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WO2016084177A1 - Bras de robot, système de robot, unité d'engrenage et procédé de fabrication de bras de robot - Google Patents

Bras de robot, système de robot, unité d'engrenage et procédé de fabrication de bras de robot Download PDF

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Publication number
WO2016084177A1
WO2016084177A1 PCT/JP2014/081296 JP2014081296W WO2016084177A1 WO 2016084177 A1 WO2016084177 A1 WO 2016084177A1 JP 2014081296 W JP2014081296 W JP 2014081296W WO 2016084177 A1 WO2016084177 A1 WO 2016084177A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
axis
hypoid
power transmission
transmission mechanism
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.)
Ceased
Application number
PCT/JP2014/081296
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English (en)
Japanese (ja)
Inventor
洋一 本村
田中　謙太郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Priority to PCT/JP2014/081296 priority Critical patent/WO2016084177A1/fr
Publication of WO2016084177A1 publication Critical patent/WO2016084177A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints

Definitions

  • the disclosed embodiment relates to a robot arm, a robot system, a gear unit, and a method for manufacturing the robot arm.
  • Patent Document 1 describes a robot having a wrist structure with a speed reduction mechanism that is a wave gear mechanism.
  • the conventional technology has a problem that it is difficult to increase the speed due to the speed limitation of the wave gear mechanism.
  • the present invention has been made in view of such problems, and provides a robot arm, a robot system, a gear unit, and a robot arm manufacturing method capable of increasing the speed without reducing the operation accuracy. Objective.
  • an arm frame a first-axis movable unit that is rotatably supported around a first axis at a tip portion of the arm frame, and the first shaft
  • the movable part includes a second shaft movable part supported rotatably around a second axis orthogonal to the first axis, two motors, and a plurality of gears, and the power of the two motors is supplied to the first axis.
  • a power transmission mechanism configured to transmit to at least one of the movable part and the second shaft movable part, and means for adjusting backlash of the power transmission mechanism, wherein the power transmission mechanism includes Two first bevel gears, one first bevel gear that is supported so as to be rotatable about one axis and that receives power from one of the motors, and the other first bevel gear that receives power from the other motor. Mesh with both of the two first bevel gears, Robotic arm having a second bevel gear which is rotatably supported about a second axis, the interference driving mechanism having a applies.
  • a robot system having the robot arm and a controller configured to control the robot arm is applied.
  • a gear unit used in a power transmission mechanism of a robot arm, the first rotating shaft on one side between the two gear frames and the two gear frames.
  • a hypoid pinion rotatably supported around, a hypoid gear rotatably supported about the second rotation axis on the other side between the two gear frames, and meshing with the hypoid pinion, the hypoid pinion and the hypoid gear
  • a gear unit having a means for adjusting the backlash.
  • a first axis movable part supported rotatably around a first axis at the tip of the arm frame, and the first axis movable part orthogonal to the first axis And a second arm movable part rotatably supported around a second axis, wherein the arm frame is provided on one side between the two gear frames and the two gear frames.
  • a hypoid pinion rotatably supported around a rotation axis along the extending direction of the two, and supported on the other side between the two gear frames so as to be rotatable around a rotation axis along the first axis
  • a hypoid gear that meshes with a hypoid pinion, and a gear unit in which backlash between the hypoid pinion and the hypoid gear is adjusted is attached to the arm frame.
  • the speed can be increased without deteriorating the operation accuracy.
  • FIG. 1 is a perspective view illustrating an example of a schematic configuration of a robot system according to a first embodiment. It is a perspective view showing an example of composition of a wrist part.
  • FIG. 3 is an arrow view seen through the frame cover from the direction of arrow A in FIG. 2.
  • FIG. 4 is a cross-sectional view taken along the line BB in FIG. 3.
  • FIG. 5 is a partially enlarged view of the tip side of the wrist in FIG. 4.
  • It is a top view showing an example of composition of a gear unit. It is the arrow view seen from the arrow E direction in FIG. It is sectional drawing by the FF cross section in FIG.
  • FIG. 8 is a cross-sectional view taken along a line GG in FIG.
  • FIG. 14 is a partially enlarged view of the tip side of the wrist in FIG. 13. It is sectional drawing by the HH cross section in FIG.
  • the robot system S includes a robot 1 and a controller CT.
  • the robot 1 is a 6-axis vertical articulated single-arm robot, and includes a base 2 and an arm portion 3 having six movable portions.
  • the base 2 is fixed to an installation surface such as a floor with anchor bolts, for example.
  • the arm part 3 is connected to the base 2.
  • the end on the base 2 side of each movable part of the arm part 3 is defined as the “base end” of the movable part, and the end opposite to the base 2 is defined as the “tip” of the movable part.
  • the arm unit 3 includes a turning unit 4, a lower arm unit 6, an upper arm unit 8, and a wrist unit 10 (corresponding to an example of a “robot arm”) including three movable units.
  • the swivel unit 4 is supported on the base 2 so as to be rotatable around an S axis AxS that is a rotation axis orthogonal to the installation surface.
  • the turning unit 4 can rotate around the S axis AxS with respect to the base 2 by driving a motor (not shown) disposed on the base 2, for example.
  • the lower arm 6 is supported at the tip of the turning unit 4 so as to be rotatable around an L axis AxL that is a rotation axis orthogonal to the S axis AxS.
  • the lower arm portion 6 can rotate around the L axis AxL with respect to the tip end portion of the turning portion 4 by driving a motor (not shown) of the motor portion 20 provided in the vicinity of the joint portion between the lower arm portion 6 and the turning portion 4. is there.
  • the upper arm portion 8 is supported at the distal end portion of the lower arm portion 6 so as to be rotatable around a U axis AxU that is a rotation axis parallel to the L axis AxL.
