Actuator support member

Abstract

To provide an actuator support member that can suppress a width of a robot arm from increasing.SOLUTION: An actuator support member 30 comprises a first support part 31 supporting a first actuator 12 that drives a first joint part 84 of a robot 100, and a second support part 32 supporting a second actuator 22 that drives a second joint part 85 of the robot 100. The first support part 31 and the second support part 32 are configured so that a first output shaft line L1 of the first actuator 12 and a second output shaft line L2 of the second actuator 22 are at torsional positions.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an actuator support member. [Background technology]

[0002] Articulated robots having multiple robot arms driven by joints are known. For example, Patent Document 1 describes an industrial robot in which an intermediate member, an intermediate arm, and a modular wrist are connected by three joint modules. The joint module includes a motor and a reducer, and the robot arm fixed to the output side of the reducer rotates relative to the fixed side of the reducer. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 2598137 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventionally, in a type of robot in which a first robot arm and a second robot arm are connected via two joints, the first robot arm and the second robot arm are placed apart due to restrictions on the placement of the two joints. For this reason, the width of the first robot arm and the second robot arm becomes large, making it difficult to reduce the placement space of the robot. In this context, Patent Document 1 does not provide sufficient disclosure from the viewpoint of suppressing the width of the robot arm.

[0005] The present invention has been made in consideration of such problems, and one of its objects is to provide an actuator support member that can reduce the width of a robot arm. [Means for solving the problem]

[0006] In order to solve the above problems, one embodiment of the actuator support member of the present invention is an actuator support member including a first support part that supports a first actuator that drives a first joint part of the robot, and a second support part that supports a second actuator that drives a second joint part of the robot, and the first support part and the second support part are configured such that the first output axis of the first actuator and the second output axis of the second actuator are in a twisted position.

[0007] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc. are also valid aspects of the present invention. Effect of the Invention

[0008] According to the present invention, it is possible to provide an actuator support member that is capable of reducing the width of a robot arm. [Brief description of the drawings]

[0009] [Figure 1] 1 is a perspective view of a robot including an actuator support member according to an embodiment of the present invention, viewed obliquely. [Diagram 2] FIG. 2 is a front view of the robot of FIG. [Diagram 3] FIG. 2 is a perspective view showing a second joint unit of FIG. 1. [Figure 4] FIG. 2 is another perspective view showing the second joint unit of FIG. 1. [Diagram 5] FIG. 4 is a perspective view showing the actuator support member of FIG. [Figure 6] 4 is another perspective view showing the actuator support member of FIG. 3. [Figure 7] FIG. 4 is a front view of the actuator support member of FIG. 3. [Figure 8] FIG. 4 is a rear view of the actuator support member of FIG. 3. [Figure 9] 4 is a right side view of the actuator support member of FIG. 3. [Figure 10] 4 is a left side view of the actuator support member of FIG. 3. [Figure 11] 4 is a plan view of the actuator support member of FIG. 3. [Figure 12] 4 is a bottom view of the actuator support member of FIG. 3. [Figure 13] FIG. 2 is a schematic diagram of robot arm members connected at joints. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and duplicated descriptions are omitted as appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some of the members that are not important for explaining the embodiments are omitted in each drawing.

[0011] In addition, terms including ordinal numbers such as first, second, etc. are used to describe various components, but these terms are used only for the purpose of distinguishing one component from another component, and the components are not limited by these terms.

[0012] [Embodiment] With reference to FIG. 1 and FIG. 2, the configuration of a robot 100 including an actuator support member 30 (hereinafter, sometimes referred to as a "support member 30") according to an embodiment will be described. FIG. 1 and FIG. 2 are a perspective view and a front view showing the robot 100. Hereinafter, for convenience, as shown in FIG. 1, the front-rear direction of the robot 100 may be referred to as "front" and "rear", the width direction may be referred to as "right" and "left", and the height direction may be referred to as "upper" and "lower". Such directional notations do not limit the use posture of the robot 100, and the robot 100 may be used in any posture depending on the application. As shown in FIG. 1, the robot 100 is a so-called articulated robot that can be suitably used as an industrial robot or a collaborative robot.

