KR100405808B1 - Upper arm structure of 6-shaft articulated industrial robot - Google Patents

Upper arm structure of 6-shaft articulated industrial robot Download PDF

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Publication number
KR100405808B1
KR100405808B1 KR1019980005269A KR19980005269A KR100405808B1 KR 100405808 B1 KR100405808 B1 KR 100405808B1 KR 1019980005269 A KR1019980005269 A KR 1019980005269A KR 19980005269 A KR19980005269 A KR 19980005269A KR 100405808 B1 KR100405808 B1 KR 100405808B1
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South Korea
Prior art keywords
axis
shaft
gear train
upper arm
wrist
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KR1019980005269A
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Korean (ko)
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KR19990070427A (en
Inventor
김상현
정성현
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현대중공업 주식회사
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Publication of KR100405808B1 publication Critical patent/KR100405808B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: Upper arm structure of a 6-shaft articulated industrial robot is provided to reduce the gravity load by installing plural driving motors to the rear end of an upper arm and reduce the number of parts by simplifying the structure. CONSTITUTION: In upper arm structure of a 6-shaft articulated industrial robot, a first wrist part(14) is formed to the upper end of an articulated part(12) of an upper arm(10) and a second wrist part(16) is installed inside the first wrist part. 4 and 5-shaft driving motors(22,30) are each installed to the outside of the rear end of the articulated part. A 4-shaft power transmission shaft(24) is fixed to the inside of the articulated part, on a side of the 4-shaft driving motor. A 4-shaft gear train(28) is connected to the 4-shaft power transmission shaft. The 4-shaft gear train is connected to a 4-shaft reducer(26). The 4-shaft reducer is fixed to the first wrist part. A 5-shaft power transmission shaft is fixed to the inside of the articulated part, on a side of the 5-shaft driving motor. A 5-shaft first gear train(34) is connected to the 5-shaft power transmission shaft. A 5-shaft bevel gear train(38) is connected to a side of the 5-shaft first gear train. A 5-shaft second gear train(36) is connected to the lower part of the 5-shaft bevel gear train. A 6-shaft driving motor(40) is installed in the second wrist part. A 6-shaft reducer(42) slides on a side of the 6-shaft driving motor. A 6-shaft gear train(44), to slide on the second gear train, is fixed to a side of the second wrist part.

Description

6축 다관절 산업용 로봇의 상부암 구조Upper arm structure of 6-axis articulated industrial robot

본 발명은 다관절 산업용 로봇의 상부암의 동력전달 구조에 관한 것으로서, 더욱 상세하게는 고가반 중량 다관절 로봇의 상부암 일측 손목부 내부에 6축 구동모터를 설치하고 또한 상부암의 관절부 일측 외부에 복수개의 구동모터를 설치함으로써 로봇 상부암의 동력전달 구조를 간소화하여 부품수를 줄일수 있음과 동시에 중력 부하를 감소시킬수 있는 6축 다관절 산업용 로봇의 상부암 구조에 관한 것이다.The present invention relates to a power transmission structure of the upper arm of the articulated industrial robot, and more particularly, to install a six-axis drive motor inside the wrist of one side of the upper arm of the high-capacity articulated robot, and also to the outside of the joint of the upper arm. The present invention relates to an upper arm structure of a 6-axis articulated industrial robot that can reduce the number of components and reduce gravity load by simplifying the power transmission structure of the upper arm of the robot by installing a plurality of drive motors in the motor.

일반적으로, 산업용 로봇은 공장 자동화의 최종 목표인 무인 자동 공장을 구성하기 위한 필수적인 요소이다. 현재의 산업용 로봇은 아직도 기초적인 단계에 있고 사용되는 부분도 극히 제한되어 있지만 공장 자동화의 중요한 한몫을 분명히 차지하고 있다.In general, industrial robots are an essential element for constructing an unmanned automated factory, which is the final goal of factory automation. Today's industrial robots are still in the basic stages and are very limited in their use, but they clearly represent an important part of factory automation.

