JPH0637038B2 - Electric robot - Google Patents

Description

The present invention relates to an electric robot having a wrist mechanism at the tip of an arm.

[Prior art]

Conventionally, an electric robot in which a wrist mechanism is provided at the tip of an arm is known. This electric robot is provided with a supporting column erected on a base so as to be swingable, and an arm having a wrist mechanism at its tip is pivotally supported on the supporting column so that the supporting column is mounted along the supporting column and the arm, respectively. A balance spring for preventing the tilting of the arm is provided, a plurality of motors provided on the base actuate the support column and the arm, and a plurality of motors provided at the rear end of the arm actuate the wrist mechanism. It is a thing.

[Problems to be Solved by the Invention] However, in such a conventional electric robot,
Even if an attempt is made to adjust the meshing state of the bevel gears that mesh with each other, the drive side member that transmits the driving force of the motor to the wrist mechanism and the wrist mechanism cannot be separated, and the meshing state of the bevel gears is adjusted. It had the drawback of not being able to.

It is an object of the present invention to provide an electric robot that solves the above problems of the conventional ones.

[Means for solving problems]

The present invention has the following configuration in order to achieve the object. That is, a plurality of motors provided at the rear end of the arm, a wrist mechanism attached to the end of the arm and having a plurality of connecting members, and one side connected to the corresponding motor and the other side positioned at the arm front end side. A plurality of driving members for respectively transmitting the driving force of the respective driving members to the corresponding connecting members of the wrist mechanism, and a connecting means capable of separating and connecting the plurality of driving members and the plurality of connecting members, The connecting means concentrically connects mutually connecting portions of the plurality of drive members and the plurality of connecting members, and each drive member is concentrically provided with a spline, and is fitted to these splines. The connecting member is concentrically provided with a spline shaft.

〔The invention's effect〕

According to the present invention, a plurality of drive members, one side of which is connected to the corresponding motor and the other end of which is located on the arm tip side, and a plurality of connecting members of the wrist mechanism, to which the driving force of each motor is transmitted from these drive members. Since it is possible to connect and disconnect by means of the connecting means, various adjustments such as reducing the operating drive force by adjusting the meshing state of the bevel gear of the wrist mechanism by separating the drive member are facilitated. The maintenance can be facilitated.

Further, the connecting means concentrically connects mutually connecting portions of the plurality of driving members and the plurality of connecting members, and each driving member is concentrically provided with a spline, and each connecting member is fitted to these splines. Since the spline shaft is provided concentrically with the above, the connecting means can be made compact.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. In FIG. 1, reference numeral 1 denotes an electric robot. The electric robot 1 is provided with a base 2, a column 3 erected on the platform 2 so as to be swingable, and swingably attached to the column 3. Arm 4, a wrist mechanism 5 provided at the tip of the arm 4, and motors 6, 7 and 8 connected to the wrist mechanism 5 and mounted in parallel at the rear end of the arm 4. ing.

As shown in FIG. 2, the motor 6 is coaxially attached to the gear 1 through a reduction mechanism including gears 9 and 10 and is provided in the arm 4 so as to be rotatable coaxially with the arm 4. The pipe 11 is connected. In addition, the motor 1 is provided with a gear 1 and a gear 1 through a reduction mechanism including gears 13.
A pipe 14 is coaxially attached to the pipe 3 and is rotatably provided in the pipe 11 coaxially with the pipe 11. Further, a pipe 17, which is coaxially attached to the gear 16 and is rotatably provided coaxially with the pipe 14 in the pipe 14, is connected to the motor 8 through a reduction mechanism including gears 15 and 16. ing. As a result, the pipes 11, 14, 17 are concentric, and splines (connecting means) 18, 19, 20 are formed concentrically at the tips of the pipes 11, 14, 17, respectively. ing.

On the other hand, the wrist mechanism 5 attached to the tip of the arm 4 is configured as shown in FIGS. 3 and 4. That is, a bracket (base end member) 21 having a substrate 21a and support plates 21b and 21c is fixedly attached to the tip of the arm 4. A tubular connecting member 23 is rotatably fitted in a center of a base plate 21 a of the bracket 21 via a bearing 22. 22a is a bearing housing. A spline shaft (connecting means) 24 is formed on the outer periphery of one end of the connecting member 23, and a bevel gear 25 is formed on the other end.

