• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A ROMED ROBOT, comprising a case and two rotational and oscillating drives located in it, arranged parallel to one another and associated with an actuator, characterized in that, in order to reduce overall dimensions, both of the reducing actuators are wave transmissions, output gears which interact with the actuator through the additionally introduced satellite gear, the axis of which is fixed in the housing. (L rm b4t
    公开号:SU1149860A3
    申请号:SU813337454
    申请日:1981-09-25
    公开日:1985-04-07
    发明作者:Инаба Хадзими；Накасима Сеиитиро；Инагаки Сигеми；Ито Сусуму
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    :

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    ig. 1 The invention relates to an industrial robot which is provided with a reducing means with a high reduction ratio when reducing and can simultaneously cause either alternately rotational movement and a swing movement of the robot. An industrial robot is known, comprising a housing and two reduction gears of rotational and oscillatory movements arranged therein, arranged parallel to one another and associated with an actuator JlJ. The disadvantages of the prior art are the complexity of the design, the large size and the heavy structure. The aim of the invention is to reduce the size. . The goal is achieved by the fact that in an industrial robot containing a case and two rotational and punitive reducing drives located in it, arranged parallel to one another and connected to an actuator, both reducing actuators are made in the form of wave transmissions, the output gears of which interact with the actuator through the additionally inserted satellite gear, the axis of which is fixed in the housing. FIG. Figure 1 shows the design of an industrial robot with a lazy mechanism installed between the gripper and the robot arms and provided with the first and second wave gears in FIG. 2 shows the structure of the articulation mechanism, the arms of the robot and the body of the robot, a longitudinal section} in FIG. 3 - articulation mechanism design, longitudinal section; FIG. 4 is a view A of FIG. 3J in FIG. 5, node I in FIG. four; in fig. 6 shows the entanglement with the first and second wave gears (gearbox) and the body of a bevel gear. Industrial robot (Fig. 1) has a base 1 attached to the top. of the floor with the rotary table 2 installed on it, the latter can be rotated by means of a drive device (not shown) placed on the base 1. Two vertical racks 3 and 4 are attached to the upper surface of the rotary table 2, and the vertical ball spindle 5 supported rotatably on the upper surface of the turntable 2. The lower end of the ball screw 5 is rotatably connected to a vertical feed motor (not shown) mounted on the base 1. The robot body 6 and engages with the possibility of sliding with guide posts 3 and 4 through the corresponding bearing means, as well as into threaded engagement with the ball screw 5. Therefore, the robot body 6 moves vertically in response to the rotation of the ball screw 5 under the control of the guide bars 3 and 4. Two arms 7 and 8 are movably attached to the body 6 of the robot with the possibility of extension and contraction in the horizontal direction. The articulation mechanism 9 is attached to the front ends of the arms 7 and 8 of the robot. The gripper 10 of the robot is attached to the front end of the articulation mechanism 9, which rotates and rotates it. The drive motors (Fig. 2) are placed in the rear part of the robot body 6 and the articulation mechanism 9 is driven by motors through the drive shafts installed inside the body 5 of the robot. The arms 7 and 8 of the robot are supported respectively by bearings 11-14 so that they can be lengthened and contracted in the horizontal direction (Fig. 2). The sub-angles 11-14 are installed respectively in the rear and front parts in the internal cavity of the front cylindrical parts 15 and 16 of the robot body 6. An articulation mechanism 9 is attached to the front end of the arms 7 and B, which moves with the latter. A plate 17 is rigidly attached to the rear end of the arms 7 and 8, moving together with both hands 7 and 8 and the articulation mechanism 9. At the rear end of the robot body 6, the first, second and third drive motors 18-20 are installed (FIG. 2). The first 18 and second 19 drive motors are used to drive the first and second gearboxes (not shown), respectively, located in the coupling mechanism 9 using ball 3 spline shafts 21 n 22, connected respectively to motors 18 and 19j and tubular shafts 73 and 24 which are engaged with the possibility of sliding in the direction of the axis with iL jf; eBbrMi-i p 21 and 22. P and U Vtp: gearboxes with all the way around 8TS7. Gna The role of the transfer is (pi-DCRM), which has a small reduction rate of the radio transmission from very large numbers. gear ratio. Shar.5koy.e „1ShN1t“ in & e halls 2i g, 22 over the