오래전부터 인간은 자기들의 모습 또는 어떤 생물의 모습과 닮았고 행동도 비슷하게 할수 있는 인조 인간 또는 인조 생명체의 탄생에 대한 꿈을 꾸어왔다. 1970년대에 드디어 그 꿈이 실현될 가능성이 이루어졌고, 1980년대에 들어서는 이제 꿈이 아니고 현실로서 나타나게 되었다. 1990년대를 시작하는 시점에서의 로봇의 모습은 인간의 모습에서 정상적으로 찾아볼 수 있는 눈, 코, 입, 귀도 없고 다리도 없고 팔도 하나밖에 달려 있지 않은 기형의 모습이기는 하지만 인간이 할 수 없는 일도 할 수 있고 정확도가 높고 피로해하지도 않는 훌륭한 일꾼으로서의 역할을 하고 있다.For a long time, humans have dreamed of the birth of human beings or human beings who resemble their own appearance or the appearance of any creature and can behave similarly. In the 1970s, it was finally possible that the dream would come true, and in the 1980s it was now a reality, not a dream. At the beginning of the 1990s, the robot is a malformation that can be found in human form, with no eyes, nose, mouth, ears, no legs, and only one arm, but it can't do anything human can do. He is a good worker who can work, is high in accuracy, and is not tired.

오늘날 산업용 로봇이 사용되는 대표적인 산업 분야로서는 용접(welding), 자재 취급(material handling), 페인팅(painting), 조립(assembly) 등을 들 수 있다. 그 밖에도 여러 분야에서 사용되고 있지만 아직도 경제성면에서 보편화되고 있지 못하다.Typical industrial areas where industrial robots are used today include welding, material handling, painting and assembly. It is used in many other fields, but it is still not universal in terms of economy.

또한, 산업용 로봇(industrial robot)이란 작업에 필요한 프로그램(program)들을 제어 장치를 통해 실행시켜서 목적에 따라 여러 가지 작업을 수행할 수 있는 다목적용 기계(machine)이다. 산업용 로봇은 일반적으로 하나의 팔(arm)을 갖고 있으며 알맞도록 고안된 도구(tool)를 손에 부착하고 제어 장치에 내장된 프로그램의 순서대로 작업을 수행한다.In addition, an industrial robot is a multipurpose machine that can execute various programs according to a purpose by executing programs necessary for a job through a control device. Industrial robots generally have a single arm, with a properly designed tool attached to the hand and performing tasks in the order of the programs embedded in the control unit.

로봇이 오토메이션(automation)과 다른점은 여러 가지 일들을 프로그램과 도구만 바꾸어주면 수행할 수 있다는 것과 작업 수행에 사람의 도움을 필요로 하지 않는다는 점이다.The difference between robots and automation is that robots can do many things just by changing programs and tools, and they don't need human help.

그리고, 산업용 로봇을 크게 두 가지 종류로 나눌수 있는데 고정형 로봇 (manipulating robot)과 이동형 로봇(mobile robot)이다.In addition, there are two types of industrial robots: fixed robots and mobile robots.

또한, 동작 기구 형태로의 분류로는 직교 좌표 로봇, 원통 좌표 로봇, 극좌표 로봇, 다관절(articulated) 로봇이 있는데 여기에서 다관절 로봇은 동작 기구가 여러개의 관절로 구성되어 있는 로봇을 말하는 것이다.In addition, classifications in the form of moving mechanisms include a rectangular coordinate robot, a cylindrical coordinate robot, a polar coordinate robot, and an articulated robot, where an articulated robot refers to a robot in which an operating mechanism is composed of several joints.