A tubular connecting member 27 is coaxially and rotatably fitted in the connecting member 23 via a bearing 26. A spline shaft (connecting means) 28 is formed on the outer periphery of one end of the connecting member 27, and a bevel gear 29 is formed on the other end.

A rod-shaped connecting member (shaft) 31 is coaxially and rotatably fitted in the connecting member 27 via a bearing 30. A spline shaft (connecting means) 32 is formed at one end of the connecting member 31, and a bevel gear 33 is formed at the other end. The spline shafts 24, 27, 32 are slidably fitted to the splines 18, 19, 20 respectively.

Accordingly, the connecting members 22, 27, 31 are concentric, and the spline shafts 24, 28, 32 and the bevel gears 25, 29, which are formed on the connecting members 23, 27, 31, are formed.
33 is also concentric.

A stepped shaft 34 is inserted and fixed to the support plates 21 b and 21 c of the bracket 21 so as to be orthogonal to the axial direction of the connecting member 31. The support plates 21b, 21 are provided on both end sides of the shaft 34.
Bevel gears 35 and 36 located between c are fitted rotatably and movable in the axial direction of the shaft 34. The bevel gear 36 is meshed with the bevel gear 25, and the bevel gear 35 is meshed with the bevel gear 29.

Further, a bevel gear 37 positioned near the bevel gear 36 is fitted between the bevel gears 35 and 36 rotatably and movably in the axial direction of the shaft 34. The bevel gear 37 is meshed with the bevel gear 33. Bevel gear 35
Is prevented from moving beyond a predetermined position in the direction of arrow A shown in FIG. 3 by a nut (stopper) 38 screwed onto the shaft 34. Further, the bevel gear 36 is prevented from moving beyond a predetermined position in the arrow B direction shown in FIG. 3 by a nut (stopper) 39 screwed onto the shaft 346. Further, the bevel gear 37 is prevented from moving beyond a predetermined position in the arrow B direction shown in FIG. 3 by a nut (stopper) 40 screwed onto the shaft 34.

A flange 41 is provided at a substantially central portion of the shaft 34, and the bevel gear 35 is provided between the flange 41 and a bearing 35a fitted to the bevel gear 35 in a direction of an arrow A shown in FIG. A spring 42 is provided so as to be fitted to the shaft 34 so as to be biased.

Further, the collar 41 and the bearing 3 fitted to the bevel gear 37
A collar 43 and a spring 44 for urging the bevel gear 37 in the direction of arrow B shown in FIG.

One side of the support plate 45 is rotatably fitted to the boss of the bevel gear 35 via a bearing 45a, and one side of the support plate 46 is fitted and fixed to the boss of the bevel gear 36. There is. The other side portions of the support plate 45 and the support plate 46 are fixedly connected to a case 47 provided between them. The support plate 45 and the case 47 support the shaft 34.
The intermediate member 48 is configured so as to be rotatable in the arrow X direction shown in FIG.

A substantially cylindrical compound bevel gear 49 is attached to the case 47 so as to be orthogonal to the shaft 34 and rotatably fitted therein.
The compound bevel gear 49 has bevel gears 50 and 51 at both ends, and the bevel gear 50 projects from the case 47 and meshes with the bevel gear 35. A compound bevel gear 52 is rotatably fitted in the compound bevel gear 49. This bevel gear 52 has bevel gears 53 and 54 at both ends, and the bevel gear 53 projects from the bevel gear 49 and meshes with the bevel gear 37.

A shaft 55 oriented in a direction orthogonal to the compound bevel gear 52 is rotatably fitted in the case 47. Axis 55
A bevel gear 56 provided in the case 47 is fitted and fixed to one end side of the. The bevel gear 56 is meshed with the bevel gear 51. The other end of the shaft 55 projects from the case 47, and the other end of the shaft 55 has the shaft 55 and the case 47.
On the other hand, a compound bevel gear 57 is attached so as to be rotatable and movable in the axial direction of the shaft 55. This compound bevel gear 57 has bevel gears 58 and 59 at both ends, and the bevel gear 58 is the bevel gear 5.
4, the bevel gear 59 projects from the case 47.

The compound bevel gear 57 is a nut (stopper) screwed to the shaft 55.
By 60, movement beyond a predetermined position in the direction of arrow C shown in FIG. 4 is blocked. A collar 61 is provided between the bevel gear 56 and the bearing 57a fitted to the compound bevel gear 57.
And a spring 62 for urging the compound bevel gear 57 in the direction of arrow C shown in FIG.

