JP2011000659A - Deceleration mechanism of double-hand robot - Google Patents

Abstract

【Task】
In a double-handed robot, the assembly of a toothed belt transmission mechanism arranged on the lower side and the tension of the toothed belt can be easily adjusted.
[Solution]
In the floor plate portion 2 of the second arm A _2, a portion where the lower speed reduction pulley unit U ₂ is disposed is partially opened, and the lower surface portion opening 3 is closed by the lower lid body 21. by a fixed position along the longitudinal direction Q of the second arm a ₂ of the reduction pulley unit U ₂ which is arranged on the side from the lower side of the second arm a ₂ can be adjusted through the lower surface portion opening 3, lower The lower toothed belt V is adjusted by adjusting the distances L ₁ and L ₂ between the shaft centers C ₄₁ and C _{42 of the} side reduction pulley unit U _{2 and} the shaft center C ₃ of the hand pivot shafts 36 and 37. ₂₂ tension can be adjusted.
[Selection] Figure 3

Description

  The present invention provides a double-handed robot in which toothed belt transmission mechanisms of two hands are arranged in two stages in a hollow arm, and a plurality of toothed belts are used for one hand and decelerated. More specifically, a reduction mechanism for a double-handed robot that can assemble a toothed belt transmission mechanism disposed on the lower side and adjust the tension of the lower toothed belt from the lower side of the arm. It is about.

  In the double hand robot, two drive motors are arranged in the arm to drive the two hands individually, and a toothed pulley comprising a toothed pulley and a toothed belt corresponding to the two hands in a hollow arm. The belt transmission mechanism is arranged in two upper and lower stages, and the power of each drive motor is transmitted to the swivel shaft of each hand via each toothed belt transmission mechanism. Since the double hand robot shown in Patent Document 1 uses one toothed belt for one hand, each pulley on which the toothed belt is hung is used to increase the reduction ratio. In order to increase the diameter ratio, it is necessary to increase the distance between the hand turning shaft and the drive motor, or to incorporate a gear reduction mechanism on the output shaft side of the drive motor. In the former, there is a problem that the space in the horizontal plane increases, while in the latter, the space in the vertical plane increases. In addition, since the number of toothed belts is one for each hand, there is a problem that a drive motor having a large capacity must be used to increase the torque.

  Also, Patent Document 2 discloses a speed reduction mechanism for a double-handed robot, but also in this case, since one toothed belt is used for one hand, from the ceiling (upper surface) side. When adjusting the tension of the toothed belt, when the toothed belt transmission mechanism on the upper surface side is attached, the toothed belt transmission mechanism on the floor (lower surface) side cannot be replaced. There is a problem that the belt tension cannot be adjusted.

JP 2007-152490 A JP 2008-36762 A

  The present invention relates to a double-handed robot arranged at the lower side in a double-hand robot configured to decelerate and transmit the rotation of two drive motors to two hands via respective toothed belt transmission mechanisms arranged in two upper and lower stages. It is an object to facilitate the assembly of the belt transmission mechanism and the adjustment of the tension of the toothed belt.

  The invention of claim 1 for solving the above-mentioned problem is that the upper surface is formed in a hollow shape, the opening is closed by the upper lid, and each of the two hands is arranged in two upper and lower stages at the tip. An arm connected to each other via the hand pivot shaft, and a toothed pulley attached to the drive shaft are disposed in the arm so as to be displaced along the vertical direction, and each drive motor for driving each hand; Each pulley support arranged in two stages is fixed to the arm so that the fixing position along the longitudinal direction can be adjusted independently, and fixed to the arm, and each pulley support has large and small toothed pulleys. Each of the upper and lower two-stage reduction pulley units attached to be shifted vertically, each toothed pulley attached to each drive shaft of each drive motor, and each toothed pulley of each of the reduction pulley units Toothed belt in between Each toothed belt is hung between each small toothed pulley of each reduction pulley unit and each toothed pulley attached to the hand swivel shaft of the inner / outer double structure. A reduction mechanism of a double-hand robot that decelerates the rotation of each drive motor and independently turns each of the hands, and a portion where the lower reduction pulley unit is arranged in the floor plate portion of the arm is The partial opening is configured to be closed by the lower lid, and the fixing position along the longitudinal direction of the arm of the speed reduction pulley unit disposed on the lower side is set from the lower side of the arm. By making the adjustment possible through the partial opening, the distance between the shafts of the lower speed reduction pulley unit and the hand swivel shaft can be adjusted so that the tension of the lower toothed belt can be adjusted. It is characterized in.