종래에는, 도 4 에 나타낸 바와같이 로봇의 상부암(100) 중앙에 관절부(120)가 형성되고 이 상부암(100)의 관절부(120) 상단에 제 1 손목부(140)가 설치됨과 또한 제 1 손목부(140)에 제 2 손목부(160)가 고정 설치되며 상기 제 2 손목부(160) 내부에 6축 구동모터(300)가 내장됨과 동시에 이 6 축 구동모터(300)에 6축 감속기(360)가 연결 설치된다.In the related art, as shown in FIG. 4, the joint 120 is formed at the center of the upper arm 100 of the robot, and the first wrist 140 is installed at the upper end of the joint 120 of the upper arm 100. The second wrist part 160 is fixedly installed on the first wrist part 140, and the six-axis drive motor 300 is embedded in the second wrist part 160, and at the same time, the six-axis Reducer 360 is installed connected.

또한, 상기 제 1 손목부(140) 내부에 5축 구동모터(200)가 내장되고 이 5축 구동모터(200)에 5축 감속기(340)가 연결되며 상기 5축 감속기(340) 일측에 5축 베벨기어열(280)이 연결된다.In addition, the 5-axis drive motor 200 is built in the first wrist 140, the 5-axis drive motor 200 is connected to the 5-axis reducer 340, the 5-axis reducer 340 is one side of 5 The shaft bevel gear train 280 is connected.

상기, 5축 베벨기어열(280) 일측부에 5축 기어열(240)을 연결시키고 제 2 손목부(160) 일측에 6축 기어열(320)을 연결하되 상기 5축 기어열(240)과 접동되게 설치한다.The 5-axis bevel gear train 280 is connected to the 5-axis gear train 240 on one side and the 6-axis gear train 320 is connected to one side of the second wrist 160, the 5-axis gear train 240 Install to slide

또한, 상기 상부암(100)의 관절부(120) 후단에 4축 구동모터(220)를 설치하고 이 4축 구동모터(220)에 4축 감속기(260)를 연결 설치한 구성으로 되어진 것이다.In addition, the four-axis drive motor 220 is installed on the rear end of the joint portion 120 of the upper arm 100, and the four-axis drive motor 220 is configured to be connected to the four-axis reducer 260 is installed.

그런데, 상기와 같은 구성은 구동모터들을 상부암의 축방향으로 나란하게 설치한 것으로서 상기 구조에서는 상부암의 관절부 상단에 형성된 손목부 내부에 무거운 중량물인 모터와 감속기에 의한 중력 부하 효과가 커지게 됨과 동시에 5,6축 구동모터에 연결될 배선의 공간을 추가로 확보해야 되는 문제점이 있었다.By the way, the above configuration is to install the drive motors side by side in the axial direction of the upper arm in the above structure is to increase the gravity load effect by the heavy weight motor and reducer inside the wrist portion formed on the upper end of the joint portion of the upper arm and At the same time, there was a problem of additionally securing a space of wiring to be connected to the 5 and 6 axis drive motors.

본 발명은 상기한 문제점을 해결하기 위하여 안출한 것으로서, 그 목적은 다관절 로봇 상부암의 관절부 후단에 4축 구동모터 및 5축 구동모터를 각각 설치하고 상기 관절부 상단 손목부 내부에 6축 구동모터를 설치함으로써 복수개의 구동모터를 상부암 후단에 설치하여 중력 부하를 감소시킬수 있음과 또한 구조를 간소화하여 부품수를 줄일수 있는 6축 다관절 산업용 로봇의 상부암 구조를 제공하는 것이다.The present invention has been made to solve the above problems, the object is to install a four-axis drive motor and a five-axis drive motor at the rear end of the joint of the articulated robot upper arm, respectively, and the six-axis drive motor inside the upper wrist portion of the joint It is possible to reduce the gravity load by installing a plurality of drive motors at the rear end of the upper arm, and to provide the upper arm structure of the 6-axis articulated industrial robot which can reduce the number of parts by simplifying the structure.

