- Publication number
- JPS59107896A JPS59107896A JP21721082A JP21721082A JPS59107896A JP S59107896 A JPS59107896 A JP S59107896A JP 21721082 A JP21721082 A JP 21721082A JP 21721082 A JP21721082 A JP 21721082A JP S59107896 A JPS59107896 A JP S59107896A
- Authority
- JP
- Japan
- Prior art keywords
- output member
- reducer
- rotates
- output
- gear
- 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
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】 産業上の利用分野 本発明はロボット等の関節装置に関するものである。[Detailed description of the invention] Industrial applications The present invention relates to joint devices such as robots.
従来例の構成とその問題点
従来のロボットの関節装置においては、比較的回転角速
度は小さいか大きなトルクを必要とするため、多段の歯
車による減速機が用いられている。Conventional Structure and Problems In conventional robot joint devices, a reduction gear with multi-stage gears is used because the rotational angular velocity is relatively small or a large torque is required.
しかし歯車減速機を用いた場合、バンクラソシの発生が
避けられず、アームの駆動精度低下の原因となっている
。また小形化、高効率の面からこの関節機構には、内歯
車の歯数と、これに噛み合う外歯車の歯数の差を利用し
て、比較的大きな減速比が得られる。いわゆる/X−モ
ニックドライブ型減速機が使用されているが、第1図に
示す様な回転角−負荷トルク特性を有している。a −
b部は歯車の噛み合隙間に起因するバックラッシて、最
少の場合でも3分程度は生ずる。これを全長1mのアー
ムに想定すると、先端で0 、9 mmにも相当する。However, when a gear reducer is used, the occurrence of bank crushing is unavoidable, which causes a decrease in the driving accuracy of the arm. In addition, in terms of miniaturization and high efficiency, this joint mechanism can obtain a relatively large reduction ratio by utilizing the difference in the number of teeth of the internal gear and the number of teeth of the external gear that meshes with it. A so-called /X-monic drive type speed reducer is used, and it has a rotation angle-load torque characteristic as shown in FIG. a-
In part b, backlash occurs for about 3 minutes at the minimum due to the meshing gap of the gears. Assuming this for an arm with a total length of 1 m, the tip would be equivalent to 0.9 mm.
b −c部、 a −e部は、歯の噛み合いか不均一な
為に生ずる剛性の低い部分て生ずるバックラッシであり
、駆動側歯車が0(停止位置)→Cまで、またはO−+
eまて回転し始めてからC−d部。Parts b - c and parts a - e are backlash caused by low rigidity parts due to uneven tooth meshing, and the drive side gear moves from 0 (stop position) to C, or from O-+
After it starts rotating, move to C-d section.
e−f部のような均一な剛性が得られるという欠点を有
していた。It had the disadvantage that uniform rigidity like the part e-f could not be obtained.
発明の目的
本発明は」二記欠点に鑑み、第2図の回転角−負荷トル
ク特性に示す様に、バソクラッシを除去し、高精度でか
つ小型の関節機構とすることを目的とするものである。Purpose of the Invention In view of the two drawbacks, the present invention aims to eliminate baso crush and provide a highly accurate and compact joint mechanism, as shown in the rotation angle vs. load torque characteristics in Fig. 2. be.
発明の構成
本発明は、高速回転する原動軸と、原動軸の回転を減速
させる第1減速機と、第1減速機に連結され低速回転す
る第1出力部材と、前記原動軸の回転を減速する第2減
速機と、第2減速機に連結され低速回転する第2出力部
材と、前記第一出力部材と第2出力部材とを連結する連
結部材と、連結部材に引張力あるいは圧縮力を付勢する
テンンヨン部から構成されており、出力部材が回転して
も回転方向に一定の力が加わわり、バノクラソシを除去
し、高精度の位置決めが行えるという特有の効果を有す
る。Structure of the Invention The present invention provides a driving shaft that rotates at a high speed, a first reducer that decelerates the rotation of the driving shaft, a first output member that is connected to the first reducer and rotates at a low speed, and a first output member that decelerates the rotation of the driving shaft. a second output member that is connected to the second reduction gear and rotates at a low speed; a connecting member that connects the first output member and the second output member; and a connecting member that applies tensile or compressive force to the connecting member. It is composed of a biasing tension section, and even when the output member rotates, a constant force is applied in the direction of rotation, which has the unique effect of removing the bumps and enabling highly accurate positioning.
実施例の説明
以下本発明の実施例について図面を参照しながら説明す
る。DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings.