[0013] The robot 100 includes a base unit 80, a first joint unit J1, a first robot arm member 83, a second joint unit J2, a second robot arm member 86, and a third joint unit J3. The first joint unit J1, the first robot arm member 83, the second joint unit J2, the second robot arm member 86, and the third joint unit J3 are connected in this order from the base unit 80 on the proximal end side. The robot 100 has covers 71, 72, and 73 that cover the joint units J1, J2, and J3.

[0014] In this embodiment, the base portion 80 is a rectangular plate-shaped member fixed to an installation stand (not shown). The first joint unit J1 moves a first robot arm member 83 relative to the base portion 80. The first joint unit J1 has joints 81 and 82 that rotate around rotation axes that intersect with each other. A base end side of the first robot arm member 83 is connected to the first joint unit J1, and a tip side of the first robot arm member 83 is connected to the second joint unit J2.

[0015] The second joint unit J2 moves the second robot arm member 86 relative to the first robot arm member 83. The second joint unit J2 has joints 84, 85 that rotate about rotation axes that intersect with each other. A base end side of the second robot arm member 86 is connected to the second joint unit J2, and a tip end side of the second robot arm member 86 is connected to the third joint unit J3.

[0016] The third joint unit J3 moves a hand unit (not shown) connected to the third joint unit J3. The third joint unit J3 has joints 87 and 88 that rotate around mutually intersecting rotation axes. The joints 81, 82, 84, 85, 87, and 88 are collectively referred to as a joint unit 8. The joint unit 8 has a motor 91 that rotates a motor shaft 92, a reducer 93 that reduces the rotation of the motor shaft 92 and outputs it, a control unit 94 that controls the rotation of the motor shaft 92, and an encoder 96 that detects the rotation position of the motor shaft 92 and provides it to the control unit 94. As an example, the output axes of the two joints 8 that constitute each joint unit are in a twisted position with respect to each other. The output axis may also be referred to as a rotation axis. The motor 91, the reducer 93, and the encoder 96 constitute an actuator 9 that drives the joint unit 8.

[0017] The first joint unit J1, the second joint unit J2, and the third joint unit J3 have similar technical features. Below, the technical features will be described using the second joint unit J2 as an example. The following description of the second joint unit J2 also applies to the first joint unit J1 and the third joint unit J3 to the extent that there is no contradiction.

[0018] The second joint unit J2 will be described with reference to Figures 1, 3, and 4. Figures 3 and 4 are perspective views showing the second joint unit J2, and these figures show a state in which the cover 72 is removed. The second joint unit J2 of the embodiment has a first joint portion 84, a second joint portion 85, and a support member 30.

[0019] The first joint unit 84 has a first actuator 12 as the actuator 9. The first actuator 12 has a reducer 93 that reduces and outputs the rotation of a motor shaft 92, and rotates the driven body about the first output axis L1 by the output rotation of the reducer 93. The first joint unit 84 changes the posture of the second joint unit 85 relative to the first robot arm member 83 about the first output axis L1 by the action of the first actuator 12.

[0020] The second joint unit 85 has a second actuator 22 as the actuator 9. The second actuator 22 has a reducer 93 that reduces and outputs the rotation of a motor shaft 92, and rotates the driven body about the second output axis L2 by the output rotation of the reducer 93. The second joint unit 85 changes the posture of the robot arm member 86 relative to the first joint unit 84 about the second output axis L2 by the action of the second actuator 22.

[0021] The support member 30 supports a first actuator 12 that drives the first joint portion 84 and a second actuator 22 that drives the second joint portion 85. In particular, the support member 30 integrally supports the first actuator 12 and the second actuator 22 so as to regulate the relative positional relationship and changes in posture between them.

[0022] The support member 30 will be described with reference to Figs. 3 to 13. Figs. 5 and 6 are perspective views showing the support member 30. Figs. 7 to 12 are six-sided views showing the support member 30. The support member 30 includes a first support section 31 that supports the first actuator 12 and a second support section 32 that supports the second actuator 22. As an example, the actuator support member 30 is an iron-based metal member in which two hollow cup-shaped members are integrally connected in a twisted position. The material of the actuator support member 30 is not particularly limited, and may be, for example, a metal other than iron-based, such as aluminum-based, or a resin-based material.

