Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1995-06-21
1997-09-23
Marmor, Charles A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
7449003, 414918, 901 23, 901 25, 901 28, B25J 906, B25J 1700
Patent
active
056692692
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
This invention relates to a joint driving structure between arms in an industrial multi-joint robot.
BACKGROUND OF THE INVENTION
Hitherto, as a joint driving structure between arms of an industrial multi-joint robot, there is a joint driving structure in which a fixing portion of a reduction gear is fixed to the end portion of a first arm, and one end of a second arm is fixed to the reduction gear output shaft provided at the fixing portion through a bearing thus to rotationally drive the reduction gear input shaft by means of a driving motor to rotate the second arm about the reduction gear output shaft e.g., Japanese Tokkaihei No. 1-193185 (Japanese Patent Application Laid Open No. 193185/1989) and Japanese Tokkaihei No. 2-116482 (Japanese Patent Application Laid Open No. 116482/1990).
Moreover, in order to allow the joint portion to be compact, as shown in FIG. 2, for example, a driving motor B for rotationally driving a second arm A, a rotation detector C for detecting rotation of the driving motor B, and a reduction gear D are built-in (integrated or incorporated) within a closed box-like first arm E so that a cable F for supply of power of the driving motor B and a lead wire G of the rotation detector C are not exposed to the exterior. Moreover, a cable H for making connection to an end effector (not shown) provided at the second arm A from the first arm E is exposed to the exterior through a wiring hole I provided at the side surface from the inside of the first arm E, and is inserted into the inside portion of the second arm A from a wiring hole J provided at the side surface of the second arm A.
However, in the case of the prior art of Japanese Patent Application Laid Open No. 193185/1989 and Japanese Patent Application Laid Open No. 116482/1990, etc., since the cable of the driving motor and/or lead wire of the rotation detector are exposed to the exterior, there was the possibility that when the arm carries out moving operations, the cable and/or lead wire as mentioned above might come into contact with an object of the exterior so that they are broken.
Moreover, labor to implement sealing, etc. to the wiring hole through which a cable connecting to the end effector is passed, was required.
Further, in the case of the joint driving structure in which the driving motor is built-in (integrated) at the inside of the box-like arm, since the driving motor is airtightly closed within the arm, heat produced from the driving motor was only radiated through the reduction gear or the arm from the load side flange of the driving motor. Accordingly, in the case where attempt is made to operate the arm at high frequency (many times), cooling was disadvantageously difficult to be sufficiently carried out.
SUMMARY OF THE INVENTION
An object of this invention is to provide a joint driving structure which permits a cable or lead wire to be wired at the inside of the arm, and which radiates heat produced from the driving motor through the arm from both surfaces of the load side and the opposite-to-load side to cool it thus to permit high frequency arm operations.
This invention is directed to a joint driving structure for an industrial robot in which a box-like end portion of a first arm and a box-like end portion of a second arm are rotatably connected through a bearing, an input portion of a reduction gear is coupled to the rotational shaft of a driving motor for rotationally driving the second arm, and the driving motor is built-in (integrated) at the end portion of the second arm, wherein an opposite-to-load side bracket fixed at the fixing portion of the driving motor is fixed to the end portion of the second arm, a fixing portion of the reduction gear is fixed to the fixing portion of the driving motor, and an output portion of the reduction gear is fixed to the end portion of the first arm.
Moreover, a housing portion for supporting the bearing provided at the end portion of the second arm is formed hollow to provide a space portion passing through the end portion of the first arm from t
REFERENCES:
patent: 4651591 (1987-03-01), Wurst
patent: 4840090 (1989-06-01), Iwata
patent: 5375480 (1994-12-01), Nihei et al.
Katamine Kuniaki
Matsushita Shigeo
Grabow Troy
Kabushiki Kaisha Yaskawa Denki
Marmor Charles A.
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