図において、1は基台、2は基台1に固定されたポスト
、3はモーターで、基台1に固定されている。4Cはモ
ーター原動軸、6aはタイミンクプーリて、キー6によ
り、モーター原動軸4Cに固定されている。4bは原動
軸で、原動軸4Cと一体のものである。7は第1減速機
の/)−モニノク型減速機、4aは第1減速機の人力軸
であり、ベアリングsa、sbにより回転可能に支持さ
れている。9はベルトてブーIJ5aとブーIJ −5
bを連結している。また10は第1出力部祠て、ベアリ
ンク11.12により、基台1に回転可能に支持されて
いる。第6り1は第1減速機の第3図における下面より
の側面図であり、内側から順番に惰円形の入力軸13a
、ベアリング14a、可撓性材料からなる外歯歯車15
a、ポスト2に固定され、上記外歯歯車15aの円周上
の2点で噛み合っており、かつ上記外歯歯車IE5aよ
り歯数の多い固定内歯歯車16aならびに上記固定内歯
歯車16aの裏側に配設され、第1出力部材1oに固定
されている出力内歯歯車17aからなっている。もう一
方の第2減速機18も同様に楕円形入力軸13b、ベア
リング14b、外歯歯車16b。In the figure, 1 is a base, 2 is a post fixed to the base 1, and 3 is a motor, which is fixed to the base 1. 4C is a motor driving shaft, and 6a is a timing pulley, which is fixed to the motor driving shaft 4C by a key 6. 4b is a driving shaft, which is integrated with the driving shaft 4C. 7 is a /)-moninoku type reducer of the first reducer, and 4a is a human power shaft of the first reducer, which is rotatably supported by bearings sa and sb. 9 is the belt Boo IJ5a and Boo IJ-5
b is connected. Further, reference numeral 10 denotes a first output section, which is rotatably supported on the base 1 by bearing links 11 and 12. No. 6 1 is a side view of the first reduction gear from the bottom in FIG.
, bearing 14a, external gear 15 made of flexible material
a, a fixed internal gear 16a that is fixed to the post 2, meshes with the external gear 15a at two points on its circumference, and has more teeth than the external gear IE5a, and the back side of the fixed internal gear 16a; It consists of an output internal gear 17a which is disposed in and fixed to the first output member 1o. The other second speed reducer 18 similarly has an elliptical input shaft 13b, a bearing 14b, and an external gear 16b.
固定内歯歯車16b、出力内歯歯車17bから構成され
ている。固定内歯歯車16bは部品19に固定され、部
品19はモーター3のフレームに固定されている。また
出力内歯歯車17bは、部品19にベアリング2oによ
り回転自在に支持された第2出力部材21に固定されて
いる。It is composed of a fixed internal gear 16b and an output internal gear 17b. The fixed internal gear 16b is fixed to a component 19, and the component 19 is fixed to the frame of the motor 3. Further, the output internal gear 17b is fixed to a second output member 21 rotatably supported by the component 19 by a bearing 2o.
22はドラムで、ベアリング23により回転可能に第2
出力部材21に支持されている。また第一出力部材21
に固定されたボルト24aと、ドラム22に固定された
ポル)24bの間に設置された弾性体、たとえば引張り
バネ25により常にドラム22と第2出力部材21との
間に回転方向に力を付勢した状態にて、連結部材26、
たとえばベルトにより第1出力部材1oと、ドラム22
を連結1.ている。27はキー、28.29はゆるみ止
めナツトである。22 is a drum, which is rotatably mounted on a second drum by a bearing 23;
It is supported by the output member 21. Also, the first output member 21
An elastic body, such as a tension spring 25, installed between a bolt 24a fixed to the drum 22 and a pole 24b fixed to the drum 22 constantly applies a force in the rotational direction between the drum 22 and the second output member 21. In the pressed state, the connecting member 26,
For example, a belt connects the first output member 1o and the drum 22.
Concatenate 1. ing. 27 is a key, and 28 and 29 are locking nuts.
以上の様に構成された関節装置について、以下その動作
を説明する。The operation of the joint device configured as described above will be explained below.