  • the upper arm portion 8 can be rotated around the U axis AxU with respect to the distal end portion of the lower arm portion 6 by driving a motor (not shown) of a motor portion 22 provided in the vicinity of the joint portion between the upper arm portion 6 and the lower arm portion 6. It is.
  • the wrist 10 is connected to the tip of the upper arm 8.
  • the wrist part 10 includes a first wrist movable part 12, a second wrist movable part 14 (corresponding to an example of “first axis movable part”), and a third wrist movable part 16 (an example of “second axis movable part”). Equivalent).
  • the first wrist movable unit 12 is supported at the tip of the upper arm unit 8 so as to be rotatable around an R axis AxR that is a rotation axis orthogonal to the U axis AxU.
  • the first wrist movable unit 12 can rotate around the R axis AxR with respect to the distal end portion of the upper arm portion 8 by driving a motor (not shown) disposed in the vicinity of the joint portion between the first wrist movable portion 12 and the upper arm portion 8.
  • the second wrist movable unit 14 is supported at the tip of the first wrist movable unit 12 so as to be rotatable around a B axis AxB (corresponding to an example of a “first axis”) that is a rotation axis orthogonal to the R axis AxR. ing.
  • the second wrist movable unit 14 is driven by B motors M and M (see FIGS. 3 and 4 to be described later) disposed on the first wrist movable unit 12 with respect to the distal end of the first wrist movable unit 12. It can rotate around the axis AxB.
  • the third wrist movable unit 16 is supported at the tip of the second wrist movable unit 14 so as to be rotatable around a T axis AxT (corresponding to an example of a “second axis”) that is a rotation axis orthogonal to the B axis AxB. ing.
  • the third wrist movable unit 16 can rotate around the T-axis AxT with respect to the distal end portion of the second wrist movable unit 14 by driving the motors M and M.
  • An end effector (not shown) is attached to the tip of the third wrist movable unit 16.
  • each movable part of the arm part 3 is not limited to the above direction, and may be another direction.
  • the number of movable parts of the wrist part 10 and the arm part 3 is not limited to 3 and 6, respectively, and may be other numbers.
  • the robot 1 is not limited to a single-arm robot having only one arm unit 3, and may be a multi-arm robot having a plurality of arm units 3.
  • the robot 1 is not limited to be a vertical articulated robot, and may be another type of robot such as a horizontal articulated type.
  • the controller CT is connected to the robot 1 so as to be able to communicate with each other, and controls the robot 1 by appropriately driving each motor of the robot 1 to appropriately operate each movable part of the arm unit 3.
  • the wrist unit 10 includes the first wrist movable unit 12, the second wrist movable unit 14 having a hollow structure, the third wrist movable unit 16 having a hollow structure,
  • the motors M and M and a power transmission mechanism PS are included.
  • the first wrist movable unit 12 includes a frame 30 (corresponding to an example of an “arm frame”).
  • the frame 30 is configured by connecting two frames 300a and 300b having a plane-symmetric structure with a plane perpendicular to the B-axis AxB and passing through the R-axis AxR as a plane of symmetry.
  • the frame 30 includes a flange portion 31 connected to the distal end portion of the upper arm portion 8 and an extending portion 32 extending in the R-axis AxR direction.
  • the cross-sectional shape on both sides in the B-axis AxB direction of the extended portion 32 is concave.
  • Frame covers FC, FC are attached to both ends of the extending portion 32 in the B-axis AxB direction.
  • the extending portion 32 includes a pair of sandwiching portions 33 and 33 disposed to face each other with a gap in the B-axis AxB direction.
  • the sandwiching portions 33 and 33 are, for example, formed to be bifurcated from the proximal end side toward the distal end side slightly from the central portion in the extending direction of the extending portion 32. Between the front end portions of the sandwiching portions 33, 33, the second wrist movable portion 14 is supported so as to be rotatable around the B axis AxB.
  • the area of each clamping part 33 that supports the second wrist movable part 14, specifically, the area corresponding to the movable range of the second wrist movable part 14 in each clamping part 33 has a thickness in the B-axis AxB direction.
  • the thin portion 34 is thinner than the other regions 33.
  • Each thin portion 34 is provided with a hollow shaft portion 35 protruding inward in the B-axis AxB direction in the B-axis AxB direction.
  • the second wrist movable unit 14 has a frame 40.
  • the frame 40 includes a pair of supported portions 42 and 42 disposed to face each other with a gap in the B-axis AxB direction between the thin-walled portions 34 and 34, and an extending portion 41 extending in the T-axis AxT direction. Is provided.
  • each supported portion 42 in the B-axis AxB direction is concave.
  • the shaft portion 35 is inserted into each supported portion 42 via the bearing Be6 and the housing Ho.
  • a housing Ho in which a bearing Be6 is provided on the inner periphery is attached to the end of each supported portion 42 on the outer side in the B-axis AxB direction.
  • the inner ring of each bearing Be6 is fixed to the outer peripheral portion of the shaft portion 35.
  • bearings Be7 and Be8 are provided on the outer periphery of each supported portion 42, and a shaft 44 inserted into the shaft portion 35 is fixed.
  • Each shaft 44 is connected through a cap 45 to one end of a thrust bearing Be12 (for example, a thrust needle bearing) supported by the thin portion 34 so as to be rotatable around the B axis AxB.
  • a thrust bearing Be12 for example, a thrust needle bearing
  • the extended portion 41 is hollow in the T-axis AxT direction. Bearings Be ⁇ b> 10 and Be ⁇ b> 11 are provided on the inner peripheral portion of the extending portion 41.
  • the second wrist movable unit 14 is supported by the bearings Be6 to Be8 so as to be rotatable around the B axis AxB.