A case (intermediate member) 63 is fixed to the other end of the shaft 55, and the case 63 together with the groove 55 is indicated by an arrow Y in FIG.
It can be rotated in both directions. A shaft (tip member) 64 oriented in a direction orthogonal to the shaft 55 is rotatably attached to the case 63 in the arrow Z direction shown in FIG. 4 and the opposite direction. A bevel gear 65 provided in the case 63 is fitted and fixed to one end of the shaft 64. The other end of the shaft 64 projects from the case 63. The bevel gear 65 meshes with the bevel gear 59.

Next, the operation of the electric robot configured as described above will be described.

When the motor 6 is driven, the pipe 11 rotates via the speed reduction mechanism, and the connecting member 23 rotates together with the pipe 11 accordingly, and the bracket (base end member) via the bevel gears 25 and 36.
21, the intermediate member 48 including the support plates 45, 46 and the case 47 rotates together with the case (intermediate member) 63 about the shaft 34 in the arrow X direction shown in FIG.

Further, when the motor 7 is driven, the pipe 1 is passed through the reduction mechanism.
4 rotates, and along with this, the connecting member 27 together with the pipe 14.
Rotates, and the shaft 55 passes through the bevel gears 29, 35, 50, 56.
Rotates. Then, the case (intermediate member) 63 fixed to the shaft 55 rotates together with the shaft 55 in the arrow Y direction shown in FIG.

When the motor 8 is driven, the pipe 1 is passed through the speed reduction mechanism.
7, the connecting member (shaft) 31 rotates together with the pipe 17, and the bevel gears 33, 37, 53, 54,
The shaft (tip member) 64 rotates in the direction of arrow Z shown in FIG. 4 or the opposite direction via 58, 59 and 65. As described above, the wrist mechanism 5 is driven by the motors 6, 7, and 8 to perform the X, Y, and Z rotational movements with three degrees of freedom.

When the nut (stopper) 38 screwed onto the shaft 34 is rotated to move in the axial direction of the shaft 34, the urging force of the spring 42 changes, and the bevel gear 35 moves the bevel gear 35 to the shaft 3 in accordance with the change in the urging force.
4 move in the axial direction. This changes the meshing state of the bevel gears 29 and 35. Similarly, when the nut (stopper) 40 screwed to the shaft 34 is rotated, the meshing state of the bevel gear 33 and the bevel gear 37 changes, and the shaft 55
When the nut (stopper) 60 screwed in is rotated, the meshing state of the bevel gear 54 and the bevel gear 58 changes.

In addition, the driving side member that transmits the driving force of the motors 6, 7, 8 to the wrist mechanism 5, that is, the pipes 11, 14, 19 and the wrist mechanism 5
Since the connecting members 23, 27, and 31 are connected by spline connection, the driving side member and the wrist mechanism 5 are separated at this portion, and the meshing state or maintenance of the bevel gear of the wrist mechanism 5 is adjusted. It is easy and convenient.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a perspective view of a part of its driving side member, FIG. 3 is a partially cutaway cross-sectional plan view of its wrist mechanism, and FIG. It is a partially notched side view of the wrist mechanism. 4 ... Arm, 5 ... Wrist mechanism, 6, 7, 8 ... Motor, 18, 19, 20 ... Spline, 21 ... Bracket (base end member), 24, 28, 32 ... Spline shaft, 25 , 29, 33, 35, 36, 37, 50, 5
1,53,54,56,58,59,65 ... Bevel gears,
34, 55 ... Shaft, 38, 39, 40, 60 ... Nut (stopper), 42, 44, 62 ... Spring, 47, 63
…… Case (intermediate member), 64 …… Shaft (tip member).

Claims (1)

[Claims] 1. A plurality of motors provided at the rear end of the arm, a wrist mechanism attached to the tip of the arm and having a plurality of connecting members, and one side connected to the corresponding motor and the other side positioned at the arm front side. A plurality of driving members that respectively transmit the driving force of each motor to the corresponding connecting members of the wrist mechanism, and a connecting unit that can separate and connect the plurality of driving members and the plurality of connecting members. At the same time, the connecting means concentrically connects mutually connecting portions of the plurality of driving members and the plurality of connecting members, and concentrically forms splines on the respective driving members, and fits these splines. An electric robot characterized in that each connecting member is concentrically provided with a spline shaft.