JP2719980B2 - Driving device for manipulator joint - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a drive device for a manipulator joint.

[Conventional technology]

Conventionally, as a drive device of the manipulator joint,
For example, as shown in a longitudinal sectional view of FIG.
A vertical shaft motor 03 mounted in the upper end of 01 and having a drive bevel gear 02 projecting therefrom, and a cylindrical end arm member 06 having a horizontal fixed rotating shaft 04 whose lower end is pivotally supported on the upper end of the base arm member 01. And a driven bevel gear 05 fitted on the horizontal fixed rotation shaft 04 and meshing with the drive bevel gear 02 is known.

In this type of device, when the motor 03 is rotated, the end arm member 06 rotates two-dimensionally with respect to the base arm member 01 via the drive bevel gear 02, the driven bevel gear 05, and the rotation shaft 04.

However, such a device has the following disadvantages.

(1) Since the arm member cannot mechanically rotate three-dimensionally, the maneuverability of the device is not sufficient.

(2) Since the motor 03 and the like are provided in the base arm member 01 and the end arm member 06, it hinders the laying of electric wires in the members, so that the construction cost increases.

[Problems to be solved by the invention]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances, and provides a manipulator joint having excellent maneuverability and economy, which can perform three-dimensional rotation and facilitates wire laying work in an arm member. It is an object to provide a driving device.

[Means for solving the problem]

For this purpose, the present invention provides a cylindrical arm in which the upper end opening of the cylindrical base arm member and the lower end opening of the cylindrical end arm member are three-dimensionally rotatably connected via a universal joint having a gimbal ring. A motor box for pivoting the upper and lower ends respectively on the same side of the both arm members and telescopically expanding and contracting them by remote control to rotate the both arm members around both end pins on one diameter of the gimbal ring; A first telescopic member having a telescopic shaft, and upper and lower ends respectively pivotally connected to the two arm members with a phase difference of 90 ° with respect to the first telescopic member, and telescopically expand and contract the two arm members by the gimbal. A second telescopic member comprising a telescopic shaft and a motor box which rotates around both end pins on the other orthogonal diameter of the ring.

[Action]

The cylindrical end arm can pivot two-dimensionally via a gimbal ring around a pair of pins in a diameter direction of the cylindrical base arm, and is orthogonal to the pair of pins itself. The gimbal ring can be pivoted two-dimensionally around a pair of pins on the same diameter so that the cylindrical end arm pivots three-dimensionally around the cylindrical base arm. It is possible to do.

In addition, the two motor boxes each have a cylindrical base arm member,
Since they are arranged outside the cylindrical end arm members, they do not hinder when laying wires inside them.

〔Example〕

One embodiment of the present invention will be described with reference to the drawings.
In the longitudinal sectional view of FIG. 1 and the front view of FIG. 2, reference numeral 1 denotes a cylindrical base arm member having pin receiving projections 2, 3 protruding from front and rear ends of an upper end opening, and 4 denotes pin receiving projections 2, 3. The gimbal ring is supported inside the front and rear via horizontal horizontal pins 5 and 6 so as to be tiltable to the left and right.
Reference numeral 9 denotes a protruding cylindrical end arm member.
The arm members are supported by the gimbal ring 4 so as to be able to tilt forward and backward through the gimbal rings 4 through 0 and 11.

A lower end 12 is pivotally supported via a horizontal pin 14 by a horizontal projecting member 13 projecting from the left end of the cylindrical base arm member 1 via a horizontal pin 14, and an upper end of the horizontal pin 10 through a telescopic shaft 15 and a horizontal pin 16. The motor box 17 is pivotally supported by a horizontal extension member 18 projecting from the rear end of the cylindrical end arm member 7 at the upper end via a horizontal pin 19, and the lower end is extended and retracted by the telescopic shaft 20 and the horizontal. Horizontal pin 5 via pin 21
It is a motor box pivoted at the tip.

Next, FIG. 3 is a partially enlarged longitudinal sectional view showing the inside of the motor box 17, and reference numeral 22 denotes a sleeve fixed to the rotor of the motor 23, which is connected to the drive side of the speed reducer 24. 25 is a nut fixed to the driven side of the speed reducer 24, which is a telescopic shaft.
Mating with 20 screws.