frame (.; with the BOS braking of the obsgi, bearings 25 and 26, PGI-clamps w to the crown of the T-27, rigidly fixed on the c / curvature walls of the body b, and bearings mounted to the plate 17, back side slotted shafts 2) and 22, respectively, connected to gear 18 and 19 through couplings 28 and 2, and the front parts are meshed with the possibility of sliding in the direction of the axes of the shafts with tubular shafts 23 and 24. The ball BINT 30 is rotatably supported bearing 31, pryshcher1enk: m to the bracket 27, and the bearing m 32s attached at a position opposite the bearing 31, to the front wall 6 of the robot body. The lead screw 30 is also connected at its rear end to the third 20 drive motor through the coupling 33 and is in threaded engagement in its middle part with the ball nut 34 installed in the plate 17. As a result, the articulation mechanism 9 is horizontally moved in and out under the action rotating the ball spindle 30 by means of the ball nut 34, the plate 17 and the arms 7 and 8 of the robot. The first wave transmission (reducer) (Fig. 3) contains a drive wheel 35 (wave former), connected to a tubular shaft 23 and made in the form of an ellipse, an inner wheel 36 (flexible spline) made of elastic material and having the shape of a cylinder and the wheel 37 (annular slot) outside it, which can achieve a high gear ratio during the reduction of the second wave transmission also contains a leading 38, an internal 39 and an external 40 wheel, having the same mechanism 604 as in the first wave transmission, per ftg. 5 :: 3 shows the outer teeth 41 of the inner wheel 36 and the inner teeth 42 of the outer wheel 37. The driving wheel 35 (FIG. 4) is made in an ellipse and slid into contact with the inner peripheral surface 43 in the :: outer wheel 36 along its outer peripheral surface 44. Since the inner wheel 36 is made of elastic material and has the shape of a thin cylinder, its part in contact with the driving wheel 35 is kept deformed in the form of an ellipse, when viewed in the direction of their axes, along the outer side. the peripheral surface of the drive wheel 35. If the drive wheel 35 rotates in the direction of the arrow C and its outer peripheral surface 44 slides along the inner peripheral surface 43 of the inner wheel 36, then the portion of the inner wheel 36 in contact with the drive wheel 35 is continuously deformed along the outer peripheral wheel the surface 44 of the drive wheel 35, i.e. provided that the large-diameter axis of the ellipse rotates in the direction of arrow C, and in this case the points of engagement between the outer surface (outer edges 41) of the inner wheel 36 and the inner surface (inner teeth 42) of the outer wheel .37 move in the direction of arrow C along the inner side of the outer wheel 37. The latter is provided with the outer teeth 45 on its outer peripheral surface. The inner teeth 42 on the inner circumferential surface of the outer wheel 37 are engaged with the outer teeth 41 on both end portions of an axis of larger diameter and elliptical shape. Points of engagement between outside 41 and. The inner teeth 42 continuously move along the latter (teeth 42) as a result of rotation of the drive wheel 35. In such a wave transmission (gearbox), the inner wheel 36 is usually supplied with the outer teeth 41 in an amount less than twice the internal teeth 42 of the outer wheel 37. For example , the inner wheel 36 has 198 outer teeth 41, while the outer wheel 37 has 200 inner teeth 42. Therefore, the pitch P | outer teeth 41 are somewhat larger than the pitch of the internal teeth by the value of РР (Fig. 5). If the inner wheel 36 is locked so that it cannot rotate and the outer wheel 37 is in position. in which it can rotate freely, turning the drive wheel 35 in the direction of the arrow (or clockwise) causes the engagement point between the outer 41 and inner teeth 42 from position q to position b, so that the outer wheel 37 rotates clockwise by an amount D in relation to the inner wheel 3 When the outer wheel 37 is locked so that it cannot rotate, and the inner wheel 36 is in a position at which it can freely rotate, turning the drive wheel 35 in the direction of the arrow arrow) causes a point of engagement between the outer 41 and inner 42 teeth to move from position q to position b, so that the inner wheel 36 rotates counterclockwise by the value of and P relative to the outer wheel 37. Thus, if the wheel 35 rotates counterclockwise, the outer 35 and inner 36 wheels rotate respectively in opposite directings x with respect to the direction of rotation in the cases mentioned. When the inner 36 and outer 37 coses have respectively 198 outer and 200 internal teeth, the wave transmission has a high gear ratio during the reduction. If the inner wheel 36 is locked so that it cannot rotate, although the outer wheel 37 can rotate freely, the latter rotates in the direction of rotation of the drive wheel 35 with 2/200 revolutions per revolution. If the outer wheel 37 is locked so that it cannot rotate, although the inner wheel 36 can rotate freely, the latter rotates in the opposite direction to the rotation of the drive wheel 35 with 2/198 revolutions per turn. Such a wave transmission (reducer) can be made compact as a result of a simple mechanism, provides a large gear ratio when reducing in a small volume and receives a return with a reduced number of revolutions and with a high torque. The inner wheel 36 (FIG. 3) is attached to the housing 46. the articulation by means of the locking element 47. The outer wheel 37 is rotatably supported by bearings 48 and 49 attached to the inner side of the housing. 