  • the third wrist movable portion 16 is hollow in the T-axis AxT direction, and is connected to a shaft portion of a later-described second bevel gear BG2 provided in the extending portion 41, and is rotated with the rotation of the second bevel gear BG2. It can rotate around the axis AxT.
  • the configurations of the first to third wrist movable parts 12, 14, and 16 described above are merely examples, and configurations other than those described above may be used.
  • the motors M, M are motor accommodating portions 36 formed on the opposite side to the second wrist movable portion 14 in the extending direction of the extending portion 32, that is, on both sides in the B-axis AxB direction on the proximal end side of the extending portion 32. , 36 respectively.
  • the motor M housed in the motor housing portion 36 on the frame 300a side is also referred to as “one motor M”.
  • the motor M housed in the motor housing section 36 on the frame 300b side is also referred to as “the other motor M”.
  • Each motor M includes a shaft extending in the R-axis AxR direction, and rotates the shaft around the rotation axis Ax1 along the R-axis AxR to output power.
  • the motor housing portion 36 is not limited to being formed on the base end side of the extending portion 32, and is formed in the vicinity of the center of the extending portion 32 in the extending direction or on the distal end side of the extending portion 32. May be.
  • the power transmission mechanism PS includes a plurality of gears, and is configured to transmit the power of the motors M and M to at least one of the second and third wrist movable parts 14 and 16.
  • the power transmission mechanism PS includes two spur gears SG1, SG1, two spur gears SG2, SG2, two hypoid pinions HP, HP, two hypoid gears HG, HG, two spur gears SG3, SG3, There are two spur gears SG4, SG4, two spur gears SG5, SG5, and an interference drive mechanism IS.
  • the spur gear SG1, the spur gear SG2, the hypoid pinion HP, the hypoid gear HG, the spur gear SG3, the spur gear SG4, and the spur gear SG5 are provided on the frames 300a and 300b one by one.
  • the spur gear SG1 is connected to the shaft of the motor M and is supported so as to be rotatable around the rotation axis Ax1.
  • the spur gear SG2 meshes with the spur gear SG1, and is supported so as to be rotatable around the rotation axis Ax2 along the rotation axis Ax1.
  • the hypoid pinion HP is connected to the spur gear SG2 by, for example, fitting a through hole of the spur gear SG2 in the shaft portion, and is supported rotatably around the rotation axis Ax2 by the bearings Be1 and Be2.
  • the hypoid gear HG is integrated with, for example, a spur gear SG3 by bolting, and is supported by a bearing Be4 and a thrust bearing Be3 (for example, a thrust needle bearing) so as to be rotatable around the rotation axis Ax3 along the B axis AxB. Mesh.
  • the thrust bearing Be3 is provided on the inner side in the B axis AxB direction of the hypoid gear HG and receives a force acting in the direction of the rotation axis Ax3 of the hypoid gear HG.
  • a shim sm for adjusting the position of the hypoid gear HG in the direction of the rotation axis Ax3 (corresponding to an example of “a means for adjusting backlash between the hypoid pinion and the hypoid gear”) is provided on the inner side of the thrust bearing Be3 in the B axis AxB direction. Yes.
  • the spur gear SG3 is coupled to the hypoid gear HG, for example, by fitting a shaft portion to the inner peripheral portion of each hypoid gear HG, and is supported rotatably around the rotation axis Ax3 by a bearing Be4.
  • components such as the spur gear SG2, the hypoid pinion HP, the hypoid gear HG, the thrust bearing Be3, the shim sm, and the spur gear SG3 provided in each of the frames 300a and 300b are gear units. It is unitized as GU.
  • the gear units GU, GU are unit attachment portions 37 formed on both sides in the B-axis AxB direction on the distal end side of the motor housing portions 36, 36 of the extension portion 32 and on the proximal end side of the thin portion 34, 37, respectively.
  • the gear unit GU includes two flat frames 50 and 51 (corresponding to an example of a gear frame), a frame 52, the spur gear SG2, the hypoid pinion HP, and the hypoid gear HG.
  • the parts such as the shim sm and the spur gear SG3 are unitized.
  • the frames 50 and 51 are made of, for example, a high-strength material such as iron, and are opposed to each other via a gap in the B-axis AxB direction.
  • the frame 52 is made of, for example, amminium or the like, and is fixed so as to be sandwiched between the frames 50 and 51.
  • hypoid pinion HP is disposed inside the frames 50, 51, 52, and is rotated around the rotation axis Ax2 by the bearings Be1, Be2 provided on one side between the frames 50, 51, that is, the base end side. Supported as possible.
  • the spur gear SG2 is fitted to the shaft portion of the hypoid pinion HP on the outside of the frames 50, 51, 52, and is supported so as to be rotatable around the rotation axis Ax2.
  • the hypoid gear HG is rotatably supported around the rotation axis Ax3 by the thrust bearing Be3 provided on the other side between the frames 50 and 51, that is, on the tip side.
  • the shim sm is provided between the frame 51 and the thrust bearing Be3.
  • the spur gear SG3 is fitted to the inner peripheral part of the hypoid gear HG on the tip side between the frames 50 and 51, and is supported by the bearing Be4 so as to be rotatable around the rotation axis Ax3.
  • gear unit GU The configuration of the gear unit GU described above is merely an example, and a configuration other than the above may be used.
  • the spur gears SG2 and SG3 are unitized, but at least one of these may not be unitized.
  • the spur gear SG4 is disposed in the thin portion 34.
  • the spur gear SG4 meshes with the spur gear SG3 and is supported by the bearing Be5 so as to be rotatable around the rotation axis Ax4 along the B-axis AxB direction.
  • the spur gear SG5 is disposed in the vicinity of the shaft portion 35 of the thin portion 34, and the outer ring of the bearing Be7 is fixed to the inner peripheral portion.
