JP2009184049A5 - - Google Patents

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JP2009184049A5
JP2009184049A5 JP2008024819A JP2008024819A JP2009184049A5 JP 2009184049 A5 JP2009184049 A5 JP 2009184049A5 JP 2008024819 A JP2008024819 A JP 2008024819A JP 2008024819 A JP2008024819 A JP 2008024819A JP 2009184049 A5 JP2009184049 A5 JP 2009184049A5
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motor
output shaft
movable part
wrist mechanism
industrial robot
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上部アーム先端に設けられ、合計３軸の自由度を有する産業用ロボットの手首機構において、
前記３軸のそれぞれを駆動する駆動源が、回転型モータと、前記回転型モータの回転が入力され、前記回転モータとは独立して配置された減速機と、を備え、
前記３軸における前記回転型モータと前記減速機のいずれか１つを前記上部アームから取り外す際、残りの他の前記回転型モータと他の減速機の相対位置関係をくずすことなく取り外し可能に構成されたこと、
を特徴とする産業用ロボットの手首機構。 In the wrist mechanism of an industrial robot provided at the tip of the upper arm and having a total of three axes of freedom,
A drive source for driving each of the three axes includes a rotary motor, and a speed reducer that receives rotation of the rotary motor and is arranged independently of the rotary motor,
When removing any one of the rotary motor and the speed reducer in the three axes from the upper arm, the configuration can be removed without destroying the relative positional relationship between the other rotary motor and the other speed reducer. Has been done,
Industrial robot wrist mechanism. 前記手首機構が、
前記上部アームの先端に固定された第１モータと、
前記上部アームにおいて前記第１モータのさらに先端側に固定され、前記第１モータの出力が入力され、出力軸が前記上部アームの円筒中心軸と同一軸上に配置された第１減速機と、
前記第１減速機の出力軸に接続された第１可動部と、
前記第１可動部に固定された第２モータと、
前記第１可動部に固定され、前記第２モータの出力が入力され、出力軸が前記第１減速機の出力軸と同一平面上で直交する位置に配置された第２減速機と、
前記第２減速機の出力軸に接続された第２可動部と、
前記第２可動部に固定された第３モータと、
前記第２可動部に固定され、前記第３モータの出力が入力され、出力軸が前記第２減速機の出力軸と同一平面上で直交するとともに、前記第２減速機の出力軸によって回転したときに形成する面が前記第１減速機の出力軸を含むように配置された第３減速機と、
前記第３減速機の出力軸に固定され、エンドエフェクタを装着可能な第３可動部と、から構成されたことを特徴とする請求項１記載の産業用ロボットの手首機構。 The wrist mechanism is
A first motor fixed to the tip of the upper arm;
A first speed reducer that is fixed further to the front end side of the first motor in the upper arm, to which the output of the first motor is input, and whose output shaft is disposed on the same axis as the cylindrical central axis of the upper arm;
A first movable part connected to the output shaft of the first reducer;
A second motor fixed to the first movable part;
A second speed reducer fixed to the first movable part, to which an output of the second motor is input, and an output shaft disposed at a position orthogonal to the output shaft of the first speed reducer;
A second movable part connected to the output shaft of the second reducer;
A third motor fixed to the second movable part;
It is fixed to the second movable part, the output of the third motor is input, the output shaft is orthogonal to the output shaft of the second reducer and is rotated by the output shaft of the second reducer A third reducer arranged so that the surface to be formed sometimes includes the output shaft of the first reducer;