In such a device, for example, as shown by a chain line in FIG. 1, when the motor 23 (FIG. 3) is rotated to contract the telescopic shaft 20, the tubular end arm member 7 causes the horizontal pins 10, 11 to move. Rotate counterclockwise about the center to perform two-dimensional tilt. Similarly, for example, as shown by a chain line in FIG. 2, when the motor 23 (FIG. 3) is rotated to contract the telescopic shaft 15, the cylindrical base arm member 1 is turned clockwise about the horizontal pins 5, 6. To perform a two-dimensional tilt.

Therefore, when the telescopic shafts 15 and 20 are expanded and contracted, the horizontal pins 5 and 6 of the gimbal ring 4 and the horizontal pins 10 and 11 are arranged orthogonally to each other, so that the cylindrical base arm member 1 and the cylindrical end arm The member 7 can cooperate with each other to perform a three-dimensional tilt.

 According to such a device, the following effects can be obtained.

(1) The cylindrical end arm member can be two-dimensionally rotated via the gimbal ring 4 around a pair of longitudinal pins 5 and 6 of the cylindrical base arm member, and can be rotated by itself. , A pair of horizontal pins 10, 11 on the gimbal ring 4
Can be pivoted two-dimensionally via the gimbal ring 4 so that the cylindrical end arm member can pivot three-dimensionally around the cylindrical base arm member, and The maneuverability of the urator is improved.

(2) Each of the two motor boxes has a cylindrical base arm member,
Since they are arranged outside the cylindrical end arm members, they do not hinder the laying of electric wires inside the arm members, so that the construction cost is reduced and the economy is improved.

〔The invention's effect〕

In short, according to the present invention, a cylindrical shape in which the upper end opening of the cylindrical base arm member and the lower end opening of the cylindrical end arm member are three-dimensionally rotatably connected via a universal joint having a gimbal ring. A motor box which has upper and lower ends pivotally connected to the same side of the both arm members at the joints of the arms, and expands and contracts by remote control to rotate the both arm members around both end pins on one diameter of the gimbal ring. And a first telescopic member comprising a telescopic shaft, and upper and lower ends respectively pivotally attached to the two arm members with a phase difference of 90 ° with respect to the first telescopic member, and telescopically expand and contract the two arm members. By providing a motor box that rotates around both end pins on the other orthogonal diameter of the gimbal ring and a second telescopic member that is composed of a telescopic shaft,
The present invention is industrially extremely useful because it provides a manipulator joint drive that is capable of three-dimensional rotation and that is easy to lay wires in the arm member and is excellent in maneuverability and economy. .

[Brief description of the drawings]

1 is a longitudinal sectional view showing an embodiment of the present invention, FIG. 2 is a front view of FIG. 1, and FIG. 3 is a partial longitudinal sectional view showing the internal structure of the motor box of FIG. FIG. 4 is a longitudinal sectional view showing a known driving device for a manipulator joint. 1 ... cylindrical base arm member, 2, 3 ... pin receiving projection, 4 ... gimbal ring, 5, 6 ... horizontal pin, 7 ... cylindrical end arm member, 8, 9 ... pin receiving projection , 10,11 ... horizontal pin, 12 ... motor box, 13 ... horizontal extension member, 14 ... horizontal pin, 15 ...
... telescopic shaft, 16 ... horizontal pin, 17 ... motor box, 18 ...
Horizontal overhang member, 19 Horizontal pin, 20 Telescopic shaft, 21
Horizontal pin, 22 ... Sleeve, 23 ... Motor, 24 ... Reducer, 25 ... Nut,

Claims (1)

(57) [Claims] 1. A cylindrical arm having a three-dimensionally rotatable connection between an upper end opening of a cylindrical base arm member and a lower end opening of a cylindrical end arm member through a universal joint having a gimbal ring. At the joint, upper and lower ends are pivotally attached to the same side of the both arm members, respectively, and are telescopically expanded and contracted by remote control to rotate the both arm members around both end pins on one diameter of the gimbal ring. A first telescopic member comprising a shaft;
The upper and lower ends are respectively pivotally connected to the two arm members with a phase difference of 90 ° with respect to the telescopic member, and the two arm members are extended and contracted by remote control to rotate the two arm members around both end pins on the other orthogonal diameter of the gimbal ring. A driving device for a manipulator joint, comprising: a moving motor box; and a second telescopic member including a telescopic shaft.