  • the spur gear SG5 meshes with the spur gear SG4 and is supported by the bearing Be7 so as to be rotatable around the B axis AxB. Further, the spur gear SG5 is coupled to a first bevel gear BG1 described later provided in the interference drive mechanism IS.
  • the spur gears SG3 to SG5 correspond to an example of “a plurality of gears meshed with each other”. Further, the spur gear SG5 corresponds to an example of “a gear connected to the first bevel gear”.
  • the backlash at the meshing portions of the spur gears SG3 to SG5 meshed with each other is adjusted as follows, for example.
  • the spur gear SG4 has a rotation center (rotation axis Ax4) perpendicular to the rotation axis Ax4 with respect to the rotation center (rotation axis Ax3) of the spur gear SG3 and the rotation center (B axis AxB) of the spur gear SG5.
  • rotation center rotation center
  • B axis AxB rotation center
  • the spur gear SG4 has a rotation center perpendicular to the rotation axis Ax4 with respect to the rotation center (rotation axis Ax3) of the spur gear SG3 and the rotation center (B axis AxB) of the spur gear SG5.
  • a spring Sp2 (“second biasing member") that biases the spur gear SG4 in a plane direction perpendicular to the rotation axis Ax4 (for example, the direction of the block arrow in FIG. 10). Equivalent).
  • the method for adjusting the backlash at the meshing portion of the spur gears SG3 to SG5 described above is merely an example, and other methods may be used.
  • the peripheral structure of the spur gears SG3 to SG5 may be appropriately changed to provide a spring on at least one of the spur gear SG3 and the spur gear SG5.
  • the interference drive mechanism IS includes two first bevel gears BG1 and BG1 and a second bevel gear BG2.
  • the first bevel gear BG1 is connected to the spur gear SG5, for example, by fixing the shaft portion to the shaft portion of the spur gear SG5.
  • the first bevel gear BG1 connected to the spur gear SG5 on the frame 300a side, that is, the power transmitted from the one motor M is also referred to as “one first bevel gear BG1”.
  • the first bevel gear BG1 connected to the spur gear SG5 on the frame 300b side, that is, the power transmitted from the other motor M is also referred to as “the other first bevel gear BG1”.
  • the outer rings of the bearings Be7 and Be8 are fixed to the inner periphery.
  • the first bevel gear BG1 is supported by the bearings Be7 and Be8 so as to be rotatable around the B axis AxB.
  • the force acting in the B-axis AxB direction of the first bevel gear BG1 can be received by the thrust bearing Be12.
  • the second bevel gear BG2 is disposed in the extending portion 41, and the inner rings of the bearings Be10 and Be11 are fixed to the outer peripheral portion of the shaft portion.
  • the second bevel gear BG2 meshes with both the second bevel gears BG1 and BG1, and is supported by the bearings Be10 and Be11 so as to be rotatable around the T axis AxT.
  • a spring Sp1 (“the first bevel gear is installed) that biases the first bevel gear BG1 and the spur gear SG5 in the B-axis AxB direction.
  • a plurality of first urging members urging in the first axial direction ” are provided around the B axis AxB at equal intervals.
  • a biasing member such as a spring that biases the second bevel gear BG2 in the T-axis AxT direction (“second bevel” It may correspond to an example of a “first urging member that urges the gear in the second axial direction”).
  • the shim sm and the springs Sp1 and Sp2 correspond to an example of “means for adjusting the backlash of the power transmission mechanism”.
  • the rotation amount of one first bevel gear BG1 based on the power of one motor M is “ ⁇ ”
  • the rotation amount of the other first bevel gear BG1 based on the power of the other motor M is “ ⁇ ”
  • the rotation amount of the second wrist movable portion 14 is “r2”
  • the rotation amount of the third wrist movable portion 16 is “r3”
  • the gear ratio of the bevel gear is 1: 1
  • r2 and r3 are, for example, become that way.
  • r2 1/2 ⁇ ( ⁇ + ⁇ )
  • r3 1/2 ⁇ ( ⁇ )
  • the configurations of the interference drive mechanism IS and the power transmission mechanism PS described above are merely examples, and configurations other than those described above may be used.
  • the gear units GU and GU in which the backlash at the meshing part of the hypoid pinion HP and the hypoid gear HG is adjusted using the shim sm are replaced with the unit attaching part 37, Attach to 37.
  • the wrist portion 10 of the present embodiment has means for adjusting the backlash of the power transmission mechanism PS (in the above example, the shim sm and the springs Sp1 and Sp2). It is possible to obtain a necessary reduction ratio by connecting a plurality of gears such as a spur gear and a bevel gear without using a wave gear with a small number of gears. Thereby, since the speed limitation by the wave gear is eliminated, the second wrist movable unit 14 and the third wrist movable unit 16 can be speeded up. Further, since the backlash of the gear of the power transmission mechanism PS can be reduced by means for adjusting the backlash of the power transmission mechanism PS (in the above example, the shim sm and the springs Sp1 and Sp2), the operation accuracy can be improved.
  • the second and third wrist movable portions 14 and 16 are individually operated by the two motors M and M by the interference driving mechanism IS, and therefore compared with a case where the wrist portion 10 is driven by one motor.
  • the torque required for one motor M can be greatly reduced. Therefore, even when the reduction ratio is reduced in order to realize high-speed operation, high-speed operation can be performed with the small capacity motor M. As a result, high-speed operation can be realized while the wrist 10 is small.
  • the first bevel gear BG1 and the second bevel gear are obtained by urging the first bevel gear BG1 in the B-axis AxB direction by the first urging member (in the above example, the spring Sp1).
  • the backlash can be reduced by pressing BG2 against each other by applying pressure.
  • the spur gear SG5 and the first bevel gear BG1 are urged in the B-axis AxB direction by the spring Sp1 provided between the spur gear SG5, the first bevel gear BG1, and the thrust bearing Be12.