본 발명은 상기한 목적을 달성하기 위하여 로봇 상부암의 관절부 후단에 4,5축 구동모터를 각각 설치하고 이 각각의 구동모터에 동력전달 샤프트를 연결시키며 상기 4축 동력전달 샤프트 끝단에 기어열을 형성함과 또한 이 기어열에 감속기를 연결시킨다.In order to achieve the above object, the present invention installs four and five axis drive motors at the rear end of the robot arm and connects a power transmission shaft to each of the drive motors, and provides a gear train at the end of the four axis power transmission shaft. Forming and also connecting the gearbox to this gear train.

그리고, 상부암의 관절부 상단에 형성된 손목부 내부에 6축 구동모터를 설치하고 이 6축 구동모터 일측에 감속기를 연결 설치한 6축 다관절 산업용 로봇의 상부암 구조를 제공함에 의해 달성된다.And, it is achieved by providing a six-axis drive motor inside the wrist portion formed on the upper end of the joint of the upper arm and the upper arm structure of the six-axis articulated industrial robot provided with a reducer connected to one side of the six-axis drive motor.

도 1 은 본 발명 병렬 링크 구조의 6축 산업용 로봇을 나타낸 사시도1 is a perspective view showing a six-axis industrial robot of the present invention parallel link structure

도 2 는 본 발명 직렬 링크 구조의 6축 산업용 로봇을 나타낸 사시도Figure 2 is a perspective view of a six-axis industrial robot of the present invention serial link structure

도 3 은 본 발명의 상부암 내부를 나타낸 단면예시도Figure 3 is a cross-sectional view showing the inside of the upper arm of the present invention

도 4 는 종래의 상부암 내부를 나타낸 단면예시도Figure 4 is a cross-sectional view showing the inside of the conventional upper arm

<도면의 주요부분에 대한 부호의 설명><Description of Symbols for Main Parts of Drawings>

(10) : 상부암 (12) : 관절부(10): upper arm (12): joint

(14) : 제 1 손목부 (16) : 제 2 손목부14: first wrist portion 16: second wrist portion

(18) : 링크 (20) : 수직암(18): link (20): vertical arm

(22) : 4축 구동모터 (24) : 4축 동력전달 샤프트(22): 4-axis drive motor (24): 4-axis power transmission shaft

(26) : 4축 감속기 (28) : 4축 기어열(26): 4-axis reducer (28): 4-axis gear train

(30) : 5축 구동모터 (32) : 5축 동력전달 샤프트(30): 5-axis drive motor (32): 5-axis power transmission shaft

(34) : 5축 제 1 기어열 (36) : 5축 제 2 기어열34: 5-axis first gear train 36: 5-axis second gear train

(38) : 5축 베벨기어열 (40) : 6축 구동모터(38): 5-axis bevel gear train (40): 6-axis drive motor

(42) : 6축 감속기 (44) : 6축 기어열(42): 6-axis reducer (44): 6-axis gear train

(46) : 몸체46: body

이하, 첨부된 도면을 참조하여 본 발명의 구성 및 작용을 설명하면 다음과 같다.Hereinafter, the configuration and operation of the present invention with reference to the accompanying drawings.

도 1 은 본 발명 병렬 링크 구조의 6축 산업용 로봇을 나타낸 사시도를 도시한 것이고, 도 2 는 본 발명 직렬 링크 구조의 6축 산업용 로봇을 나타낸 사시도를 도시한 것으로서, 다관절 산업용 로봇의 몸체(46) 상부에 관절부(12)가 형성된 상부암(10)이 위치되고 이 상부암(10)의 관절부(12) 상단에 제 1 손목부(14)가 설치되며 이 제 1 손목부(14) 끝단에 제 2 손목부(16)가 고정 설치된다.1 is a perspective view showing a six-axis industrial robot of the present invention parallel link structure, Figure 2 is a perspective view showing a six-axis industrial robot of the present invention serial link structure, the body of the articulated joint robot 46 The upper arm 10 having the joint part 12 formed thereon is positioned, and the first wrist part 14 is installed at the upper end of the joint part 12 of the upper arm 10, and at the end of the first wrist part 14. The second wrist part 16 is fixedly installed.