まず第3図において、モーター3の駆動軸4Cが反時計
方向に駆動されると、ブーIJ−5a、ベルト9.プー
リー 5 bにより第1減速機了の入力軸4aが回転し
、隋円形の入力軸13aが同じ方向に回転する。入力軸
13aが、反時計方向に回転すると、外歯歯車15aは
可撓性材料よりなるため入力軸13aの回転に従って変
形し、固定内歯歯車16aと噛み合いながら、入力軸4
aが、1回転する毎に歯数の差だけ時開方向へ回転し、
出力内歯歯車17aを歯数の差だけ時計方向に回転させ
る。同様にモーター3の駆動軸が上記と同方向に駆動さ
れると、第2減速機18の入力軸4bが回転し惰円形の
入力軸13bが同じ方向に回転する。入力軸13bが反
時計方向に回転すると、外歯歯車15aは前記同様に入
力軸13bの回転に従っ゛て変形し、固定内歯歯車16
bと噛み合いながら、入力軸13bが1回転する毎に歯
数の差たけ、反時計方向に回転し、出力内歯歯車17b
を歯数の差だけ反時計方向に回転させる。First, in FIG. 3, when the drive shaft 4C of the motor 3 is driven counterclockwise, the belt IJ-5a and the belt 9. The input shaft 4a of the first reduction gear is rotated by the pulley 5b, and the circular input shaft 13a is rotated in the same direction. When the input shaft 13a rotates counterclockwise, the external gear 15a, which is made of a flexible material, deforms as the input shaft 13a rotates, and while meshing with the fixed internal gear 16a, the input shaft 4
Each time a rotates, it rotates in the opening direction by the difference in the number of teeth,
The output internal gear 17a is rotated clockwise by the difference in the number of teeth. Similarly, when the drive shaft of the motor 3 is driven in the same direction as above, the input shaft 4b of the second reduction gear 18 rotates, and the circular input shaft 13b rotates in the same direction. When the input shaft 13b rotates counterclockwise, the external gear 15a deforms in accordance with the rotation of the input shaft 13b, as described above, and the fixed internal gear 16
While meshing with the output internal gear 17b, the input shaft 13b rotates counterclockwise by the difference in the number of teeth each time the input shaft 13b rotates once.
Rotate counterclockwise by the difference in the number of teeth.
また第2出力部材21にベアリング23を介して取りイ
;1けられているドラム22の外周の回転スピードと第
1出力部材10とは同スピードになる様に第1歯車減速
比二01.第1出力部材ベルト掛は外径D1.第2歯車
減速比二62.ドラム22の外径D2とすると
G1×D1:G2×D2
となっている。そのためドラム22と、第2出力部利2
1との間でバネ26の設定−された回転方向の力を、ベ
ルト26を介して、常に一定の値に保ちながら第一出力
部材10を一方の回転方向に付勢させている。Also, the first gear reduction ratio 201. is set so that the rotational speed of the outer periphery of the drum 22, which is connected to the second output member 21 via the bearing 23, and the first output member 10 are at the same speed. The first output member belt hook has an outer diameter D1. 2nd gear reduction ratio 262. Assuming that the outer diameter D2 of the drum 22 is G1×D1:G2×D2. Therefore, the drum 22 and the second output section 2
1, the first output member 10 is biased in one direction of rotation through the belt 26, while keeping the force in the rotational direction set by the spring 26 at a constant value.
以上の様に本実施例によれば、第1減速機の第1出力部
材と第2減速機の第2出力部材とを同期回転させ、弾性
体を介して回転方向に一定の力を保ちながら連結するこ
とにより第1出力部材を常に一定の力で一定の方向に付
勢することによりバックラノシの発生を防止し、第2図
のような特性が得られるため、高精度に第一出力部材を
駆動することができる。As described above, according to this embodiment, the first output member of the first reducer and the second output member of the second reducer are rotated synchronously, and a constant force is maintained in the rotational direction via the elastic body. By connecting the first output member, the first output member is always biased in a certain direction with a constant force, thereby preventing the occurrence of backlash and achieving the characteristics shown in Figure 2. Can be driven.
なお第1の実施例において、弾性体26を引張りバネと
したが、圧縮の力を発生させる、たとえば圧縮バネでも
よく、この場合ベルトの引張り方向を反対方向とすれは
良い。In the first embodiment, the elastic body 26 is a tension spring, but it may be a compression spring that generates a compression force, for example, and in this case, the direction of tension of the belt may be in the opposite direction.