  • the spring Sp1 for urging the spur gear SG5 and the first bevel gear BG1 in the space between the thrust bearing Be12 and the counterbore bottom of the first bevel gear BG1, the length of the spring Sp1 can be ensured. .
  • the fluctuation of the spring force with respect to the displacement is reduced, and a stable pressurization can be obtained, so that a stable backlash reduction effect can be obtained.
  • the spring Sp1 is individually adjusted by installing the springs Sp1 for the first bevel gears BG1 and BG1 on both sides. Therefore, the error of the spring pressure on both sides can be reduced. As a result, variations in power transmission loss at the meshing portions of the first bevel gears BG1 and BG1 on both sides can be reduced, and variations in motor torque can be reduced, so that motor torque can be effectively utilized and operational performance can be improved.
  • the spur gear SG4 is urged in the plane direction perpendicular to the rotation axis Ax4 along the B axis AxB by the second urging member (the spring Sp2 in the above example).
  • the second urging member the spring Sp2 in the above example.
  • the power transmission mechanism PS has a hypoid pinion HP and a hypoid gear HG, and the position of the hypoid gear HG in the direction of the rotation axis Ax3 along the B axis AxB is adjusted by the shim sm.
  • a large reduction ratio can be obtained by using the hypoid gear HG for the power transmission mechanism PS.
  • the efficiency of the hypoid gear HG decreases as the speed reduction ratio increases, but the power transmission mechanism PS includes a bevel gear, a spur gear, etc., so that the speed reduction ratio of each gear is optimized and the power transmission mechanism PS Overall gear efficiency can be increased. As a result, the capacity of the motor M can be reduced, and the wrist portion 10 can be reduced in size.
  • the power transmission mechanism PS has a gear unit GU in which the frames 50 and 51, the hypoid pinion HP, the hypoid gear HG, and the shim sm are unitized.
  • the shim sm can be used to adjust the backlash of the gear unit GU alone. Thereby, the precision and workability of adjustment can be improved.
  • the second wrist movable unit 14 and the third wrist movable unit 16 can be speeded up. Further, the operation accuracy can be improved by using the gear unit GU subjected to the high-accuracy backlash adjustment for the power transmission mechanism PS.
  • the radial thrust load between the hypoid pinion HP and the hypoid gear HG generates internal stress in the frames 50 and 51.
  • the frame 50 and 51 can be reduced in thickness by using a material having high strength (for example, iron). It becomes. As a result, the dimension of the gear unit GU in the direction of the rotation axis Ax3 along the B axis AxB can be reduced, and the wrist portion 10 can be thinned.
  • the frame 30 includes a pair of sandwiching portions 33 and 33 arranged to face each other, and the second wrist movable portion 14 is supported between the distal end portions of the sandwiching portions 33 and 33.
  • a space is formed between the holding parts 33 and 33 of the frame 30, and the wrist part 12 having a hollow structure can be realized.
  • various cables can be wired inside the wrist portion 12.
  • the second wrist movable portion 14 is supported between the tip portions of the pair of holding portions 33, 33 provided in the frame 30, a space is formed between the holding portions 33, 33. It can be set as the wrist part 10 of a hollow structure. Since the thin part 34 is formed in the area
  • the wrist 10 can be thinned while ensuring a hollow diameter.
  • the thin-walled portion 34 is particularly formed in a region corresponding to the movable range of the second wrist movable portion 14 in the clamping portion 33. Thereby, the movable space of the 2nd wrist movable part 14 is securable.
  • the second and third wrist movable parts 14 and 16 have a hollow structure. Thereby, various cables used for the end effector can be wired inside the wrist portion 10.
  • the frame 30 has a motor accommodating portion 36 in which the motor M is accommodated, which is located on the opposite side to the second wrist movable portion 14 in the extending direction of the frame 30.
  • the motor M which is a relatively heavy object, can be disposed away from the second wrist movable portion 14 side, and therefore the load (moment of inertia) of the wrist portion 10 is reduced on the base side of the wrist portion 10. Can be reduced.
  • the required torque is reduced, the motor capacity of the basic shaft portion can be reduced, the frame size can be reduced, and the thickness can be reduced, and the shaft portion on the base side from the wrist portion 10 can be reduced in size.
  • spur gears SG4 and SG5 are particularly arranged in the thin portion 34.
  • the spur gears SG4, SG5 having a small tooth width in the thin portion 34 of the power transmission mechanism PS By arranging the spur gears SG4, SG5 having a small tooth width in the thin portion 34 of the power transmission mechanism PS, a thin structure can be realized.
  • the wrist portion 10 is not necessarily provided between the distal end portions of the sandwiching portions 33 and 33.
  • the structure which supports the 2 wrist movable part 14 does not need to form the thin part 34 in the area
  • FIG. Further, in order to obtain the effect of thinning the wrist 10 while ensuring the hollow diameter described above, the wrist 10 is not necessarily provided with means for adjusting the backlash of the power transmission mechanism PS (in the above example, the shim sm and springs Sp1, Sp2) may not be provided.
  • the first embodiment is not limited to the above contents, and various modifications can be made without departing from the spirit and technical idea of the first embodiment. Hereinafter, such modifications will be sequentially described.
  • the spur gear SG4 is urged in the surface direction perpendicular to the rotation axis Ax4 by the spring Sp2, so that the backlash at the meshing portion of the meshed spur gears SG3 to SG5 can be adjusted. there were.
  • a tapered gear TG1 is provided instead of the aforementioned spur gear SG3
  • a tapered gear TG2 is provided instead of the aforementioned spur gear HG4
  • a tapered gear TG3 is provided instead of the aforementioned spur gear HG5. It has been.
