Transmission head for manipulator

[Detailed Description of the Invention]

The present invention comprised six transmission head Vow portions which are Listr, and have been arranged forward and backward to transmission for Manipulators, and were mutually supported movably mainly in case of a slanting axis, and is provided with six driving shafts mutually arranged in same mind. It is led to the head portion which the transmission system of a head portion tends to drive along a slanting axis each time, and has a high slowdown gearing of a moderating ratio, It is related with a thing of form which has accomplished an acute angle angle which a slanting axis opens to reverse mutually to a vertical-axis line of a transmission head in an extension position of a transmission head. Conventionally, with the West German patent application public notice No. 2745932 specification, it is publicly known to design the transmission head for Manipulators by two component part arranged forward and backward, and in this case, along one sloping field, both head portions are mutually supported movably so that rotation is possible. Along the driving shaft line and the same axle axis, the tool maintenance object is arranged at the back head portion so that rotation is possible. In the reference position in the state where the transmission head was elongated, difficulty arises in the numerical control of movement of Manipulator. That is, it is given by the program of a tool and execution of numerical control is faced for rotation centering on a peculiar axis-of-rotation line (the 6th axis), The problem whether to rotate a transmission head focusing on the axis (the 4th axis) of a same mind driving shaft or to rotate only a back transmission head portion is left behind. such 2 Righteousness (ambiguity) act negatively especially on the occasion of path control (CP = continous path) -- and -- until now -- a Absolutely program -- technical or control -- it is not insufficiently conquered by technical Manipulator, either. In PTP control (Po1nt to Po1nt Control), the same axle arrangement of the axis-of-rotation line (the 6th axis) of a tool maintenance object to a same axle driving shaft does not become a problem. The transmission head which changes from six portions arranged at the order for Manipulator to the West German patent application public presentation No. 3428748 specification is indicated, It has two axis-of-rotation lines by which the head portion of the center of a transmission head inclined, and the axis-of-rotation line has accomplished the acute angle angle mutually opened in the reverse direction to the vertical-axis line of a transmission head in the extension position of a transmission head, respectively. The high slowdown gearing of the moderating ratio is arranged in the end of each transmission system which leads to a head portion. In such composition, the range of a tool is remarkably expanded based on the ability to rotate in the state where the transmission head expanded operation space remarkably with a compact structure, therefore it made the back head portion incline to a central head portion. However, since it does not locate the driven axis in same axle to one driving shaft in being publicly known, the 2 Righteousness of numerical control are not avoided. The subject of the present invention is enabling rotation of the tool maintenance object in a back head portion, without especially expanding the operation range and use range of a transmission head, and rotating the axis for a front head portion as a center. solution * About the above-mentioned subject, in order to carry out, it is at the means of the present invention, The transmission head of the form stated to the beginning is left, and it is supported movably so that the slowdown gearing supported into the driven axis and the back % X'X 3 head portion in the back head portion and rotation are possible, and it is a slowdown gearing, The drive unit which comprises the flange plate by which efficiency is carried out is arranged, the transmission system which leads to a central head portion and a back head portion comprises the hollow shaft directly combined via the umbrella gear group, and the transmission system provided with the drive of Huu - / Shibrate useless has penetrated this hollow shaft. Four rotating motion from which a transmission head differs with three driving shafts in which the present invention is mutually arranged in same mind, Namely, rotation of the head portion of the front centering on the axis of a driving shaft, rotation of the head portion of the center centering on the 1st axis inclined to the front head portion, It has the fundamental thought of rotating the tool maintenance object in rotation of the head portion of the back centering on the 2nd axis inclined to the central head portion, and a back head portion. For this reason, the present invention shows that the hollow shaft of each other prolonged along the axis of inclined both is combined by an umbrella gear group, and it drives with the only drive motor. Since the hollow shaft supports into the front head portion or the back head portion via the slowdown gearing, and a slowdown gearing has a moderating ratio of the same size and the head portion supports each other movably, Although the rotation of a hollow shaft of a back head portion and a central head portion is simultaneous again and there is