  According to the first aspect of the present invention, the upper lid body is removed and the upper surface of the arm is opened to assemble the upper toothed belt transmission mechanism arranged in two upper and lower stages and adjust the tension of the toothed belt. The tension of the toothed belt is adjusted by adjusting the fixed position of the upper speed reduction pulley unit along the longitudinal direction of the arm, so that the axis center of the upper speed reduction pulley unit and the axis of the hand swivel axis are aligned. Adjust the distance.

  On the other hand, when replacing the toothed pulley constituting the lower toothed belt transmission mechanism or the toothed belt, the toothed pulley constituting the upper toothed belt transmission mechanism, the toothed belt, etc. Since each element becomes an obstacle, after replacing each element constituting the lower toothed belt transmission mechanism with each element constituting the upper toothed belt transmission mechanism removed, again, Since each element constituting the upper toothed belt transmission mechanism was reassembled, the work such as replacement of each element of the lower toothed belt transmission mechanism was very troublesome. Exactly in the same manner, when adjusting the tension of the toothed belt hung between the lower speed reduction pulley unit and the hand turning shaft, the upper toothed belt transmission mechanism is configured in the same manner as described above. After removing each element and adjusting the tension of the toothed belt constituting the lower speed reduction pulley unit, the upper speed reduction pulley unit was reassembled.

  However, in the first aspect of the invention, the lower lid body of the arm can be removed and only the portion where the lower speed reduction pulley unit is disposed can be opened, so that the upper lid body can be covered without removing the upper lid body. Using the partial opening, the elements constituting the lower speed reduction pulley unit can be exchanged from the lower side of the arm, and between the lower speed reduction pulley unit and the hand turning shaft. Since the tension of the hooked toothed belt can be adjusted, the replacement work and the tension adjustment work are facilitated.

  According to a second aspect of the present invention, in the first aspect of the present invention, each of the toothed pulleys attached to each drive shaft of each drive motor and each of the large toothed pulleys of each reduction pulley unit are respectively hooked. Each idler for adjusting the tension of each of the upper and lower two-stage toothed belts is provided so that the fixing position along the width direction of the arm can be adjusted.

  The tension adjustment of the toothed belt on the side close to each drive motor along the power transmission direction from each drive motor is performed by each idler arranged so that the fixed position along the width direction of the arm can be adjusted. Therefore, even when adjusting the tension of the upper and lower toothed belts, the upper lid can be removed.

  According to the present invention, in the double-hand robot configured to transmit the rotations of the two drive motors to the two hands at a reduced speed through the respective toothed belt transmission mechanisms arranged in two upper and lower stages, By adopting a structure in which the part of the speed reduction pulley unit that constitutes the lower toothed belt transmission mechanism is opened and the partial opening is closed by the lower lid, the arm can be removed without removing the upper toothed belt transmission mechanism. By opening the lower partial opening, it is possible to easily assemble the toothed belt transmission mechanism disposed on the lower side and adjust the tension of the toothed belt from the lower side of the arm.

