Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1989-03-06
1991-10-08
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
74640, 414917, 901 21, 901 25, B25J 1700, F16H 110
Patent
active
050543326
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
This invention relates to an articulated robot for extensive industrial use and more particularly to a drive mechanism for articulated portions of an articulated robot which comprises at least two control arms, and two speed reducers provided on the articulated portions of the two control arms on the same axis in opposed relation to each other.
BACKGROUND ART
One of conventional drive mechanisms for articulated portions of an articulated robot is disclosed, for example, in Japanese Laid-Open (Kokai) Patent Application No. 58-181586, and this will now be described with reference to the drawings. FIG. 1 is a front-elevational view of this conventional example, FIG. 2 is a side-elevational view thereof, and FIG. 3 is a detailed cross-sectional view of an articulation drive portion, indicated by a portion A in FIG. 1, for first and second arms serving as control arms. In these Figures, numeral (1) denotes a stationary base, numeral (2) a turntable turnable on the stationary base (2), numeral (3) a base fixedly mounted on the turntable (2), numeral (4) a first arm swingingly movable about a point (5) on the base (3), numeral (6) a first motor for driving the first arm (4), numeral (7) a second arm swingingly movable about a point (8) on the first arm (4), numerals (9) and (10) a link and a link support which cooperate with the first arm (4) and the second arm (7) to constitute a parallel link, numeral (11) a second motor for driving the second arm (7) through the link support (10) and the link (9), and numeral (12) a wrist mounted on a distal end of the second arm (7) for bending and twisting movements in directions indicated by arrows B and C.
Therefore, in this robot, the first arm (4) is swingingly moved forwardly and rearwardly by operating the first motor (6), and by operating the second motor (11), the link support (10) is swingingly moved upwardly and downwardly so that the second arm (7) is swingingly moved upwardly and downwardly about the center (8) of rotation through the parallel link mechanism comprising the first arm (4), the link (9) and the second arm (7). In other words, by controlling the first motor (6) and the second motor (11), the wrist (12) can be moved to an arbitrary point in a forwardly and, rearwardly extending- and upwardly and downwardly extending-plane defined by the first and second arms (4) and (7). Further, by adding the angular movement of the turntable (2), it can be moved to an arbitrary point in a space area including right and left directions, thus enabling various operations.
Next, in FIG. 3, numeral (15) denotes a first bracket fixedly secured to the base (3) and fixedly mounting the first motor (6) on the base (3) in a projecting manner. Numeral (16) denotes a first motor shaft which is an output shaft of the first motor (6). Numeral (18) denotes a first wave generator which cooperates with a first circular spline and a first flex spline later described to constitute a speed reducer commonly referred to as "harmonic drive component", and is fixedly mounted on the first motor shaft (16). Numeral (19) denotes the first circular spline fixedly mounted on the first bracket (15) coaxially with the first motor shaft (16). Numeral (20) denotes the first flex spline, and numeral (21) a first arm drive shaft, and numeral (22) a first bearing. The first arm drive shaft (21) is fixed to one side of the first arm (4), and the first bearing (22) supported by the first bracket (15) enables the first arm (4) to be swingingly moved about the same axis as that of the first motor shaft (16). The first flex spline (20) is disposed coaxially with the first circular spline (19), and is fixedly secured to the first arm drive shaft (21) at such a position that the teeth of these two splines are in mesh with each other. Numeral (23) denote a first bearing cover which holds the first bearing (22) within the first bracket (15).
Numeral (24) denotes a second bracket which is fixedly mounted on the base (3) at the side thereof opposite to the first bracket (15), with the first a
REFERENCES:
patent: 4431366 (1984-02-01), Inaba et al.
patent: 4492510 (1985-01-01), Tanii et al.
patent: 4557662 (1985-12-01), Terhuchi et al.
patent: 4682932 (1987-07-01), Yoshino
Nishimura Takaaki
Terauchi Tsuneo
Herrmann Allan D.
Mitsubishi Denki K.K.
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