centering on an inclination axis, it makes reverse rotating motion produce. Even the driven axis which transmission thread passed along the hollow shaft from the driving shaft located inside based on such a hollow shaft and a structure, and was supported movably in the back head portion, and was combined with the tool maintenance object is led. It is publicly known to support movably the axis which constituted the transmission head from six head portions, and was combined with the tool maintenance object with the West German patent application public presentation No. 3431033 specification in same axle to a driving shaft (in extension position of a transmission head), and to drive, In this case, it is used in order that an axis in the air and umbrella gear may draw a cable, a hose, a lead pipe, or a similar thing through an inside room. In such arrangement, it does not drive directly, but the back transmission head is connected with the crown which exists in a front head portion via the inclined umbrella gear crown, and a punctiform tooth or Matching is located in the outside of a central head portion. Therefore, if a central head portion is rotated, a back head portion tends to follow rotation of a central head portion based on bearing to a central head portion. However, since there is a front punctiform tooth or Matching with a head portion, a back head portion rolls along with - of the front held at immobility, and the crown of a Rad portion, and rocking movement of a back head portion arises by this. On the other hand, if 7 Do portions are rotated to that front, a back head portion will carry out raw [ of the peculiar rotating motion with the simultaneous almost same inconvenient rotation angle ]. Peculiar rotating motion becomes Beef bundle Results about the relative motion of the transmission portion which supports each other movably and influences each other. A tooth gears and play of the error and tooth of a Synthesis part, or a Matching part has Negative remarkable influence on the spatial assignment relation of a head portion by not being provided in a driving side with a transmission head with a publicly known high slowdown gearing of the moderating ratio which decreases the operation of an error and relative motion. On the other hand, in the present invention, a remarkable improvement is obtained by this based on bringing about a compact structure where constant high accuracy is remarkable, over the long time of movement using the support by the tooth by which is located inside and lubricous is carried out to Oil bath type, the Matching part, and the high slowdown gearing of the moderating ratio by the side of ,-ed drive. Relative rotating motion is effective only at a moderating ratio, and is offset by control. The present invention shows that exclusion of calculative 2 Righteousness indicated by the West German patent application public presentation No. 6428748 specification is not a uniquely possible means by supporting a tool maintenance object or a flange plate movably so that rotation in a back head portion is possible, and driving especially. the advantageous embodiment of the present invention indicates and appears in the dependent claim of a claim. Next, the example of the present invention is concretely described using a drawing. Drawing 1 shows that 2 Righteousness to numerical control exist, when it is supported movably rotatably and drives focusing on ,-ed driving shaft line 46 by which a tool maintenance object or flange plate 38 is located in same axle to driving shaft line 4 in strange 1 portion 3 behind a transmission head. That is, rotation of the tool maintenance object centering on driven axis 46 is possible also by rotation of head portion 1 ahead of the transmission head centering on driving shaft line 4. in this case, 2 Righteousness will be avoided, if front head portion 1 arranges impossible [ rotation ] and comes out focusing on driving shaft line 4. The fixed pivot line inclined with numerals 5 and 6 is shown, and relative rotating motion of head portion 2 of the center to head portions 1 and 3 of the front or back is performed focusing on this fixed pivot line. Drawing 2 shows a possibility of avoiding 2 Righteousness, by leaning driven axis 46 to an acute angle, and arranging it to driving shaft line 4. Advantageously, in order that driven axis 46 may do calculation of movement progress easy, crossing 9 of fixed pivot lines 5 and 6 of inclined both is intersected. It is an example roughly about the umbrella gear for driving flange plate 38 with numerals 33.34. When this performs rotating motion of flange plate 38 centering on a driven axis for this reason, it is clear that the drive of front head portion 1 does not involve. Therefore, 2 Righteousness are avoided. Back head portion 3 is made to carry out a Rotation side to a predetermined angle (2 alpha) to driving shaft line 4, and rotation 1 different drives in this case are used so that clearly from Drawings 6 and 4. In Drawing 6, 180 degrees of back head portions 3 are revolved to head portion 2 of an immovable center. In Drawing 4, 180 degrees of central head portions 2 are rotated to front head portion 1 together with head portion 3 of the back which occupies the same position. 