[0023] It is desirable that the first actuator 12 is held securely at a predetermined position. In the embodiment, the first support portion 31 has a first cylindrical portion 33 that holds the outer periphery of the first actuator 12, and a first axial support portion 34 that supports the first actuator 12 from the axial direction. By having the first cylindrical portion 33, the outer periphery of the first actuator 12 can be supported securely. By having the first axial support portion 34, the axial deviation of the first actuator 12 can be suppressed. The first cylindrical portion 33 has a cylindrical shape arranged so that its central axis is coaxial with the first output axis L1 of the first actuator 12. The first axial support portion 34 has a hollow disk shape arranged so as to cover one end of the first cylindrical portion 33.

[0024] The first axial support portion 34 has a central hole 342 which is a through hole centered on the first output axis L1, and a plurality of (e.g., eight) mounting holes 344 which are arranged at predetermined intervals in the circumferential direction at positions radially offset from the first output axis L1. The first actuator 12 is fixed to the first support portion 31 by a bolt (not shown) passing through the mounting hole 344 and screwed into an end face of the first actuator 12.

[0025] It is desirable that the second actuator 22 is held securely at a predetermined position. In the embodiment, the second support portion 32 has a second cylindrical portion 35 that holds the outer periphery of the second actuator 22, and a second axial support portion 36 that supports the second actuator 22 from the axial direction. By having the second cylindrical portion 35, the outer periphery of the second actuator 22 can be supported securely. By having the second axial support portion 36, the axial deviation of the second actuator 22 can be suppressed. The second cylindrical portion 35 has a cylindrical shape arranged so that its central axis is coaxial with the second output axis L2 of the second actuator 22. The second axial support portion 36 has a hollow disk shape arranged so as to cover one end of the second cylindrical portion 35.

[0026] The second axial support portion 36 has a central hole 362 which is a through hole centered on the second output axis L2, and a plurality of (e.g., eight) mounting holes 364 which are arranged at predetermined intervals in the circumferential direction at positions radially offset from the second output axis L2. The second actuator 22 is fixed to the second support portion 32 by a bolt (not shown) passing through the mounting hole 364 and screwed into an end face of the second actuator 22.

[0027] The first support portion 31 and the second support portion 32 are configured so that the first output axis L1 of the first actuator 12 and the second output axis L2 of the second actuator 22 are spaced apart from each other and intersect when viewed from a direction perpendicular to the first output axis L1 and the second output axis L2, i.e., the direction indicated by the arrow P. In this example, the first output axis L1 and the second output axis L2 are in a twisted position with respect to each other. That is, the first output axis L1 and the second output axis L2 are spaced apart from each other at least in the range where the first actuator 12 and the second actuator 22 are present, and are arranged so that their extension lines do not intersect. In this example, as shown in FIG. 3, the first output axis L1 and the second output axis L2 are perpendicular to each other when viewed from a direction perpendicular to the first output axis L1 and the second output axis L2, i.e., the direction indicated by the arrow P.

[0028] It is desirable to have a small space for arranging the robot 100. Therefore, in the embodiment, as shown in Fig. 3, the first support part 31 and the second support part 32 are configured so that the first actuator 12 and the second actuator 22 overlap when viewed in a direction perpendicular to the first output axis L1 and the second output axis L2, i.e., in the direction indicated by the arrow P.

[0029] FIG. 13 is a schematic diagram showing a first robot arm member 83 and a second robot arm member 86 connected via two first joints 84 and a second joint 85. FIG. 13(A) shows an example in which the first actuator 12 and the second actuator 22 overlap when viewed from a direction perpendicular to the first output axis L1 and the second output axis L2, and FIG. 13(B) shows an example in which they do not overlap when viewed from the same direction. The width W1 of the first robot arm member 83 and the second robot arm member 86 along the first output axis L1 is smaller in the example of FIG. 13(A) than in the example of FIG. 13(B). As a result, the arrangement space of the robot 100 can be reduced.

[0030] When the robot 100 operates, a large load is applied between the first joint 84 and the second joint 85. For this reason, it is desirable that the first joint 84 and the second joint 85 are firmly connected to each other. In this embodiment, as shown in FIG. 5, the support member 30 has a connecting portion 37 that connects the first tubular portion 33 and the second tubular portion 35. By providing the connecting portion 37 between the first tubular portion 33 and the second tubular portion 35 to form a thick portion, it is possible to avoid concentration of stress due to the load and disperse the stress more than when the first tubular portion 33 and the second tubular portion 35 are simply connected. As a result, the load-bearing performance between the first joint 84 and the second joint 85 can be improved.