2. The wrist mechanism for an industrial robot according to claim 1 , further comprising a third movable part fixed to an output shaft of the third reduction gear and capable of mounting an end effector. 前記第１モータの出力軸が前記上部アームの円筒中心軸と同一軸上に配置され、前記第１モータと前記第１減速機との間であって前記第１モータの出力軸からシフトした位置に減速シャフトが配置され、前記減速シャフトを介して前記第１モータの出力が前記第１減速機に入力されたことを特徴とする請求項２記載の産業用ロボットの手首機構。 The position where the output shaft of the first motor is arranged on the same axis as the cylindrical central axis of the upper arm and is shifted from the output shaft of the first motor between the first motor and the first speed reducer. 3. The wrist mechanism for an industrial robot according to claim 2 , wherein a speed reduction shaft is disposed on the first speed reducer and an output of the first motor is input to the first speed reducer via the speed reduction shaft. 前記第２モータの出力軸は、前記第２減速機の出力軸と同一軸上になるよう配置されたことを特徴とする請求項２または３記載の産業用ロボットの手首機構。 The output shaft of the second motor, according to claim 2 or 3 an industrial robot wrist mechanism according to characterized in that it is arranged so that the output shaft on the same axis as the second reduction gear. 前記第３モータの出力軸は、前記第３減速機の出力軸と同一軸上になるよう配置されたことを特徴とする請求項２または３または４記載の産業用ロボットの手首機構。 5. The wrist mechanism for an industrial robot according to claim 2, 3 or 4 , wherein the output shaft of the third motor is arranged to be on the same axis as the output shaft of the third reduction gear. 前記第１可動部は、前記第２モータの反出力側に対向する位置に前記第２モータを覆う蓋が脱着可能に形成されていることを特徴とする請求項４または５記載の産業用ロボットの手首機構。 The industrial robot according to claim 4 or 5, wherein the first movable part is formed so that a cover covering the second motor is detachable at a position facing the opposite output side of the second motor. Wrist mechanism. 前記第１可動部は、前記第２減速機の出力軸と前記第２可動部とが接続される側に脱着可能なカバーを備えたことを特徴とする請求項１乃至６いずれかに記載の産業用ロボットの手首機構。 The said 1st movable part was equipped with the cover which can be attached or detached to the side to which the output shaft of the said 2nd reduction gear and the said 2nd movable part are connected, The Claim 1 thru | or 6 characterized by the above-mentioned. Industrial robot wrist mechanism. 前記第１モータと前記第１減速機とに中空穴が形成され、
前記第１可動部の基端側が円筒状に形成されて前記中空穴と連通され、
前記第２モータ及び前記第３モータへ接続されるケーブルが、前記中空穴及び前記第１可動部の基端側の円筒に挿通されたことを特徴とする請求項３乃至７いずれかに記載の産業用ロボットの手首機構。 A hollow hole is formed in the first motor and the first speed reducer,
The base end side of the first movable part is formed in a cylindrical shape and communicates with the hollow hole,
The second motor and the third cable connected to the motor, according to any one of claims 3 to 7, characterized in that inserted into the cylinder of the hollow bore and the proximal side of the first movable part Industrial robot wrist mechanism. 前記第１可動部は、前記第２モータの反出力側に対向する位置に前記第２モータを覆う脱着可能な蓋を備えて前記蓋の内側に通路が形成され、かつ、前記第２減速機の出力軸と前記第２可動部とが接続される側に脱着可能なカバーを備えて前記カバーの内側に通路が形成され、
前記第２可動部は、その基端に前記カバーの内側の通路に連通する通路が形成され、
前記第２モータ及び前記第３モータへ接続されるケーブルが、前記中空穴及び前記第１可動部の基端側の円筒に挿通されたのち、その一部が前記蓋の内側の通路を通って前記第２モータへ接続され、その一部が前記カバーの内側の通路と前記第２可動部の通路とを通って前記第３モータへ接続されることを特徴とする請求項８記載の産業用ロボットの手首機構。 The first movable portion includes a detachable lid that covers the second motor at a position facing the opposite output side of the second motor, a passage is formed inside the lid, and the second speed reducer A passage is formed on the inner side of the cover with a removable cover on the side where the output shaft and the second movable part are connected,
The second movable part is formed with a passage communicating with a passage inside the cover at a base end thereof.
