KR100405808B1 - Upper arm structure of 6-shaft articulated industrial robot - Google Patents

Abstract

PURPOSE: Upper arm structure of a 6-shaft articulated industrial robot is provided to reduce the gravity load by installing plural driving motors to the rear end of an upper arm and reduce the number of parts by simplifying the structure. CONSTITUTION: In upper arm structure of a 6-shaft articulated industrial robot, a first wrist part(14) is formed to the upper end of an articulated part(12) of an upper arm(10) and a second wrist part(16) is installed inside the first wrist part. 4 and 5-shaft driving motors(22,30) are each installed to the outside of the rear end of the articulated part. A 4-shaft power transmission shaft(24) is fixed to the inside of the articulated part, on a side of the 4-shaft driving motor. A 4-shaft gear train(28) is connected to the 4-shaft power transmission shaft. The 4-shaft gear train is connected to a 4-shaft reducer(26). The 4-shaft reducer is fixed to the first wrist part. A 5-shaft power transmission shaft is fixed to the inside of the articulated part, on a side of the 5-shaft driving motor. A 5-shaft first gear train(34) is connected to the 5-shaft power transmission shaft. A 5-shaft bevel gear train(38) is connected to a side of the 5-shaft first gear train. A 5-shaft second gear train(36) is connected to the lower part of the 5-shaft bevel gear train. A 6-shaft driving motor(40) is installed in the second wrist part. A 6-shaft reducer(42) slides on a side of the 6-shaft driving motor. A 6-shaft gear train(44), to slide on the second gear train, is fixed to a side of the second wrist part.

Description

Upper arm structure of 6-axis articulated industrial robot

The present invention relates to a power transmission structure of the upper arm of the articulated industrial robot, and more particularly, to install a six-axis drive motor inside the wrist of one side of the upper arm of the high-capacity articulated robot, and also to the outside of the joint of the upper arm. The present invention relates to an upper arm structure of a 6-axis articulated industrial robot that can reduce the number of components and reduce gravity load by simplifying the power transmission structure of the upper arm of the robot by installing a plurality of drive motors in the motor.

In general, industrial robots are an essential element for constructing an unmanned automated factory, which is the final goal of factory automation. Today's industrial robots are still in the basic stages and are very limited in their use, but they clearly represent an important part of factory automation.

For a long time, humans have dreamed of the birth of human beings or human beings who resemble their own appearance or the appearance of any creature and can behave similarly. In the 1970s, it was finally possible that the dream would come true, and in the 1980s it was now a reality, not a dream. At the beginning of the 1990s, the robot is a malformation that can be found in human form, with no eyes, nose, mouth, ears, no legs, and only one arm, but it can't do anything human can do. He is a good worker who can work, is high in accuracy, and is not tired.

Typical industrial areas where industrial robots are used today include welding, material handling, painting and assembly. It is used in many other fields, but it is still not universal in terms of economy.

In addition, an industrial robot is a multipurpose machine that can execute various programs according to a purpose by executing programs necessary for a job through a control device. Industrial robots generally have a single arm, with a properly designed tool attached to the hand and performing tasks in the order of the programs embedded in the control unit.

The difference between robots and automation is that robots can do many things just by changing programs and tools, and they don't need human help.

In addition, there are two types of industrial robots: fixed robots and mobile robots.

In addition, classifications in the form of moving mechanisms include a rectangular coordinate robot, a cylindrical coordinate robot, a polar coordinate robot, and an articulated robot, where an articulated robot refers to a robot in which an operating mechanism is composed of several joints.

In the related art, as shown in FIG. 4, the joint 120 is formed at the center of the upper arm 100 of the robot, and the first wrist 140 is installed at the upper end of the joint 120 of the upper arm 100. The second wrist part 160 is fixedly installed on the first wrist part 140, and the six-axis drive motor 300 is embedded in the second wrist part 160, and at the same time, the six-axis Reducer 360 is installed connected.

In addition, the 5-axis drive motor 200 is built in the first wrist 140, the 5-axis drive motor 200 is connected to the 5-axis reducer 340, the 5-axis reducer 340 is one side of 5 The shaft bevel gear train 280 is connected.

