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Articulation unit for robot and robot

A robot joint and joint technology, which is applied in the direction of manipulators, electrical components, electromechanical devices, etc., can solve the problems of joint unit miniaturization, light weight limitations, small and light weight difficulties, etc., to achieve miniaturization, ensure safety, and reduce costs Effect

Inactive Publication Date: 2012-02-01
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] However, the robot joint units of Patent Documents 1 and 2 are as follows, each of which is a floating differential mechanism that rotatably supports the motor stator, and requires: a bearing supporting the motor stator; a spur gear or a bevel gear for interfering with the motor output shaft Gears; bearings supporting the gear shaft, etc., because the mechanism cannot be simplified, so it is difficult to achieve small size and light weight
[0011] In addition, as in the technology of Patent Document 2, in the case of a bevel gear differential mechanism using a cross shaft, since there is a cross shaft in the center, it is impossible to bring two motors or gears closer than the width of the vertical axis, and there is a problem of realizing the joint. Issues that limit the miniaturization and weight reduction of units

Method used

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  • Articulation unit for robot and robot
  • Articulation unit for robot and robot
  • Articulation unit for robot and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0074] A first embodiment of the present invention will be described. Figure 4 It is an external view of the joint unit 36 ​​according to this embodiment. The cover and support structure 10 rotates around the horizontal axis A1 around the support disk 6b, and the output body 9 rotates around the vertical axis A2.

[0075] figure 1 It is a sectional view of the differential joint unit of the present invention. In the figure, the bevel gear (output bevel gear) 1a rotates integrally with the output body 9, and is respectively driven by the rotation of a pair of motors (outer rotor motors) 3 described later (rotating shafts parallel to the axis A1) with respect to the vertical axis A2 A pair of bevel gears arranged symmetrically is the bevel gear 1b (a set of bevel gears).

[0076] On the support disk 6b, the following cylindrical portion 6e is formed. The cylindrical portion 6e forms a part of the outer contour of the joint unit 36, and is arranged to sandwich the pair of mo...

Embodiment 2

[0097] Next, a second embodiment of the present invention will be described. This embodiment has many points in common with the above-mentioned first embodiment, and in this embodiment, descriptions of the same structures as those of the first embodiment are omitted and the same symbols are used.

[0098] figure 2 It is a cross-sectional view showing another example of the joint unit of the present invention. Here, except for the support arm, the support base, and the output body, since it has a symmetrical structure with respect to the horizontal axis A2, only the upper half is shown for ease of illustration. In addition, in figure 2 In , for a pair of components arranged symmetrically on the left and right, the symbol is only marked on either side of the left and right.

[0099] In this embodiment, the radio wave generator 2c is integrated with the motor rotor 3a. 2b is a flexible gear, and the flange portion is different from that of Embodiment 1, and uses an outwardl...

Embodiment 3

[0102] Next, a third embodiment of the present invention will be described. This embodiment has many points in common with the above-mentioned first embodiment, and in this embodiment, descriptions of the same structures as those of the first embodiment are omitted and the same symbols are used.

[0103] Such as image 3 As shown, except for the support arm, the support seat, and the output body, only the upper half is shown due to the roughly symmetrical structure with respect to the shaft. In addition, in image 3 In , for a pair of components arranged symmetrically on the left and right, the symbol is only marked on either side of the left and right.

[0104] 21 is a roller bearing, which supports axial and radial loads so that the left and right motor rotor cores 25a and 25b can rotate relative to each other around the horizontal axis.

[0105] Reference numeral 22 denotes a roller bearing, which similarly supports axial and radial loads such that left and right rotatin...

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Abstract

Provided are a differential articulation unit which makes it possible to carry a heavier weight by effectively utilizing the outputs of two motors due to interference-drive and which can be made small and light-weighted, and a robot using the differential articulation unit. A cover / support structure which is a support member for covering the entirety of a set of opposed bevel gears and output bevel gears from the outside is provided to rotatably support the output bevel gears. A wave generator of a wave reduction gear is secured coaxially to the outside of a rotor of an outer rotor motor and the bevel gears are secured to a circular spline or a flex spline, which is an output member. The motor, the bevel gears, and the wave reduction gear are hollow so that a wiring passes therein.

Description

technical field [0001] The present invention relates to a small, lightweight and high-output robot joint unit and a robot using the robot joint unit. Background technique [0002] A common articulated robot is as follows. One transmission device (motor, etc.) is assigned to one joint (movable part). There is a general technical problem that the motors of the joints are not effectively used when the motors stop. [0003] In order to solve this general technical problem, there is known a joint mechanism of a robot as follows (see Patent Document 1). Using a differential mechanism, the outputs of two motors are positively interfered, and a maximum of twice as much power can be obtained from each of the two output shafts. output torque. [0004] In the technique of Patent Document 1, the motor stator is not fixed but is rotatably supported, and gears are attached to both the stator and the rotor, and both are used as output sides. In this manner, when torque is generated in t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/08H02K7/116
CPCB25J9/1025H02K7/1163B25J17/0258B25J19/0029B25J9/102Y10T74/20329
Inventor 萬羽崇
Owner YASKAWA DENKI KK
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