After the cable connected to the second motor and the third motor is inserted into the hollow hole and the cylinder on the proximal end side of the first movable part, a part of the cable passes through the passage inside the lid. 9. The industrial use according to claim 8, wherein a part of the second motor is connected to the third motor through a passage inside the cover and a passage of the second movable part. Robot wrist mechanism. 前記手首機構が、
前記上部アームの側面に固定された第１モータと、
前記上部アームにおいて前記第１モータのさらに先端側に固定され、前記第１モータの出力が入力され、前記上部アームの円筒中心軸と同一軸上に配置された出力軸を有する第１減速機と、
前記第１減速機の出力軸に接続された第１可動部と、
前記第１可動部の側面に固定された第２モータと、
前記第１可動部の側面に固定され、前記第２モータの出力が入力され、出力軸が前記第１減速機の出力軸と同一平面上で直交する位置に配置された第２減速機と、
前記第２減速機の出力軸に接続された第２可動部と、
前記第２可動部に固定された第３モータと、
前記第２可動部に固定され、前記第３モータの出力が入力され、出力軸が前記第２減速機の出力軸と同一平面上で直交するとともに、前記第２減速機の出力軸によって回転したときに形成する面が前記第１減速機の出力軸を含むように配置された第３減速機と、
前記第３減速機の出力軸に固定され、エンドエフェクタを装着可能な第３可動部と、から構成されたことを特徴とする請求項１記載の産業用ロボットの手首機構。 The wrist mechanism is
A first motor fixed to a side surface of the upper arm;
A first speed reducer having an output shaft that is fixed to a further tip side of the first motor in the upper arm, receives an output of the first motor, and has an output shaft disposed on the same axis as the cylindrical central axis of the upper arm; ,
A first movable part connected to the output shaft of the first reducer;
A second motor fixed to a side surface of the first movable part;
A second reduction gear fixed to a side surface of the first movable portion, to which an output of the second motor is input, and an output shaft arranged at a position orthogonal to the output shaft of the first reduction gear;
A second movable part connected to the output shaft of the second reducer;
A third motor fixed to the second movable part;
It is fixed to the second movable part, the output of the third motor is input, the output shaft is orthogonal to the output shaft of the second reducer and is rotated by the output shaft of the second reducer A third reducer arranged so that the surface to be formed sometimes includes the output shaft of the first reducer;
2. The wrist mechanism for an industrial robot according to claim 1 , further comprising a third movable part fixed to an output shaft of the third reduction gear and capable of mounting an end effector. 前記第１モータは、出力軸が前記上部アームの円筒中心軸と同一平面上で直交する位置に配置されたことを特徴とする請求項１０記載の産業用ロボットの手首機構。 11. The wrist mechanism for an industrial robot according to claim 10, wherein the output shaft of the first motor is arranged at a position orthogonal to the cylindrical central axis of the upper arm on the same plane. 前記第１減速機の出力軸と同一軸上に配置され、前記第１モータの出力を前記第１減速機に入力する傘歯車を備えたことを特徴とする請求項１１記載の産業用ロボットの手首機構。 The industrial robot according to claim 11 , further comprising a bevel gear disposed on the same axis as the output shaft of the first speed reducer and configured to input an output of the first motor to the first speed reducer. Wrist mechanism. 前記第２モータは、出力軸が前記第２減速機の出力軸と平行に配置されたことを特徴とする請求項１０乃至１２いずれかに記載の産業用ロボットの手首機構。 The wrist mechanism of the industrial robot according to any one of claims 10 to 12, wherein an output shaft of the second motor is arranged in parallel with an output shaft of the second reduction gear. 前記第１可動部が円筒状に形成され、前記第２モータは、出力軸が前記第１可動部の円筒内に突出しないように配置されたことを特徴とする請求項１３記載の産業用ロボットの手首機構。 14. The industrial robot according to claim 13, wherein the first movable part is formed in a cylindrical shape, and the second motor is arranged so that an output shaft does not protrude into the cylinder of the first movable part. Wrist mechanism. 前記第２モータと前記第２減速機は、前記第１可動部の側面において、同じ側であって前記上部アームの延在する方向に並んで配置されたことを特徴とする請求項１３または１４記載の産業用ロボットの手首機構。 It said second motor and said second speed reducer according to claim 13 or 14 in the side surface of the first movable part, characterized in that it is arranged in a direction extending in the upper arm comprising on the same side Wrist mechanism for the described industrial robot. 前記第３モータは、出力軸が前記第２減速機の出力軸と平行になるよう前記第２可動部に固定されたことを特徴とする請求項１０乃至１５いずれかに記載の産業用ロボットの手首機構。 The industrial robot according to any one of claims 10 to 15 , wherein the third motor is fixed to the second movable portion so that an output shaft thereof is parallel to an output shaft of the second reduction gear. Wrist mechanism. 前記第１モータの出力を前記第１減速機に入力する傘歯車が円筒状に形成され、