  • the taper gears TG1 to TG3 correspond to an example of “a plurality of gears meshed with each other”.
  • a spring Sp3 (corresponding to an example of a “second biasing member”) that biases the taper gear TG2 in the direction of the rotation axis Ax4 (for example, the direction of the block arrow in FIG. 11) is provided at the shaft portion of the taper gear TG2. Yes.
  • one end of the spring Sp3 is fixed inside the taper gear TG2 in the B-axis AxB direction, and the other end of the spring Sp3 is fixed to the outer peripheral surface of the thin portion 34.
  • the tooth portion of the taper gear TG2 is pressed against the tooth portion of the taper gears TG1 and TG3 by preload, and the backlash and the taper gear TG2 in the meshing portion of the taper gears TG1 and TG2 are pressed.
  • the backlash in the meshing part of TG3 can be adjusted.
  • the spring Sp3 corresponds to an example of “a means for adjusting the backlash of the power transmission mechanism”.
  • a spring may be provided on at least one of the taper gear TG1 and the taper gear TG3.
  • a spring Sp4 (corresponding to an example of a “second urging member”) that urges the helical gears HG2a and HG2b outward in the rotational axis Ax4 direction (for example, in the direction of the block arrow in FIG. 12). Is provided.
  • the spring Sp4 By urging the helical gears HG2a, HG2b outward in the direction of the rotation axis Ax4 by the spring Sp4, either one of the helical gears HG2a, HG2b is pressed against the helical gear HG1 by preload, and any one of the helical gears HG2a, HG2b is pressed.
  • the spring Sp4 corresponds to an example of “means for adjusting the backlash of the power transmission mechanism”.
  • Second Embodiment> Next, a second embodiment will be described. In the following, differences from the configuration of the first embodiment will be mainly described.
  • the difference from the first embodiment is the configuration of the wrist.
  • an example of the configuration of the wrist portion of the present modification will be described with reference to FIGS.
  • the wrist portion 10A (corresponding to an example of “robot arm”) of the present modification includes a first wrist movable portion 12A and a second wrist movable portion 14A (“the first arm” having a hollow structure).
  • the first arm having a hollow structure.
  • a third wrist movable part 16A having a hollow structure (corresponding to an example of “second axial movable part”), two motors MA and MA, and a power transmission mechanism PSA.
  • the first wrist movable unit 12A includes a frame 60 (corresponding to an example of an “arm frame”).
  • the frame 60 is configured by connecting two frames 600a and 600b having a plane symmetry structure in which a plane orthogonal to the B axis AxB and passing through the R axis AxR is a plane of symmetry.
  • the frame 60 includes an extending portion 62 that extends in the R-axis AxR direction.
  • the cross-sectional shape of both sides of the extending portion 62 in the B-axis AxB direction is concave.
  • Frame covers (not shown) are attached to both ends of the extending portion 62 in the B-axis AxB direction.
  • the extending portion 62 includes a pair of sandwiching portions 63 and 63 that are opposed to each other with a gap in the B-axis AxB direction.
  • the second wrist movable portion 14A is supported between the distal end portions of the sandwiching portions 63 and 63 so as to be rotatable around the B axis AxB.
  • the region of each clamping part 63 that supports the second wrist movable part 14A, specifically, the region corresponding to the movable range of the second wrist movable part 14A in each clamping part 63 has a thickness in the B-axis AxB direction.
  • the thin portion 64 is thinner than the other region 63.
  • Each thin wall portion 64 is provided with a hollow shaft portion 65 projecting inward in the B-axis AxB direction in the B-axis AxB direction.
  • the second wrist movable unit 14A has a frame 80.
  • the frame 80 includes a pair of supported portions 82 and 82 that are opposed to each other with a gap in the B-axis AxB direction between the thin-walled portions 64 and 64, and an extending portion 81 that extends in the T-axis AxT direction. Is provided.
  • each supported portion 82 in the B-axis AxB direction is concave.
  • the shaft portion 65 is inserted into each supported portion 82.
  • a housing HoA in which a bearing Be16 is provided on the inner peripheral portion is attached to the outer end of each supported portion 82 in the B-axis AxB direction.
  • the inner ring of each bearing Be16 is fixed to the outer peripheral portion of the shaft portion 65.
  • bearings Be17 and Be18 are provided on the outer periphery of each supported portion 82, and a shaft 84 inserted into the shaft portion 65 is fixed.
  • Each shaft 84 has one end of a thrust bearing Be22 (corresponding to an example of a “frame pressing member”) such as a thrust needle bearing supported on the thin portion 64 so as to be rotatable around the B axis AxB via a cap 85.
  • a thrust bearing Be22 corresponding to an example of a “frame pressing member”
  • the other end of each thrust bearing Be22 is fixed to the outer surface of the thin portion 34 via a support member 90.
  • Each thrust bearing Be22 is configured to hold down the outer surface of the thin portion 34 by receiving a force acting in the B-axis AxB direction.
  • the extending portion 81 is hollow in the T-axis AxT direction. Bearings Be ⁇ b> 20 and Be ⁇ b> 21 are provided on the inner peripheral portion of the extending portion 81.
  • the second wrist movable part 14A is supported by the bearings Be16 to Be18 so as to be rotatable around the B axis AxB.
  • the third wrist movable portion 16A is hollow in the T-axis AxT direction, is connected to a shaft portion of a second bevel gear BGB (described later) provided in the extending portion 81, and rotates with the rotation of the second bevel gear BGB. It can rotate around the axis AxT.
  • the configurations of the first to third wrist movable units 12A, 14A, and 16A described above are merely examples, and configurations other than those described above may be used.
  • the motors MA, MA are motor accommodating portions 66 formed on the opposite side to the second wrist movable portion 14A in the extending direction of the extending portion 62, that is, on both sides in the B-axis AxB direction on the proximal end side of the extending portion 62. 66, respectively.