또한, 상기 상부암(10)의 관절부(12) 일측 하부에 수직암(20)이 힌지(도시하지 않음) 고정되고 관절부(12) 후단 외부에 4,5축 구동모터(22,30)가 각각 설치된다.In addition, the vertical arm 20 is hinged (not shown) at one lower side of the joint part 12 of the upper arm 10, and the 4 and 5-axis drive motors 22 and 30 are respectively outside the rear end of the joint part 12. Is installed.

첨부된 도면중 미설명 부호 (18)은 링크이다.Reference numeral 18 in the accompanying drawings is a link.

도 3 은 본 발명의 상부암 내부를 나타낸 단면예시도를 도시한 것으로서, 다관절 산업용 로봇의 상부암(10) 구조에 있어서, 상기 상부암(10)의 관절부(12) 상단에 제 1 손목부(14)가 형성되고 이 제 1 손목부(14) 내측에 제 2 손목부(16)가 설치되며 관절부(12) 후단 외부에 각각 4,5축 구동모터(22,30)가 설치된다.3 is a cross-sectional view illustrating the inside of the upper arm of the present invention. In the upper arm 10 structure of the articulated industrial robot, the first wrist part is disposed on the upper end of the joint part 12 of the upper arm 10. A 14 is formed, and the second wrist 16 is installed inside the first wrist 14, and 4 and 5-axis drive motors 22 and 30 are respectively installed outside the rear end of the joint 12.

상기, 4축 구동모터(22) 일측에 관절부(12) 내부로 4축 동력전달 샤프트(24)가 고정되고 이 4축 동력전달 샤프트(24)에 4축 기어열(28)이 연결되며 이 4축 기어열(28)을 4축 감속기(26)와 연결시키되 4축 감속기(26)는 제 1 손목부(14)에 고정 설치한다.The four-axis power transmission shaft 24 is fixed to the joint 12 in one side of the four-axis drive motor 22 and the four-axis gear train 28 is connected to the four-axis power transmission shaft 24. The shaft gear train 28 is connected to the four-axis reducer 26, but the four-axis reducer 26 is fixed to the first wrist 14.

상기, 5축 구동모터(30) 일측에 관절부(12) 내부로 5축 동력전달 샤프트(32)가 고정되고 이 5축 동력전달 샤프트(32)에 5축 제 1 기어열(34)이 연결되며 이 5축 제 1 기어열(34) 일측에 5축 베벨기어열(38)이 연결됨과 또한, 상기 5축 베벨기어열(38) 하부에 5축 제 2 기어열(36)이 연결 설치된다.The 5-axis drive motor 30 has a 5-axis power transmission shaft 32 fixed to the inside of the joint 12 at one side thereof, and the 5-axis first gear train 34 is connected to the 5-axis power transmission shaft 32. The 5-axis bevel gear train 38 is connected to one side of the 5-axis first gear train 34, and the 5-axis second gear train 36 is connected to the lower part of the 5-axis bevel gear train 38.

또한, 상기 제 2 손목부(16) 내부에 6축 구동모터(40)가 내장 설치되고 이 6축 구동모터(40) 일측에 6축 감속기(42)가 접동되며 제 2 손목부(16) 일측부에 6축 기어열(44)이 5축 제 2 기어열(36)과 접동되게 고정 설치한 구성으로 되어진 것이다.In addition, the six-axis drive motor 40 is installed inside the second wrist portion 16, the six-axis reducer 42 is sliding on one side of the six-axis drive motor 40 and the second wrist portion 16 The 6-axis gear train 44 is configured to be fixed to the side to be slid with the 5-axis second gear train 36.

상기와 같은 구성을 참조하여 본 발명의 작용을 설명하겠다.The operation of the present invention will be described with reference to the above configuration.