前記第１減速機に中空穴が形成され、
前記第１可動部の基端側が円筒状に形成されて前記第１減速機の中空穴と前記傘歯車の円筒とに挿通されたことを特徴とする請求項１０乃至１６いずれかに記載の産業用ロボットの手首機構。 A bevel gear for inputting the output of the first motor to the first speed reducer is formed in a cylindrical shape,
A hollow hole is formed in the first reduction gear,
The industry according to any one of claims 10 to 16, wherein a base end side of the first movable part is formed in a cylindrical shape and is inserted into a hollow hole of the first reduction gear and a cylinder of the bevel gear. Robot wrist mechanism. 前記第１可動部の円筒の先端側が開口され、
前記第２モータ及び前記第３モータへ接続されるケーブルが、前記第１可動部の円筒に挿通されたのち、前記開口へ導出され、その一部が前記第２モータへ接続され、その一部が前記第３モータへ接続されることを特徴とする請求項１７記載の産業用ロボットの手首機構。 The front end side of the cylinder of the first movable part is opened,
A cable connected to the second motor and the third motor is inserted into the cylinder of the first movable part and then led out to the opening, and a part thereof is connected to the second motor, and a part thereof. 18. The wrist mechanism for an industrial robot according to claim 17 , wherein the wrist mechanism is connected to the third motor. 前記手首機構が、
前記上部アームの後端に固定された第１モータと、
前記上部アームの先端に固定され、前記第１モータの出力が入力され、出力軸が前記上部アームの円筒中心軸と同一軸上に配置された第１減速機と、
前記第１減速機の出力軸に接続された第１可動部と、
前記第１可動部の側面に固定された第２モータと、
前記第１可動部の側面に固定され、前記第２モータの出力が入力され、出力軸が前記第１減速機の出力軸と同一平面上で直交する位置に配置された第２減速機と、
前記第２減速機の出力軸に接続された第２可動部と、
前記第２可動部に固定された第３モータと、
前記第２可動部に固定され、前記第３モータの出力が入力され、出力軸が前記第２減速機の出力軸と同一平面上で直交するとともに、前記第２減速機の出力軸によって回転したときに形成する面が前記第１減速機の出力軸を含むように配置された第３減速機と、
前記第３減速機の出力軸に固定され、エンドエフェクタを装着可能な第３可動部と、から構成されたことを特徴とする請求項１記載の産業用ロボットの手首機構。 The wrist mechanism is
A first motor fixed to a rear end of the upper arm;
A first speed reducer fixed to the tip of the upper arm, to which the output of the first motor is input, and whose output shaft is arranged on the same axis as the cylindrical central axis of the upper arm;
A first movable part connected to the output shaft of the first reducer;
A second motor fixed to a side surface of the first movable part;
A second reduction gear fixed to a side surface of the first movable portion, to which an output of the second motor is input, and an output shaft arranged at a position orthogonal to the output shaft of the first reduction gear;
A second movable part connected to the output shaft of the second reducer;
A third motor fixed to the second movable part;
It is fixed to the second movable part, the output of the third motor is input, the output shaft is orthogonal to the output shaft of the second reducer and is rotated by the output shaft of the second reducer A third reducer arranged so that the surface to be formed sometimes includes the output shaft of the first reducer;
2. The wrist mechanism for an industrial robot according to claim 1 , further comprising a third movable part fixed to an output shaft of the third reduction gear and capable of mounting an end effector. 前記第１モータは、出力軸が前記上部アームの円筒中心軸からシフトした位置に配置されていることを特徴とする請求項１９記載の産業用ロボットの手首機構。 20. The wrist mechanism for an industrial robot according to claim 19 , wherein the first motor is disposed at a position where an output shaft is shifted from a cylindrical central axis of the upper arm. 前記第１モータの出力軸に接続され、前記第１モータの出力軸と同一軸上で回転し、前記第１減速機に入力されるドライブシャフトを備えたことを特徴とする請求項２０記載の産業用ロボットの手首機構。 Which is connected to an output shaft of the first motor, the first and rotated by a motor output shaft on the same axis as, according to claim 20, wherein further comprising a drive shaft that is input to the first reduction gear Industrial robot wrist mechanism. 前記第２モータは、出力軸が前記第２減速機の出力軸と平行に配置されたことを特徴とする請求項１９乃至２１いずれかに記載の産業用ロボットの手首機構。 The wrist mechanism of the industrial robot according to any one of claims 19 to 21, wherein an output shaft of the second motor is disposed in parallel with an output shaft of the second reduction gear. 前記第１可動部が円筒状に形成され、前記第２モータは、出力軸が前記第１可動部の円筒内に突出しないように配置されたことを特徴とする請求項２２記載の産業用ロボットの手首機構。 