(A), (b) are each a perspective view showing a state in which the first and second arms A ₁ double hand robot embodying the present invention, respectively, A ₂ is extended, and contracted state. It is a perspective view of a state of being opened top opening 1 and the lower face portion opening 3 by removing the second arm A ₂ of the upper cover body 8 and Shitafutatai 21, respectively. It is the perspective view which looked at the state which opened only the lower surface part opening 3 similarly from diagonally downward. Is a second plan view of the arm A ₂ with an upper cover removed body 8. The second is a longitudinal sectional view of the arm A _2. It is a perspective view of longitudinal section of the second central arm A _2. FIG. 5 is a cross-sectional view taken along line X ₁ -X _{1 in} FIG. 4. FIG. 5 is a cross-sectional view taken along line X ₂ -X _{2 in} FIG. 4. FIG. 5 is a cross-sectional view taken along line X ₃ -X _{3 in} FIG. 4.

Hereinafter, the present invention will be described in more detail with reference to the best examples. FIGS. 1A and 1B are perspective views of the double-handed robot embodying the present invention in a state where the first and second arms A ₁ and A ₂ are extended and contracted, respectively. As shown in FIG. 1, in the double-hand robot, a first arm A ₁ is connected to a base K so as to be able to turn about a first turning axis C _1, and the tip of the first arm A ₁ is used. The second arm A ₂ is pivotably connected to the center around the second pivot axis C ₂ , and the upper and lower hands H ₂ and H ₁ are connected to the tip of the second arm A _2. independently by a hand pivot axis C ₃ mainly pivotably coupled. Each of the first and second arms A ₁ and A ₂ has a hollow structure with an open upper surface, and a toothed belt transmission mechanism for turning the first arm A ₁ is provided inside the base K. (Not shown) is arranged, a toothed belt transmission mechanism (not shown) for turning the second arm A ₂ is arranged inside the first arm A ₁ , and further the second arm A _2. The upper and lower toothed belt transmission mechanisms T ₁ and T ₂ (see FIG. 5) for independently driving the hands H ₂ and H ₁ are arranged in two upper and lower stages. ing.

Next, with reference to FIG. 2 to FIG. 9, portions of the upper and lower toothed belt transmission mechanisms T ₁ and T _{2 according} to the present invention will be described. FIG. 2 is a perspective view showing a state in which the upper cover 8 and the lower cover 21 of the second arm A ₂ are removed and the upper surface opening 1 and the lower surface portion opening 3 are opened. FIG. FIG. 4 is a perspective view of the second arm A _{2 with} the upper lid 8 removed, and FIG. 5 is a plan view of the second arm A ₂ . FIG. 6 is a perspective view in which the center of the second arm A ₂ is longitudinally sectioned, and FIGS. 7 to 9 are the X ₁ -X ₁ line and the X ₂ -X ₂ line in FIG. 4, respectively. And X ₃ -X ₃ line sectional views. In the second arm A ₂ , the entire upper surface is opened to form the upper surface opening 1, and the portion where the upper and lower reduction pulley units U ₁ and U ₂ are disposed in the floor plate portion 2 is partially A lower surface opening 3 is formed in a square shape. The portion of the speed reduction pulley unit U _1, U ₂ in the second peripheral wall portion 4 which faces the arm A ₂ is disposed, the large toothed pulley P ₂₁ a (P ₂₂ a) and the small toothed pulley P ₂₁ b ( Pulley support for fixing the pulley support 5 for supporting P ₂₂ b) vertically with the same axis center along the longitudinal direction Q of the second arm A _2. The body fixing portion 6 is provided so as to be opposed. Pulley support member 5, a slightly smaller dimension than the second inner width of the arm A ₂ comprise a fixing plate portion 5a in the form the mutual side, the end faces of the upper and lower pulley support body fixing section 6, It is a fixing surface 6a of the fixing plate portion 5a. Each fixed surface 6a of the upper and lower in the pulley support member fixing unit 6, can be arranged to avoid interference with the deceleration pulley unit U _1, U ₂ large toothed pulley P ₂₁ constituting the a (P ₂₂ a) A notch 6b is formed for this purpose. A female screw hole 6c is formed in the fixing surface 6a of the pulley support fixing portion 6 so as to be screwed with a bolt 7 for fixing the fixing plate portion 5a of the pulley support 5 with the notch 6b interposed therebetween. . Further, the upper surface opening 1 of the second arm A ₂ is closed by the upper lid body 8. The peripheral portion of the upper lid body 8 are a number of bolt insertion holes 8a formed bolt 9 is inserted in the respective bolt insertion holes 8a is formed on the upper end surface of the second circumferential wall portion 4 of the arm A ₂ females Screwed into the screw hole 11.