  • the motor MA housed in the motor housing portion 66 on the frame 600a side is also referred to as “one motor MA”.
  • the motor MA housed in the motor housing portion 66 on the frame 600b side is also referred to as “the other motor MA”.
  • Each motor MA includes a shaft SH extending in the R-axis AxR direction, and rotates the shaft SH about the rotation axis Ax10 along the R-axis AxR to output power.
  • the motor accommodating portion 66 is not limited to the case where it is formed on the proximal end side of the extending portion 62, and is formed in the vicinity of the central portion in the extending direction of the extending portion 62 or on the distal end side of the extending portion 62. May be.
  • the power transmission mechanism PSA includes a plurality of gears, and is configured to transmit the power of the motors MA, MA to at least one of the second and third wrist movable parts 14A, 16A.
  • the power transmission mechanism PSA includes two spur gears SG10 and SG10, two spur gears SG12 and SG12, two hypoid pinions HPA and HPA, two hypoid gears HGA and HGA, and an interference drive mechanism ISA.
  • the spur gear SG10, the spur gear SG12, the hypoid pinion HPA, and the hypoid gear HGA are provided one by one in the frames 600a and 600b.
  • the spur gear SG10 is connected to the shaft SH by, for example, fitting the shaft SH of the motor MA to the shaft portion, and is supported rotatably around the rotation axis Ax10.
  • the spur gear SG12 meshes with the spur gear SG10 and is supported so as to be rotatable around the rotation axis Ax12 along the rotation axis Ax10.
  • the hypoid pinion HPA is connected to the spur gear SG12, for example, by fitting a through hole of the spur gear SG12 in the shaft portion, and the tip side is disposed in the thin portion 64.
  • the hypoid pinion HPA is rotatably supported around the rotation axis Ax12 by a bearing BeA (for example, an angular bearing) and a bearing BeB (for example, a needle bearing).
  • the bearing BeA is disposed on the proximal end side of the thin portion 64 in the clamping portion 63 and supports the proximal end side of the shaft portion of the hypoid pinion HPA.
  • the bearing BeB is disposed in the thin portion 64 and supports the tip end side of the shaft portion of the hypoid pinion HPA.
  • the hypoid gear HGA meshes with the hypoid pinion HPA and is supported so as to be rotatable around the B axis AxB.
  • the hypoid gear HGA is connected to a later-described first bevel gear BGA provided in the interference drive mechanism ISA.
  • the interference drive mechanism ISA includes two first bevel gears BGA and BGA and a second bevel gear BGB.
  • the first bevel gear BGA is connected to the hypoid gear HGA, for example, by fitting the shaft portion into the through hole of the hypoid gear HGA.
  • the first bevel gear BGA connected to the hypoid gear HGA on the frame 600a side, that is, the power transmitted from the one motor MA is also referred to as “one first bevel gear BGA”.
  • the first bevel gear BGA connected to the hypoid gear HGA on the frame 600b side, that is, the power transmitted from the other motor MA is also referred to as “the other first bevel gear BGA”.
  • the outer rings of the bearings Be17 and Be18 are fixed to the inner periphery.
  • the first bevel gear BGA is rotatably supported around the B axis AxB by bearings Be17 and Be18.
  • the second bevel gear BGB is disposed in the extending portion 81, and the inner rings of the bearings Be20 and Be21 are fixed to the outer peripheral portion of the shaft portion.
  • the second bevel gear BGB meshes with both the first bevel gears BGA and BGA, and is supported by bearings Be20 and Be21 so as to be rotatable around the T axis AxT.
  • a spring Sp5 (“first urging force for urging the second bevel gear in the second axial direction) is applied to the second bevel gear BGB in the T-axis AxT direction.
  • member On the outer periphery of the shaft portion of the second bevel gear BGB, a spring Sp5 (“first urging force for urging the second bevel gear in the second axial direction) is applied to the second bevel gear BGB in the T-axis AxT direction.
  • the spring Sp5 By urging the second bevel gear BGB in the T-axis AxT direction by the spring Sp5, the tooth portion of the second bevel gear BGB is pressed against the tooth portion of the first bevel gear BGA by preload, and the first and second bevel gears
  • the backlash at the meshing part of BGA and BGB can be adjusted.
  • a biasing member such as a spring that biases the first bevel gear BGA in the B-axis AxB direction (“first bevel” It may correspond to an example of a “first urging member for urging the gear in the first axial direction”).
  • the spring Sp5 corresponds to an example of “means for adjusting the backlash of the power transmission mechanism”.
  • the rotation amount of one first bevel gear BGA based on the power of one motor MA is “ ⁇ A”
  • the rotation amount of the other first bevel gear BGA based on the power of the other motor MA is “ ⁇ A”
  • the rotation amount of the second wrist movable portion 14A is “r2A”
  • the rotation amount of the third wrist movable portion 16A is “r3A”
  • r2A 1/2 ⁇ ( ⁇ A + ⁇ A)
  • r3A 1/2 ⁇ ( ⁇ A ⁇ A)
  • the configurations of the interference drive mechanism ISA and the power transmission mechanism PSA described above are merely examples, and configurations other than those described above may be used.
  • the wrist portion 10A includes means for adjusting the backlash of the power transmission mechanism PSA (in the above example, the spring Sp5), the second wrist movable portion 14A and the third wrist movable portion 16A can be speeded up.
  • the thin-walled portion 64 is provided in the region of the holding portion 63 that supports the second wrist movable portion 14A while supporting the second wrist movable portion 14A between the tip portions of the pair of holding portions 63, 63 provided in the frame 60. Therefore, the wrist portion 10A can be thinned while ensuring a hollow diameter.