46 is jointed and engages with gear 50 through its outer teeth 51. Gear 50 is rotatably supported by a shaft 52 rigidly fixed in the joint housing 46 by bearings 53. The outer wheel 40 of the second wave transmission (reducer) is rotatably supported by bearings 54 and 55, attached to the articulation housing 46, and also engages with the gear 50 by means of its outer teeth 56. To the front end of the outer wheel 40 there is a rigidly attached casing of the bevel gear 57 through m of the locking element 58. The tubular shaft 24 in its front part is secured with a key to transmit the rotational driving force of the second drive motor (Fig. 2) to the drive wheel 38 of the second wave transmission. The inner wheel 39 in its front part is rigidly attached to the rear end of the shaft 59 by means of locking elements 60. The shaft 59 is supported rotatably by bearings 61 and 62 attached to the inner side of the elongated front part of the outer wheel 40. In the front part of the shaft 59, integral with the shaft 59 is a bevel gear 63, which engages with another bevel gear 64, which is integrally formed with a bracket 65 for securing the robot gripper thereto. The bevel gear 64 with the bracket 65 is rotatably supported by the housing of the bevel gear 57 through suitable bearing means. The rotational movement of the gripper is carried out in the following way. 7 The driving wheel 35 (FIG. 3) is driven at a high rotational speed by means of a tubular shaft 23, which rotates the outer wheel 37 at a significantly reduced rotational speed through the outer 41 and the inner 42 teeth, since the inner wheel 36 is stalled and cannot be rotated . The outer wheel 37 causes the outer wheel 40 to rotate through gear 50. Therefore, the casing of the bevel gear 57 attached to the outer wheel 40 rotates in the direction of arrow E., so that the scope of the robot (not shown) rotates the bracket 65. In this case, the inner the wheel 39 moves with the outer wheel 40, since the outer teeth 66 of the wheel 39 engage with the inner teeth 6 of the wheel 39. This rotational movement of the robot arm is mainly carried out by the first 18 drive motor (Fig. 2). The gripper motion is carried out as follows. When the wheel 40 is at rest, the drive wheel 38, rotated at high speed by the tubular shaft 24, rotates the inner wheel 39 at a significantly reduced speed of rotation through the inner 67 wheels 40 and outer teeth 66 of the shaft 39 in the opposite direction of rotation the direction of rotation of the drive wheel 38. The inner wheel 39 transmits a rotating driving force to the bevel gear 64 through the shaft 59 and the bevel gear 63. As a result of the rotational movement of the bevel gear bracket 64 on the wheel 65, which is integrally formed portion of the gear is rotated in the arrow F direction. Now that the outer wheel 40 is in rotation, i.e. the robot's gripper is on. rotated in a twinning, the outer wheel 40 may be considered to be in a similar locked state compared to a driving wheel 38 rotating at a high rotational speed, because the wheel 40 is rotating at a significantly reduced rotational speed. Therefore, at this moment, the drive wheel 38 also drives the inner wheel 39 at a significantly reduced rotational speed in the opposite direction of rotation relative to the direction of rotation of the drive wheel 38, so that the robot arm is also rotated in the direction of arrow F by the inner wheel 39 and others as described. In this case, the turning movement of the gripper of the robot can be obtained simultaneously with its rotational movement. Thus, the articulation mechanism of the proposed industrial robot can be made compact, in a small volume and without a hydraulic system.
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    权利要求:
    Claims (1)
    [1]
    INDUSTRIAL ROBOT, comprising a housing and two reducing gears of rotational and rocking movements located parallel to each other and connected to an actuator, located in it, characterized in that, in order to reduce the dimensions, both reduction gears are made in the form of a wave transmission, the output gears of which interact with an actuator through an additionally introduced satellite gear, the axis of which is fixed in the housing.