Further, FIGS. 2, 4, as shown in FIGS. 5 and 7, the inside of the second arm A _2, the driving motor M ₁ of the upper and lower, M ₂ is the second arm A ₂ Arranged at the same position along the longitudinal direction Q along the width direction S. The drive motors M ₁ and M ₂ are motors that are driven by controlling the turning angles of the hands H ₂ and H ₁ , and the drive shafts 10 face opposite to each other, and the toothed belt transmission mechanism T _1. , T ₂ are fixed to the second arm A ₂ so as to be arranged at positions corresponding to the arrangement positions of the upper and lower toothed belts V ₁₁ , V ₁₂ (V ₂₁ , V ₂₂ ). . Pulleys P ₁₁ and P ₁₂ with small teeth are respectively attached to the drive shafts 10 of the drive motors M ₁ and M ₂ .

Further, as shown in FIG. 9, the upper and lower reduction pulley units U ₁ , U ₂ have the same configuration, and the pulley support 5 has a large-tooth pulley P ₂₁ a (P ₂₂ a) and A small toothed pulley P ₂₁ b (P ₂₂ b) is supported by the same rotary shaft 12, and the second arm A ₂ is provided at both ends in the width direction S of the fixed plate portion 5 a constituting the pulley support 5. by the longitudinal direction Q bolt 14 which is inserted into the elongated hole 13 formed along the screwed into the female screw hole 6c, and adjustable fixed position along the longitudinal direction Q of the second arm a ₂ To the pulley support fixing part 6. With this structure, the distances L ₁ and L ₂ between the shaft centers of the rotational shaft centers C ₄₁ and C ₄₂ of the upper and lower reduction pulley units U ₁ and U ₂ and the hand pivot shaft C ₃ are finely adjusted. The small pulleys P ₂₁ b and P ₂₂ b constituting the respective deceleration pulley units U ₁ and U _2, and the below-mentioned respective toothed pulleys P ₃₁ and P ₃₂ rotating around the hand turning axis C ₃ , It is possible to adjust the tension of each of the toothed belts V ₂₁ and V ₂₂ that are hung between them. The pulley support 5 includes a fixed plate portion 5a that also serves as a shaft support plate portion and a shaft support plate portion 5b that are connected by a connecting plate portion 5c. The rotary shaft 12 is connected to the fixed plate portion 5a and the shaft support plate. It is supported by each bearing 15 fitted to the plate part 5b. The fixed plate portion 5a, the shaft support plate portion 5b, and the connecting plate portion 5c are all connected via bolts, but the bolts are not shown. 3 to 5, in the state where the pulley support 5 is fixed to the pulley support fixing portion 6 by a plurality of bolts 14, the fixing plate portion 5a and the second arm A ₂ Between the wall body 17 formed in the interior of the housing, an abutting bolt 18 screwed to the surface of the fixed plate portion 5a facing the wall body 17 is disposed and brought into contact with the wall body 17. Thus, the reduction pulley units U ₁ and U ₂ are prevented from being moved toward the hands H ₂ and H ₁ due to the tension of the toothed belts V ₂₁ and V ₂₂ .