The 5-axis bevel gear train 280 is connected to the 5-axis gear train 240 on one side and the 6-axis gear train 320 is connected to one side of the second wrist 160, the 5-axis gear train 240 Install to slide

In addition, the four-axis drive motor 220 is installed on the rear end of the joint portion 120 of the upper arm 100, and the four-axis drive motor 220 is configured to be connected to the four-axis reducer 260 is installed.

By the way, the above configuration is to install the drive motors side by side in the axial direction of the upper arm in the above structure is to increase the gravity load effect by the heavy weight motor and reducer inside the wrist portion formed on the upper end of the joint portion of the upper arm and At the same time, there was a problem of additionally securing a space of wiring to be connected to the 5 and 6 axis drive motors.

The present invention has been made to solve the above problems, the object is to install a four-axis drive motor and a five-axis drive motor at the rear end of the joint of the articulated robot upper arm, respectively, and the six-axis drive motor inside the upper wrist portion of the joint It is possible to reduce the gravity load by installing a plurality of drive motors at the rear end of the upper arm, and to provide the upper arm structure of the 6-axis articulated industrial robot which can reduce the number of parts by simplifying the structure.

In order to achieve the above object, the present invention installs four and five axis drive motors at the rear end of the robot arm and connects a power transmission shaft to each of the drive motors, and provides a gear train at the end of the four axis power transmission shaft. Forming and also connecting the gearbox to this gear train.

And, it is achieved by providing a six-axis drive motor inside the wrist portion formed on the upper end of the joint of the upper arm and the upper arm structure of the six-axis articulated industrial robot provided with a reducer connected to one side of the six-axis drive motor.

1 is a perspective view showing a six-axis industrial robot of the present invention parallel link structure

Figure 2 is a perspective view of a six-axis industrial robot of the present invention serial link structure

Figure 3 is a cross-sectional view showing the inside of the upper arm of the present invention

Figure 4 is a cross-sectional view showing the inside of the conventional upper arm

<Description of Symbols for Main Parts of Drawings>

(10): upper arm (12): joint

14: first wrist portion 16: second wrist portion

(18): link (20): vertical arm

(22): 4-axis drive motor (24): 4-axis power transmission shaft

(26): 4-axis reducer (28): 4-axis gear train

(30): 5-axis drive motor (32): 5-axis power transmission shaft

34: 5-axis first gear train 36: 5-axis second gear train

(38): 5-axis bevel gear train (40): 6-axis drive motor

(42): 6-axis reducer (44): 6-axis gear train

46: body

Hereinafter, the configuration and operation of the present invention with reference to the accompanying drawings.

1 is a perspective view showing a six-axis industrial robot of the present invention parallel link structure, Figure 2 is a perspective view showing a six-axis industrial robot of the present invention serial link structure, the body of the articulated joint robot 46 The upper arm 10 having the joint part 12 formed thereon is positioned, and the first wrist part 14 is installed at the upper end of the joint part 12 of the upper arm 10, and at the end of the first wrist part 14. The second wrist part 16 is fixedly installed.

In addition, the vertical arm 20 is hinged (not shown) at one lower side of the joint part 12 of the upper arm 10, and the 4 and 5-axis drive motors 22 and 30 are respectively outside the rear end of the joint part 12. Is installed.

Reference numeral 18 in the accompanying drawings is a link.

3 is a cross-sectional view illustrating the inside of the upper arm of the present invention. In the upper arm 10 structure of the articulated industrial robot, the first wrist part is disposed on the upper end of the joint part 12 of the upper arm 10. A 14 is formed, and the second wrist 16 is installed inside the first wrist 14, and 4 and 5-axis drive motors 22 and 30 are respectively installed outside the rear end of the joint 12.

The four-axis power transmission shaft 24 is fixed to the joint 12 in one side of the four-axis drive motor 22 and the four-axis gear train 28 is connected to the four-axis power transmission shaft 24. The shaft gear train 28 is connected to the four-axis reducer 26, but the four-axis reducer 26 is fixed to the first wrist 14.