2 Righteousness which arise by this are removed in the example of Drawing 5 to Drawing 11. In the example of Drawing 5, it is a size from which angle alpha1.alpha2 of fixed pivot line 5.6 of inclined both differs, and as a result, intersection 9 shifts from the symmetrical position shown in Drawing 1 to the side, and is located. Therefore, the same rotation of both head portions 2 and 3' carries out raw [ of the mutually different angle position ]. Drawing 6 shows that intersection 9 of fixed pivot lines 5 and 6 of both which fixed pivot line 5 inclined from the figure plane, and inclined remains in a factor side. Ellipse 47 has shown the sloping surface of revolution roughly, and it is mutually shown to both head portions 1.2 to it along the surface of revolution. The thought of Drawing 6 is expanded and both fixed pivot lines 5 and 6 are made to incline outside from a figure plane in Drawing 7. All the examples of Drawing 5 to Drawing 7 show the possibility for avoiding 2 Righteousness which arise in Drawings 3 and 4. In the case of Drawing 7, intersection 9 of inclined fixed pivot lines 5 and 6 separates from driving shaft line 4, or, similarly, is located in a factor side. Intersection gamma of inclined fixed pivot lines 5 and 6 is located on driving shaft line 4, and calculation of automatic movement control becomes very easy when 46- intersects intersection 9', driven axes 46' and 46" and. At the example of Drawing 8 to Drawing 11, it is a driven axis, When numerals 46' has shown when it is located in same axle to driving shaft line 4 and intersects intersection 9' (Drawings 8 and 10), and a driven axis accomplishes driving shaft line 4 and an angle and intersects crossing 9', it is an example in numerals 4 Can ' (Drawings 9 and 10). In the example of Drawing 8, it shifts to the side and is supported movably so that fixed pivot lines 5 and 6 by which head portions 1 and 3 of the front and back inclined may cross within driving shaft line 4. Driven axis [ additionally as opposed to driving shaft line 4 at the example of Drawing 9 ] 4 "the inclination position of ' is shown, This - as already stated, the 2 Tightness of control of a 1 driven axis are eliminated -- obtain and driven axis 4"' piles up with fixed pivot line 6 It is shown as driven axis 46'', and a transmission member and by extension, structural expense are reduced by Ah Si and this in respect of -, and in the other side, operation space takes for many examples of use, and becomes small enough. Inconvenient calculative 2 Tightness do not arise by the same axle nature of fixed pivot line 6 and driven axis 46'', but it is because the latter fixed pivot line does not function as single Axis on the occasion of the intratemporal transmission combination with fixed pivot lines 5 and 6. Drawings 8 and 9 are left from driving shaft line 4, fixed pivot line 5.6, driven axis 46.46", and the place located in a factor side in the extension position of a 4fI'7>; transmission head. In the case of Drawing 8, 2 Tightness described in Drawings 6 and 4 have not been eliminated yet. However, these 2 Tightness are removed by making fixed pivot lines 5 and 6 incline outside from a factor side so that clearly from Drawings 6 and 7. The means relevant to the same axle position of intersection 9' of an axis (4, 5, 6, 46', 46", 46''') is an example in the example of Drawings 10 and 11. Drawings 10 and 11 are side views and top views of change implementation to Drawing 7, and each head portion 1 and 2*3 have Kay / Tongue portion carried out by carrying out side Hedge out for supporting movably inclined fixed pivot lines 5 and 6 projected back and ahead from a factor side. Intersection 9' of inclined fixed pivot lines 5 and 6 is located in a factor side, and they are driving shaft line 4 and driven axis 46'. 4 "it is a common terminal point of '. Driven axis 4 "' inclines and is arranged, as a result, a driven axis does not accomplish the same rank to driving shaft line 4, but is located in a factor side, therefore calculative 2 Tightness do not arise. Based on the present invention, intersection 9' shown in Drawing 11 of the axis (4, 5, 6, 46', 46", 46") from Drawing 8 is the central point of a ball joint or the Cardin joint 49, and is Ah Si, Via the ball joint or the Cardin joint, spatially, driving shaft line 4 is combined with driven axis 46', 4 Er', and 46" so that movement is possible. A ball joint or the Cardin joint 49 is an example roughly. From Drawing 12, the structural example for driving flange plate 38 departs for Drawing 14 from Drawing 1, and is shown in it, and ,-ed driving shaft line 46 is arranged in parallel in same axle to driving shaft line 4 in Drawing 13 in Drawing 12 in this case. An example with Drawings 8 and 9 structural in Drawing 14 is an example. Intersections gamma of fixed pivot lines 5 and 6 are driving shaft line 4 and driven axis 46', and 4 Er' and a terminal point common to 46" A. The arrangement toward which driven axis 35 located in ,-ed driving shaft line 4sigma/and 46/// inclined is advantageous in order to avoid calculative 2 Tightness in Manipulator in which path control is mainly possible. joint 2- In the example, inside driving shaft 13 is combined with hollow shaft 16 via umbrella gear 14.15, and the hollow shaft is used as central head portion 2 via Decreasing speed device 17. Fixed pivot line 5 is rotated by central head portion 2 as a center via an umbrella spur gearing (14, 15). The central head portion is guided around the perpendicular field to fixed pivot line 5 via suitable supporting part 40 of front head