Further, FIGS. 2, 4, as shown in FIGS. 5 and 8, the respective drive motors M _1, M _2, which are arranged along the second width direction S of the arm A _2, each of the deceleration pulley unit Between U ₁ and U ₂ , pulleys P ₁₁ and P ₁₂ with small teeth attached to the drive shafts 10 of the drive motors M ₁ and M ₂ , and deceleration pulley units U ₁ and U ₂ are configured. The idlers R ₁ and R ₂ for applying tension to the toothed belts V ₁₁ and V ₁₂ hung between the large toothed pulleys P ₂₁ a and P ₂₂ a are provided in the width direction of the second arm A ₂ . The fixing position of S is adjustable and fixed. That is, in FIG. 8, long holes 32 and 32 ′ along the width direction S of the first arm A ₁ are formed in the idler attachment bodies 31 and 31 ′ to which the idlers R ₁ and R ₂ are attached, respectively. the by the elongated holes 32, 32 'volts 33, 33 inserted in', the idler mount 31, 31 'are respectively fixed to the floor portion 2 of the height securing table 34 and the first arm a _1. It should be noted that the movement restriction bolts 35, 35 ′ for preventing the idler attachment bodies 31, 31 ′ from being moved outward in the width direction S of the first arm A ₁ by the tension of the toothed belts V ₁₁ , V _12. Is screwed into the peripheral wall 4.

The portion of the hand pivot axis C ₃ is the hand swivel axis C ₃ to have a double structure axis in common, the speed reduction pulley unit U _1, U ₂ constituting the small toothed pulley P ₂₁ Between the b and P ₂₂ b and the large toothed pulleys P ₃₁ and P ₃₂ rotating around the hand pivot axis C ₃ , the toothed belts V ₂₁ and V ₂₂ are hung in two upper and lower stages. Has been. The base end portion of the lower hand H ₁ is coupled to the outer hand turning shaft 36 that is turned by the power of the driving motor M ₁ transmitted through the upper toothed belt transmission mechanism T ₁ , and the driving motor M proximal end of the upper hand H ₂ inside the hand pivot axis 37 which is pivoted is transmitted via a toothed belt transmission mechanism T ₂ of the _second power is lower is connected.

As described above, the lower surface partial opening 3 formed in the floor plate portion 2 of the second arm A ₂ is configured to be closed by the rectangular lower lid body 21. A portion of the lower surface portion opening 3 is formed in a step shape with respect to the bottom surface of the second arm A ₂ , and is entirely flush with the lower lid body 21 fitted in the step portion. On the step surfaces on both sides of the lower surface portion opening 3, female screw holes 24 are formed for screwing bolts 23 inserted into the bolt insertion holes 22 in the corner portions of the lower lid 21.

With the above configuration, the rotations of the drive motors M ₁ and M ₂ are independently transmitted to the hands H ₂ and H ₁ via the toothed belt transmission mechanisms T ₁ and T ₂ arranged in two upper and lower stages. As a result, the hands H ₂ and H ₁ turn in the set direction by an angle determined by the drive motors M ₁ and M ₂ .

For this reason, when each of the toothed belt transmission mechanisms T ₁ and T ₂ is newly assembled, after the upper lid 8 is removed and the lower toothed belt transmission mechanism T ₂ is assembled, the upper toothed belt is assembled. assembling the transmission mechanism T _1. The inner hand turning shaft 37 to which the power of the lower toothed belt transmission mechanism T ₂ is transmitted is the outer hand turning shaft 36 to which the power of the upper toothed belt transmission mechanism T ₁ to be assembled later is transmitted. It is possible to assemble because it is arranged first inside.