로봇의 손목 3축을 구동하기 위해서는 다수개의 구동모터가 장착되어야 한다. 그러므로, 4,5축 구동모터(22,30)는 상부암(10)의 관절부(12) 후단에 위치고정시키고 6축 구동모터(40)는 제 2 손목부(16) 내부에 고정 설치한다.In order to drive the robot's three-axis wrist, a number of drive motors should be installed. Therefore, the 4 and 5-axis drive motors 22 and 30 are fixed to the rear end of the joint part 12 of the upper arm 10 and the 6-axis drive motor 40 is fixedly installed in the second wrist part 16.

상기, 4,5축 구동모터(22,30) 일측에 연결된 각각의 4,5축 동력전달 샤프트 (24,32)는 각 구동모터의 출력 샤프트에 직접 플렌지 커플링으로 연결되어서 각각의 손목축 단까지 동력을 전달하게 되고 여기서 4축 동력전달 샤프트(24)는 4축 기어열(28)을 통하여 4축 감속기(26)에 동력을 전달하게 되며 또한, 상기 4축 감속기 (26)는 직접 제 1 손목부(14)에 연결되어 제 1 손목부(14)를 작동시키게 된다.Each of the 4 and 5 axis power transmission shafts 24 and 32 connected to one side of the 4 and 5 axis drive motors 22 and 30 is connected to the output shaft of each drive motor by a flange coupling directly to each wrist shaft end. Whereby the four-axis power transmission shaft 24 transmits power to the four-axis reducer 26 via the four-axis gear train 28, and the four-axis reducer 26 is directly connected to the first shaft. It is connected to the wrist part 14 to operate the first wrist part 14.

또한, 상기 5축 구동모터(30)에 연결되어 있는 5축 동력전달 샤프트(32)는 5축 제 1 기어열(34)과 5축 베벨기어열(38)을 거쳐 동력 전달 방향을 바꾼 후 제 2 손목부(16)의 구동을 위한 5축 제 2 기어열(36)과 연결된다.In addition, the five-axis power transmission shaft 32 connected to the five-axis drive motor 30 is changed after the power transmission direction through the five-axis first gear train 34 and the five-axis bevel gear train 38. 2 is connected to the 5-axis second gear train 36 for driving the wrist 16.

그리고, 제 2 손목부(16)의 구동원인 6축 구동모터(40)를 제 2 손목부(16) 내부에 위치시키고 이 6축 구동모터(40)의 출력 샤프트가 직접 6축 감속기(42)에 연결되어 동력을 전달하게 된다. 또한, 6축 감속기(42)의 출력단은 직접 제 2 손목부(16)에 연결되고 5축 제 2 기어열(36)과 접동되어 있는 6축 기어열(44)에 의해 제 2 손목부(16)가 작동되게 되는 작용을 한다.The 6-axis drive motor 40, which is the driving source of the second wrist part 16, is positioned inside the second wrist part 16, and the output shaft of the 6-axis drive motor 40 is directly connected to the 6-axis reducer 42. Is connected to transmit power. In addition, the output end of the six-axis reducer 42 is connected to the second wrist portion 16 and the second wrist portion 16 by the six-axis gear train 44 slid with the five-axis second gear train 36. ) Works.

본 발명은 로봇 상부암의 관절부 후단에 설치한 4,5축 구동모터로부터 각각의 동력전달 샤프트를 직접 연결 설치함으로써 간소화되고 각각의 동력전달 샤프트의 형상이 간단하여 가공이 용이하며 작업능률도 향상되게 되며 또한 동력의 전달방향을 바꾸기 위한 추가 동력전달 장치(기어열, 유니버설 조인트)가 필요없게 되어 부품수를 줄일수 있다.The present invention is simplified by directly connecting each power transmission shaft from the 4 and 5-axis drive motors installed at the rear end of the upper arm of the robot, and the shape of each power transmission shaft is simple, so that the processing is easy and the working efficiency is improved. It also reduces the number of parts by eliminating the need for additional power trains (gear trains, universal joints) to change the direction of power transmission.