The 5-axis drive motor 30 has a 5-axis power transmission shaft 32 fixed to the inside of the joint 12 at one side thereof, and the 5-axis first gear train 34 is connected to the 5-axis power transmission shaft 32. The 5-axis bevel gear train 38 is connected to one side of the 5-axis first gear train 34, and the 5-axis second gear train 36 is connected to the lower part of the 5-axis bevel gear train 38.

In addition, the six-axis drive motor 40 is installed inside the second wrist portion 16, the six-axis reducer 42 is sliding on one side of the six-axis drive motor 40 and the second wrist portion 16 The 6-axis gear train 44 is configured to be fixed to the side to be slid with the 5-axis second gear train 36.

The operation of the present invention will be described with reference to the above configuration.

In order to drive the robot's three-axis wrist, a number of drive motors should be installed. Therefore, the 4 and 5-axis drive motors 22 and 30 are fixed to the rear end of the joint part 12 of the upper arm 10 and the 6-axis drive motor 40 is fixedly installed in the second wrist part 16.

Each of the 4 and 5 axis power transmission shafts 24 and 32 connected to one side of the 4 and 5 axis drive motors 22 and 30 is connected to the output shaft of each drive motor by a flange coupling directly to each wrist shaft end. Whereby the four-axis power transmission shaft 24 transmits power to the four-axis reducer 26 via the four-axis gear train 28, and the four-axis reducer 26 is directly connected to the first shaft. It is connected to the wrist part 14 to operate the first wrist part 14.

In addition, the five-axis power transmission shaft 32 connected to the five-axis drive motor 30 is changed after the power transmission direction through the five-axis first gear train 34 and the five-axis bevel gear train 38. 2 is connected to the 5-axis second gear train 36 for driving the wrist 16.

The 6-axis drive motor 40, which is the driving source of the second wrist part 16, is positioned inside the second wrist part 16, and the output shaft of the 6-axis drive motor 40 is directly connected to the 6-axis reducer 42. Is connected to transmit power. In addition, the output end of the six-axis reducer 42 is connected to the second wrist portion 16 and the second wrist portion 16 by the six-axis gear train 44 slid with the five-axis second gear train 36. ) Works.

The present invention is simplified by directly connecting each power transmission shaft from the 4 and 5-axis drive motors installed at the rear end of the upper arm of the robot, and the shape of each power transmission shaft is simple, so that the processing is easy and the working efficiency is improved. It also reduces the number of parts by eliminating the need for additional power trains (gear trains, universal joints) to change the direction of power transmission.

In addition, by positioning the 4 and 5-axis drive motor at the rear end of the upper arm, the gravity load can be compensated for, and only the 6-axis drive motor is present on the wrist, and the inner space of the upper arm is enlarged to facilitate wiring. It's a very useful invention.

Claims (1)

In the structure of the upper arm 10 of the articulated industrial robot, The first wrist part 14 is formed on the upper end of the joint part 12 of the upper arm 10, and the second wrist part 16 is installed inside the first wrist part 14, and outside the rear end of the joint part 12. 4 and 5-axis drive motors (22, 30) are installed, respectively, The four-axis power transmission shaft 24 is fixed to the joint 12 in one side of the four-axis drive motor 22 and the four-axis gear train 28 is connected to the four-axis power transmission shaft 24. The shaft gear train 28 is connected to the four-axis reducer 26, the four-axis reducer 26 is fixed to the first wrist portion 14, The 5-axis drive motor 30 has a 5-axis power transmission shaft 32 fixed to the inside of the joint 12 at one side thereof, and the 5-axis first gear train 34 is connected to the 5-axis power transmission shaft 32. The 5-axis bevel gear train 38 is connected to one side of the 5-axis first gear train 34, and the 5-axis second gear train 36 is connected to the lower part of the 5-axis bevel gear train 38. In addition, the six-axis drive motor 40 is installed inside the second wrist portion 16, the six-axis reducer 42 is sliding on one side of the six-axis drive motor 40 and the second wrist portion 16 The upper arm structure of the 6-axis articulated industrial robot, characterized in that the six-axis gear train 44 is fixed to the side to be slid with the second shaft gear 36.