  • the second bevel gear BGB is urged in the T-axis AxT direction by the spring Sp5, so that the first bevel gear BGA and the second bevel gear BGB are pressed against each other by pressure, Backlash can be reduced.
  • a thin structure can be realized by disposing a part of the shaft-like hypoid pinion HPA in the thin portion 64 of the power transmission mechanism PSA.
  • a large reduction ratio can be obtained by using the hypoid gear HGA for the power transmission mechanism PSA.
  • the efficiency of the hypoid gear HGA decreases as the speed reduction ratio increases, but the power transmission mechanism PSA has spur gears, etc., so that the speed reduction ratio of each gear is optimized and the gears of the power transmission mechanism PSA as a whole. Efficiency can be increased.
  • the capacity of the motor MA can be reduced and the wrist portion 10A can be reduced in size.
  • the bearing BeA that supports the hypoid pinion HPA is disposed in the thin portion 64.
  • the hypoid pinion HPA can be supported in the vicinity of the hypoid gear HGA, the rigidity against a radial load or the like acting on the hypoid pinion HPA can be increased.
  • the thin portion 64 of the sandwiching portion 63 is relatively weak, for example, due to a radial load generated by the hypoid gear HGA, a centrifugal force due to a load when the third wrist movable portion 16A rotates around the T axis AxT, or the like.
  • a centrifugal force due to a load when the third wrist movable portion 16A rotates around the T axis AxT, or the like.
  • tooth skipping may occur between the hypoid pinion HPA and the hypoid gear HGA.
  • the thin bearing 64 can be prevented from being deformed by the thrust bearing Be22. As a result, the occurrence of tooth skipping can be prevented.
  • the wrist portion 10A is not necessarily provided between the distal end portions of the sandwiching portions 63 and 63.
  • the thin-walled portion 64 does not have to be formed in the region of the holding portion 63 that supports the second wrist movable portion 14A in the structure that supports the two wrist movable portions 14A.
  • the wrist portion 10A does not necessarily include means for adjusting the backlash of the power transmission mechanism PSA (in the above example, the spring Sp5) may not be provided.
  • the embodiment is not limited to the first and second embodiments, and various modifications can be made without departing from the spirit and technical idea of the embodiment.
  • the thrust bearing can function as a frame pressing member.

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

Abstract

Le problème selon l'invention consiste à augmenter la vitesse sans dégrader la précision de fonctionnement. La solution selon l'invention porte sur un bras de robot comprenant: un cadre (30); une deuxième partie poignet mobile (14) qui est supportée sur l'extrémité distale du cadre (30) de manière à pouvoir tourner autour d'un axe B (AxB); une troisième partie poignet mobile (16) qui est supportée par la deuxième partie poignet mobile (14) de manière à pouvoir tourner autour d'un axe T (AxT); un mécanisme de transmission de puissance (PS) qui comprend une pluralité d'engrenages et qui transmet une puissance depuis des moteurs (M, M) à au moins l'une des deuxième et troisième parties poignet mobiles (14, 16); et un moyen de réglage du jeu depuis le mécanisme de transmission de puissance (PS). Le mécanisme de transmission de puissance (PS) comprend un mécanisme d'entraînement accouplé (IS) qui comprend des premiers engrenages coniques (BG1, BG1) qui sont supportés de manière à pouvoir tourner autour de l'axe B (AxB) et auxquels une puissance est transmise respectivement depuis les moteurs (M, M), et un second engrenage conique (BG2) qui s'engrène avec les deux premiers engrenages coniques (BG1, BG1) et peut tourner autour de l'axe T (AxT).
PCT/JP2014/081296 2014-11-26 2014-11-26 Bras de robot, système de robot, unité d'engrenage et procédé de fabrication de bras de robot Ceased WO2016084177A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018122538A1 (de) 2018-07-18 2020-01-23 Synapticon GmbH Getriebeeinrichtung für eine Maschine mit einstellbarem mechanischem Spiel

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62287991A (ja) * 1986-06-09 1987-12-14 ファナック株式会社 産業用ロボツトの手首駆動機構
JPS6364487U (fr) * 1986-10-20 1988-04-28
JPS63123685A (ja) * 1986-11-12 1988-05-27 フアナツク株式会社 産業用ロボツトの手首構造
JPH0328612B2 (fr) * 1985-02-26 1991-04-19 Kogyo Gijutsuin
JPH10512813A (ja) * 1995-01-27 1998-12-08 アセア ブラウン ボベリ アクチボラグ 工業用ロボットの手首ユニット
JP2594437Y2 (ja) * 1993-03-12 1999-04-26 三菱重工業株式会社 歯車変速機
JP2010269400A (ja) * 2009-05-21 2010-12-02 Kawasaki Heavy Ind Ltd ロボットの関節構造、及びそれを備えるロボット

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0328612B2 (fr) * 1985-02-26 1991-04-19 Kogyo Gijutsuin
JPS62287991A (ja) * 1986-06-09 1987-12-14 ファナック株式会社 産業用ロボツトの手首駆動機構
JPS6364487U (fr) * 1986-10-20 1988-04-28
JPS63123685A (ja) * 1986-11-12 1988-05-27 フアナツク株式会社 産業用ロボツトの手首構造
JP2594437Y2 (ja) * 1993-03-12 1999-04-26 三菱重工業株式会社 歯車変速機
JPH10512813A (ja) * 1995-01-27 1998-12-08 アセア ブラウン ボベリ アクチボラグ 工業用ロボットの手首ユニット
JP2010269400A (ja) * 2009-05-21 2010-12-02 Kawasaki Heavy Ind Ltd ロボットの関節構造、及びそれを備えるロボット

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018122538A1 (de) 2018-07-18 2020-01-23 Synapticon GmbH Getriebeeinrichtung für eine Maschine mit einstellbarem mechanischem Spiel

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