寸だ第1出力部材10と第2出力部材21とを弾性体に
て直接連結しても良いことは言うまでもない0
発明の効果
以上のように本発明は第1減速機の出力部材と、第2減
速機の出力部材とを同期回転させ、弾性体に一定の力を
加えて連結することにより、第1出力部材を、常に一定
の力で付勢し、バノクラソ/の発生を防止し、高精度に
第1出力部材を駆動することができる。It goes without saying that the first output member 10 and the second output member 21 may be directly connected by an elastic body.Advantageous Effects of the Invention As described above, the present invention provides a connection between the output member of the first reduction gear and the second output member 21. By rotating the output member of the second reducer synchronously and applying a constant force to the elastic body to connect the first output member, the first output member is always biased with a constant force, preventing the occurrence of Vanokuraso/, and increasing the The first output member can be driven with precision.
第1図は従来のハーモニックドライブ単体の回転角−ト
ルク特性図、第2図はバノクラノシを除去した回転角−
トルク特性図、第3図は本発明の実施例の正面断面図、
第4図は本発明実施νりの第3図X−Y断面図、第5図
(は本発明実施例の第3図における第1減速機の側面図
である。
4c、4h・・・・・原動軸、7・・・第1減速機、1
0・・・第1出力部利、18 ・・・・第2減速↑幾、
21・・・・第2出力、26・・・・・弾性部材、26
・・・・・連結部材。
代理人の氏名 弁理士 中 尾 敏 男 は力・1名第
1図 第2図
第3図
第4図
6
第5図Figure 1 is a rotation angle-torque characteristic diagram of a conventional harmonic drive unit, and Figure 2 is a rotation angle-torque characteristic diagram with the conventional harmonic drive removed.
Torque characteristic diagram, FIG. 3 is a front sectional view of an embodiment of the present invention,
FIG. 4 is a sectional view taken along the line XY in FIG. 3 of the embodiment of the present invention, and FIG. 5 is a side view of the first speed reducer in FIG. 3 of the embodiment of the present invention. 4c, 4h...・Driving shaft, 7...1st reducer, 1
0...First output section profit, 18...Second deceleration ↑,
21...Second output, 26...Elastic member, 26
...Connection member. Name of agent: Patent attorney Toshio Nakao 1 person Figure 1 Figure 2 Figure 3 Figure 4 Figure 6 Figure 5
Claims (3)
させる第1減速機と、この第1減速機に連結され、低速
回転する第1出力部材と、上記原動軸の回転を減速させ
る第2減速機と、この第2減速機に連結され、・低速回
転する第2出力部材と、前記第1出力部材と、第2出力
部材とを連結する連結部材と、この連結部材に引張力あ
るいは圧縮力を伺勢する弾性部材とを備えた関節装置。(1) A driving shaft that rotates at a high speed, a first reducer that decelerates the rotation of the driving shaft, a first output member that is connected to the first reducer and rotates at a low speed, and a first output member that decelerates the rotation of the driving shaft. a second reducer; a second output member that is connected to the second reducer and rotates at a low speed; a connecting member that connects the first output member and the second output member; and a tensile force applied to the connecting member. Or a joint device equipped with an elastic member that applies compressive force.
弾性体にて連結したことを特徴とする特許請求の範囲第
1項記載の関節装置。(2) The joint device according to claim 1, wherein the first output member and the second output member are directly connected by the elastic body.
回転するように構成されている特許請求の範囲第1項記
載の関節装置。(3) The joint device according to claim 1, wherein the first output member and the second output member are configured to rotate synchronously.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP21721082A JPS59107896A (en) | 1982-12-10 | 1982-12-10 | Joint device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP21721082A JPS59107896A (en) | 1982-12-10 | 1982-12-10 | Joint device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS59107896A true JPS59107896A (en) | 1984-06-22 |
Family
ID=16700586
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP21721082A Pending JPS59107896A (en) | 1982-12-10 | 1982-12-10 | Joint device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS59107896A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1989000095A1 (en) * | 1987-07-07 | 1989-01-12 | Mitsubishi Denki Kabushiki Kaisha | Articulated robot |
JP2015054372A (en) * | 2013-09-12 | 2015-03-23 | 本田技研工業株式会社 | Leg body structure of leg type mobile robot |
-
1982
- 1982-12-10 JP JP21721082A patent/JPS59107896A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1989000095A1 (en) * | 1987-07-07 | 1989-01-12 | Mitsubishi Denki Kabushiki Kaisha | Articulated robot |
US5054332A (en) * | 1987-07-07 | 1991-10-08 | Mitsubishi Denki K.K. | Articulated robot |
JP2015054372A (en) * | 2013-09-12 | 2015-03-23 | 本田技研工業株式会社 | Leg body structure of leg type mobile robot |
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