When the upper toothed belt transmission mechanism T ₁ is replaced once or the tension of the toothed belts V ₁₁ and V ₁₂ is adjusted, the upper cover 8 is removed and the first arm is removed. the upper surface of the a ₁ performed fully opened. On the other hand, when adjusting the tension of the toothed belt V ₂₂ of the lower toothed belt transmission mechanism T ₂ , the reduction pulley unit U ₂ is fixed to the pulley support body fixing portion 6 by removing the lower lid body 21. to which the bolt 14 is exposed to the lower surface portion opening 3, a rotatable operation from a lower surface of the first arm a _1. Therefore, by finely moving the speed reduction pulley unit U ₂ in the longitudinal direction Q of the first arm A ₁ , the center distance L ₂ between the axis C ₄₂ of the speed reduction pulley unit U ₂ and the hand turning axis C ₃ is small. By adjusting, the tension of the toothed belt V ₂₂ is adjusted. Thus, for tensioning of the toothed belt V _22, it is not necessary to remove the toothed belt transmission mechanism T ₁ of the upper, it becomes easy to adjust the tension of the toothed belt V _22.

If the fixing position along the longitudinal direction Q of the first arm A ₁ of each of the reduction pulley units U ₁ and U ₂ is changed in order to adjust the tension of each of the toothed belts V ₂₁ and V ₂₂ , each tooth Although the tension of the biasing belt V _11, V ₁₂ is varied, adjustment of the tension of the respective toothed belts V _11, V _12, remove the top cover member 8, the upper opening 1 of the first arm a ₁ is entirely opened In this state, both are performed by changing the fixing position along the width direction S of the first arm A ₁ of the idlers R ₁ and R ₂ from the upper surface opening 1 side.

A ₁ : First arm
A ₂ : Second arm
C ₃ : Hand swivel axis H ₁ , H ₂ : Hand L ₁ , L ₂ : Distance between shaft centers of hand swivel axis and deceleration pulley unit M ₁ , M ₂ : Drive motor
_{P 11, P 12, P 21} a, P 22 a, P 21 b, P 22 b, P 31, P 32: toothed pulley
Q: Longitudinal direction of the second arm
S: Second arm width direction V ₁₁ , V ₁₂ , V ₂₁ , V ₂₂ : Toothed belt
1: Top opening
2: Floor board
3: Lower surface part opening
5: Pulley support
8: Upper lid
21: Lower lid
36: Outer hand pivot axis (hand pivot axis)
37: Inner hand pivot axis (hand pivot axis)

Claims (2)

The upper surface is formed in a hollow shape, the opening is closed by the upper lid, two hands are arranged at the top and bottom in two stages, and arms connected respectively via hand swivel axes;
Toothed pulleys attached to the drive shaft are displaced in the vertical direction and arranged in the arms, and each drive motor that drives each hand,
Each pulley support arranged in two upper and lower stages is fixed to the arm in such a manner that the fixing position along the longitudinal direction thereof can be independently adjusted, and is fixed in the arm. Each of the upper and lower two-stage reduction pulley units mounted with being shifted up and down,
A toothed belt is hung between each toothed pulley attached to each drive shaft of each drive motor and each large toothed pulley of each speed reduction pulley unit, and each speed reduction pulley unit A toothed belt is hung between each small toothed pulley and each toothed pulley attached to the hand swivel shaft having an internal / external double structure, and each drive motor is decelerated to reduce the rotation of each drive motor. Is a double-handed robot speed reduction mechanism that independently turns,
The part where the lower speed reduction pulley unit is arranged in the floor plate part of the arm is partially opened, and the part opening is closed by the lower lid so that the speed reduction pulley unit is arranged on the lower side. By adjusting the fixed position along the longitudinal direction of the arm through the partial opening from the lower side of the arm, the distance between the axis of the lower speed reduction pulley unit and the hand pivot axis is adjusted, A reduction mechanism for a double-handed robot, wherein the tension of the lower toothed belt can be adjusted.   To adjust the tension of each of the upper and lower toothed belts that are respectively hung between each toothed pulley attached to each drive shaft of each drive motor and each larger toothed pulley of each reduction pulley unit 2. The speed reduction mechanism of the double-handed robot according to claim 1, wherein each of the idlers is provided so that a fixed position along the width direction of the arm can be adjusted.

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