portion 1. outside driving shaft 26 is acting on front head portion 1 directly via slowdown gearing 27 -- this transmission head portion -- a jib -- being arranged in same axle to arm 28 -- this jib -- it is supported movably by the arm so that rotation is possible. All the slowdown gearings 17*25 and 27.36 are arranged at the driving side, and a spatially compact, therefore small transmission head structure where there is no play is acquired by this. Slowdown gearings 17, 25, 27, and 36 are formed for the strong slowdown. Hollow shaft 32 is arranged along 2nd inclined fixed pivot line 6, and hollow shaft 32 is combined with hollow shaft 16 located ahead of hollow shaft 32 the very thing via umbrella gear 44.45. Hollow shaft 16 drives a central head portion focusing on fixed pivot line 5 inclined via large slowdown gearing 17 of the moderating ratio supported into front head portion 1. Via large slowdown gearing 25 of a moderating ratio, another hollow shaft 32 is supported into central head portion 2, and drives back head portion 3 focusing on 2nd inclined fixed pivot line 6 into it. Both slowdown gearings 17.25 have made the slowdown the same size, are advantageously incorporated in mirror symmetry mutually, and although head portions 2 and 3 supported movably mutually as a result are mutually on the occasion of rotation of hollow shaft 16.32 at the time of said, they perform reverse rotating motion mutually. Based on the above-mentioned arrangement form, a drive system can be drawn through hollow shaft 16.32, A drive system acts on driven axis 35 via intermediate shafts 21 and 24 and umbrella gear group 22.23; 33.34 which leave central driving shaft 18 and are located inside, and ,-ed driving shaft is supported by back head portion 3 via high slowdown gearing 36 of a moderating ratio. Flange plate 38 drove, and the flange plate is guided by this via supporting part 37 at back head portion 3, and receives the tool maintenance object by it. Via supporting part 39, back head portion 3 is guided so that rotation into central head portion 2 is possible, and via supporting part 40, the central head portion is guided at front head 1 so that rotation is possible. Intermediate shaft 24 is a driving side and is guided via supporting part 41 at back head portion 3, and it is a drive side, and shows around via supporting part 43 at hollow shaft 32, and the hollow shaft itself is supported movably by central head portion 2 via supporting part 42. In Drawing 12, intersection 9 of inclined fixed pivot lines 5 and 6 is detached and provided from driving shaft line 4. However, intersection 9 may be located in driving shaft line 4, as shown in Drawing 16. In this case, omitted portion 29 provided with flange portion 30.31 is used. Based on the above-mentioned composition, driven axis 35 is shifted to the side in parallel to driving shaft line 4. Useless gap return mechanism 48 which supports driven axis 35 movably is provided in a back head portion, it shifts to it, a return mechanism removes a gap and this locates driven axis 35 in same mind to driving shaft line 4 in the extension position of transmission head <1.2.3 to avoid for FTP control. two forks with calculative Drawing 14 -- the example of useless Manipulator of a path control type which avoids a sex is shown, and priority is given to the driven axis 4"Slope of position in this case. -ed -- 1 ... driven axis 35 shifts and Dynamic axis 46' (Drawing 14) is made to be generated by return mechanism 48 As shown in Drawing 14, the inclination of driven axis 46" to driving shaft line 4 is not only turned below, but is turned to the upper part. for example, the inside of a factor side -- or the three-dimensional inclination position from a factor side to the outside may also be used useless [ solution of the subject of the present invention ].

[Brief Description of the Drawings]

In Drawings 1, Drawing 2 is an outline side view in the extension position of a transmission head, and an outline side view in the extension position of the example provided with the driven axis inclined and arranged, The schematic diagram and Drawings 12, 13, and 14 of a different example which has the axis which Drawings 6 and 4 have been arranged in form with special outline side view, Drawing 5, Drawing 6, Drawing 7, Drawing 8, and Drawings 9, 10, and 11 in a revolution position of an example, and inclined are a longitudinal section of a different example. 1.2 and 3 ... A head portion, 4 ... A driving shaft line, 5 and 6 ... Fixed pivot line, 9 and 9' ... An intersection, 13 ... A driving shaft, 14 and 15 ... Umbrella gear, 16 ... hollow shaft, 17 ... slowdown gearing, 18 ... a driving shaft, and 19 and 20 ... Umbrella gear, 21 ... An intermediate shaft, 22 and 23 ... The umbrella gear, 24 ... Intermediate shaft, 25 ... slowdown gearing, 26 ... driving shaft, 27 ... slowdown gearing, 28 ... a jib -- An arm and 29 ... an omitted portion, and 30 and 31 ... a flange portion, 32 ... A hollow shaft, 33 and 34 ... The umbrella gear, 35 ... Driven axis, 36 ... slowdown gearing, 37 ... supporting part, 38 ... a flange plate and 39~43 [ ... An ellipse, 48 / ... It shifts and is a return mechanism and 49. / ... Cardin joint ] ... A supporting part, 44 and 45 ... The umbrella gear, 46, 46', 4Er', and 46'' ... ,-ed driving shaft, 47 1-2-3'-i *y ゝA dog 1 figure 33 transmission system Drawing 10 1, 2.3 : Head portion 38: Franc Shiburet