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    类似技术:
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    同族专利:
    公开号 | 公开日
    US4431366A|1984-02-14|
    KR830007231A|1983-10-19|
    KR850000058B1|1985-02-15|
    EP0048905A1|1982-04-07|
    EP0048905B1|1985-03-20|
    JPS6039518B2|1985-09-06|
    DE3169404D1|1985-04-25|
    JPS5761491A|1982-04-13|
    引用文献:
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    USRE25889E|1957-10-07|1965-10-26|Transfer mechanism |
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    DE2435156C2|1974-07-22|1983-09-01|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg|Program controlled manipulator|
    JPS5746149Y2|1978-01-31|1982-10-12|JPS605432B2|1980-09-30|1985-02-12|Fanuc Ltd|
    JPS58165978A|1982-03-24|1983-10-01|Mitsubishi Electric Corp|Industrial robot|
    JPS597593A|1982-07-02|1984-01-14|Mitsubishi Electric Corp|Joint device for robot|
    DE3228945C2|1982-08-03|1988-08-25|Eke Robotersysteme Gmbh, 8000 Muenchen, De|
    JPH0211393B2|1982-10-12|1990-03-14|Toyoda Machine Works Ltd|
    JPS6315113B2|1982-10-20|1988-04-02|Fanuc Ltd|
    US4579016A|1983-03-01|1986-04-01|Westinghouse Electric Corp.|Self-contained two-axis wrist module|
    JPH0258075B2|1983-03-10|1990-12-06|Matsushita Electric Ind Co Ltd|
    DE8310067U1|1983-04-06|1985-06-05|Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth|Robotic joint|
    DE3312377A1|1983-04-06|1984-10-18|Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth|ROBOT JOINT|
    JPS59227395A|1983-06-08|1984-12-20|Sumitomo Electric Industries|Joint structure of robot|
    JPH0451312B2|1983-08-16|1992-08-18|Tokyo Shibaura Electric Co|
    JPH0451313B2|1983-08-22|1992-08-18|Tokyo Shibaura Electric Co|
    US4684313A|1984-01-13|1987-08-04|Mitsubishi Denki Kabushiki Kaisha|Wrist device of industrial robot|
    JPS6025692A|1984-02-20|1985-02-08|Mitsubishi Electric Corp|Wrist device for industrial robot|
    DE3406262C2|1984-02-21|1987-11-12|Eke Robotersysteme Gmbh, 8000 Muenchen, De|
    CA1244855A|1985-01-18|1988-11-15|Kazuyuki Matsumoto|Robot arm drive apparatus of industrial robot|
    US5280983A|1985-01-22|1994-01-25|Applied Materials, Inc.|Semiconductor processing system with robotic autoloader and load lock|
    US5224809A|1985-01-22|1993-07-06|Applied Materials, Inc.|Semiconductor processing system with robotic autoloader and load lock|
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    US4678952A|1985-08-13|1987-07-07|Intelledex Incorporated|Sealed joint for a robot and the like|
    DE3627745A1|1985-08-20|1987-03-05|Tokico Ltd|INDUSTRIAL PLAYER ROBOT|
    DE3545068C2|1985-12-19|1987-09-24|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De|
    US4778332A|1987-02-09|1988-10-18|The Perkin-Elmer Corporation|Wafer flip apparatus|
    JPH0583353B2|1987-07-07|1993-11-25|Mitsubishi Electric Corp|
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    EP0309613A1|1987-10-02|1989-04-05|Höfler & Kobler Handhabungsautomaten|Parallel guiding ways for linear drives|
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    IT1272083B|1993-12-17|1997-06-11|Comau Spa|INDUSTRIAL ROBOT WITH INTEGRATED REDUCTION UNITS.|
    US5584646A|1994-08-31|1996-12-17|Wiseda Ltd.|Handling apparatus|
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    JP2007085530A|2005-09-26|2007-04-05|Nabtesco Corp|Hollow reduction gear|
    WO2007057390A2|2005-11-16|2007-05-24|Abb Ab|Method and device for controlling motion of an industrial robot with a position switch|
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    DE102007019753A1|2007-04-20|2008-11-27|Tschakarow, Sawa, Dr.|Electromechanical gripping device|
    DE102007023847B4|2007-05-23|2011-12-08|Siemens Ag|shoulder joint|
    DE102007023848B4|2007-05-23|2012-08-02|Siemens Ag|shoulder joint|
    DE102015200374A1|2015-01-13|2016-07-14|Kuka Roboter Gmbh|Gearbox, electric drive device and industrial robot|
    CN111483752B|2020-04-30|2021-12-17|宁波大桔科技有限公司|Intelligent material handling equipment in workshop|
    CN112228708A|2020-09-30|2021-01-15|陶冬兰|Quick positioning mechanical arm convenient to adjust|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP55135260A|JPS6039518B2|1980-09-30|1980-09-30|
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