[0031] The first support part 31 has an arm connector 41 that connects the first robot arm member 83. It is desirable that the outer diameter of the arm connector 41 is small. Therefore, in the embodiment, as shown in FIG. 5, the arm connector 41 has an outer diameter smaller than that of the first cylindrical part 33. In this case, the outer shape of the tip side of the first robot arm member 83 can be made smaller than when the outer diameter of the arm connector 41 is larger than that of the first cylindrical part 33.

[0032] The features of the actuator support member 30 of the embodiment will be described. The actuator support member 30 of the embodiment is an actuator support member including a first support part 31 that supports the first actuator 12 that drives the first joint part 84 of the robot 100, and a second support part 32 that supports the second actuator 22 that drives the second joint part 85 of the robot 100. The first support part 31 and the second support part 32 are configured such that the first output axis L1 of the first actuator 12 and the second output axis L2 of the second actuator 22 are in a twisted position.

[0033] This configuration makes it possible to reduce the width between the first robot arm member 83 connected to the first joint portion 84 having the first actuator 12 and the second robot arm member 86 connected to the second joint portion 85 having the second actuator 22. Also, as shown in Fig. 5, the support member 30 in this embodiment has a twisted shape in which the two output axes L1, L2 intersect in an arrangement that is not on the same plane. By using this support member 30, the number of steps required for assembling the robot 100 can be reduced.

[0034] The above is a description of the embodiment. Note that the support member 30 of the embodiment can also be considered as a design characterized by the aesthetic appearance of its shape.

[0035] Above, examples of the embodiments of the present invention have been described in detail. All of the above-mentioned embodiments merely show specific examples of implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changing, adding, and deleting components are possible within the scope of the invention as defined in the claims. In the above-mentioned embodiments, the contents for which such design changes are possible are described with the notation "of the embodiment" or "in the embodiment", but this does not mean that design changes are not permitted for contents without such notation.

[0036] (Modification) The following describes the modified examples. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Descriptions that overlap with the embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the embodiment.

[0037] Although the embodiment has been described with an example in which the robot has three joint units, the present invention is not limited to this. The number of joint units provided in the robot may be one, two, or four or more.

[0038] In the description of the embodiment, an example has been shown in which the first output axis L1 and the second output axis L2 are perpendicular to each other as viewed by the arrow P, but the present invention is not limited to this. The first output axis L1 and the second output axis L2 may intersect at an angle other than 90° as viewed by the arrow P.

[0039] Each of these modified examples provides the same effects as the embodiment.

[0040] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the respective embodiments and modifications. [Explanation of symbols]

[0041] 12 first actuator, 21, 22 second actuator, 30 actuator support member, 31 first support portion, 32 second support portion, 33 first cylindrical portion, 34 first axial support portion, 35 second cylindrical portion, 36 second axial support portion, 37 coupling portion, 38 first connection portion, 39 second connection portion, 41 arm connection portion, 84 first joint portion, 85 second joint portion, 86 robot arm member, 100 robot.

Claims

1. An actuator support member including: a first support part supporting a first actuator that drives a first joint part of a robot; and a second support part supporting a second actuator that drives a second joint part of the robot, An actuator support member configured such that the first support portion and the second support portion are in a twisted position with respect to a first output axis of the first actuator and a second output axis of the second actuator.

2. 2. The actuator support member according to claim 1, wherein the first support portion and the second support portion are configured such that the first actuator and the second actuator overlap when viewed from a direction perpendicular to the first output axis and the second output axis.

3. 2 . The actuator support member according to claim 1 , wherein the first support portion has a first cylindrical portion that holds an outer periphery of the first actuator, and a first axial support portion that supports the first actuator in the axial direction.

4. 4. The actuator support member according to claim 3, wherein the second support portion has a second cylindrical portion that holds an outer periphery of the second actuator, and a second axial support portion that supports the second actuator in the axial direction.

5. The actuator support member according to claim 4 , further comprising a connecting portion that connects the first cylindrical portion and the second cylindrical portion.

6. The actuator support member according to claim 5 , wherein the coupling portion has a first connection portion connected to the first cylindrical portion that is thicker than a second connection portion connected to the second cylindrical portion.

7. The actuator support member according to claim 4 , wherein the second support portion has an arm connector for connecting a robot arm member, and the arm connector has an outer diameter smaller than that of the second cylindrical portion.

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