그리고, 4,5축 구동모터를 상부암 후단에 위치시킴으로 인해 중력부하의 보상 효과를 가져올수 있음과 손목부에는 6축 구동모터만이 존재하게 되고 또한 상부암의 내부 공간이 확대되어 배선도 용이하게 할 수 있도록 한 매우 유용한 발명인 것이다.In addition, by positioning the 4 and 5-axis drive motor at the rear end of the upper arm, the gravity load can be compensated for, and only the 6-axis drive motor is present on the wrist, and the inner space of the upper arm is enlarged to facilitate wiring. It's a very useful invention.

Claims (1)

다관절 산업용 로봇의 상부암(10) 구조에 있어서,In the structure of the upper arm 10 of the articulated industrial robot, 상기 상부암(10)의 관절부(12) 상단에 제 1 손목부(14)가 형성되고 이 제 1 손목부(14) 내측에 제 2 손목부(16)가 설치되며 관절부(12) 후단 외부에 각각 4,5축 구동모터(22,30)가 설치됨과,The first wrist part 14 is formed on the upper end of the joint part 12 of the upper arm 10, and the second wrist part 16 is installed inside the first wrist part 14, and outside the rear end of the joint part 12. 4 and 5-axis drive motors (22, 30) are installed, respectively, 상기, 4축 구동모터(22) 일측에 관절부(12) 내부로 4축 동력전달 샤프트(24)가 고정되고 이 4축 동력전달 샤프트(24)에 4축 기어열(28)이 연결되며 이 4축 기어열(28)을 4축 감속기(26)와 연결시키되 4축 감속기(26)는 제 1 손목부(14)에 고정 설치함과,The four-axis power transmission shaft 24 is fixed to the joint 12 in one side of the four-axis drive motor 22 and the four-axis gear train 28 is connected to the four-axis power transmission shaft 24. The shaft gear train 28 is connected to the four-axis reducer 26, the four-axis reducer 26 is fixed to the first wrist portion 14, 상기, 5축 구동모터(30) 일측에 관절부(12) 내부로 5축 동력전달 샤프트(32)가 고정되고 이 5축 동력전달 샤프트(32)에 5축 제 1 기어열(34)이 연결되며 이 5축 제 1 기어열(34) 일측에 5축 베벨기어열(38)이 연결됨과 또한, 상기 5축 베벨기어열(38) 하부에 5축 제 2 기어열(36)이 연결 설치됨과,The 5-axis drive motor 30 has a 5-axis power transmission shaft 32 fixed to the inside of the joint 12 at one side thereof, and the 5-axis first gear train 34 is connected to the 5-axis power transmission shaft 32. The 5-axis bevel gear train 38 is connected to one side of the 5-axis first gear train 34, and the 5-axis second gear train 36 is connected to the lower part of the 5-axis bevel gear train 38. 또한, 상기 제 2 손목부(16) 내부에 6축 구동모터(40)가 내장 설치되고 이 6축 구동모터(40) 일측에 6축 감속기(42)가 접동되며 제 2 손목부(16) 일측부에 6축 기어열(44)이 5축 제 2 기어열(36)과 접동되게 고정 설치한 것을 특징으로 하는 6축 다관절 산업용 로봇의 상부암 구조.In addition, the six-axis drive motor 40 is installed inside the second wrist portion 16, the six-axis reducer 42 is sliding on one side of the six-axis drive motor 40 and the second wrist portion 16 The upper arm structure of the 6-axis articulated industrial robot, characterized in that the six-axis gear train 44 is fixed to the side to be slid with the second shaft gear 36.
KR1019980005269A 1998-02-20 1998-02-20 Upper arm structure of 6-shaft articulated industrial robot KR100405808B1 (en)

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