23. The industrial robot according to claim 22, wherein the first movable part is formed in a cylindrical shape, and the second motor is arranged so that an output shaft does not protrude into the cylinder of the first movable part. Wrist mechanism. 前記第２モータと前記第２減速機は、前記第１可動部の側面において、同じ側であって前記上部アームの延在する方向に並んで配置されたことを特徴とする請求項２２または２３記載の産業用ロボットの手首機構。 It said second motor and said second speed reducer according to claim 22 or 23 in the side surface of the first movable part, characterized in that it is arranged in a direction extending in the upper arm comprising on the same side Wrist mechanism for the described industrial robot. 前記第３モータは、出力軸が前記第２減速機の出力軸と平行になるよう前記第２可動部に固定されたことを特徴とする請求項１９乃至２４いずれかに記載の産業用ロボットの手首機構。 25. The industrial robot according to claim 19 , wherein the third motor is fixed to the second movable portion so that an output shaft thereof is parallel to an output shaft of the second reduction gear. Wrist mechanism. 前記第１減速機に中空穴が形成され、
前記第１可動部の基端側が円筒状に形成されて前記第１減速機の中空穴に挿通されたことを特徴とする請求項１９乃至２５いずれかに記載の産業用ロボットの手首機構。 A hollow hole is formed in the first reduction gear,
The wrist mechanism of the industrial robot according to any one of claims 19 to 25, wherein a base end side of the first movable part is formed in a cylindrical shape and is inserted into a hollow hole of the first speed reducer. 前記第１可動部の円筒の先端側が開口され、
前記第２モータ及び前記第３モータへ接続されるケーブルが、前記第１可動部の円筒に挿通されたのち、前記開口へ導出され、その一部が前記第２モータへ接続され、その一部が前記第３モータへ接続されることを特徴とする請求項２６記載の産業用ロボットの手首機構。 The front end side of the cylinder of the first movable part is opened,
A cable connected to the second motor and the third motor is inserted into the cylinder of the first movable part and then led out to the opening, and a part thereof is connected to the second motor, and a part thereof. 27. The wrist mechanism for an industrial robot according to claim 26, wherein: is connected to the third motor. 前記手首機構が、
出力軸が前記上部アームの円筒中心軸と同一軸上に配置されるとともに前記上部アームの先端に接続された第１減速機と、
前記第１減速機を固定する第１可動部と、
前記第１可動部の側面に固定され、出力が前記第１減速機に入力される第１モータと、
前記第１可動部の側面に固定された第２モータと、
前記第１可動部に固定され、前記第２モータの出力が入力され、出力軸が前記第１減速機の出力軸と同一平面上で直交する位置に配置された第２減速機と、
前記第２減速機の出力軸に接続された第２可動部と、
前記第２可動部に固定された第３モータと、
前記第２可動部に固定され、前記第３モータの出力が入力され、出力軸が前記第２減速機の出力軸と同一平面上で直交するとともに、前記第２減速機の出力軸によって回転したときに形成する面が前記第１減速機の出力軸を含むように配置された第３減速機と、
前記第３減速機の出力軸に固定され、エンドエフェクタを装着可能な第３可動部と、から構成されたことを特徴とする請求項１記載の産業用ロボットの手首機構。 The wrist mechanism is
A first speed reducer having an output shaft disposed on the same axis as the cylindrical central axis of the upper arm and connected to a tip of the upper arm;
A first movable part for fixing the first reduction gear;
A first motor that is fixed to a side surface of the first movable part and whose output is input to the first reduction gear;
A second motor fixed to a side surface of the first movable part;
A second speed reducer fixed to the first movable part, to which an output of the second motor is input, and an output shaft disposed at a position orthogonal to the output shaft of the first speed reducer;
A second movable part connected to the output shaft of the second reducer;
A third motor fixed to the second movable part;
It is fixed to the second movable part, the output of the third motor is input, the output shaft is orthogonal to the output shaft of the second reducer and is rotated by the output shaft of the second reducer A third reducer arranged so that the surface to be formed sometimes includes the output shaft of the first reducer;
2. The wrist mechanism for an industrial robot according to claim 1 , further comprising a third movable part fixed to an output shaft of the third reduction gear and capable of mounting an end effector. 前記第１モータは、出力軸が前記第１減速機の出力軸と同一平面上で直交する位置に配置されたことを特徴とする請求項２８記載の産業用ロボットの手首機構。 29. The wrist mechanism for an industrial robot according to claim 28, wherein the output shaft of the first motor is disposed at a position orthogonal to the output shaft of the first reduction gear on the same plane. 前記第１減速機の出力軸と同一軸上に配置され、前記第１モータの出力を前記第１減速機に入力する傘歯車を備えたことを特徴とする請求項２９記載の産業用ロボットの手首機構。 30. The industrial robot according to claim 29 , further comprising a bevel gear disposed on the same axis as the output shaft of the first speed reducer and configured to input the output of the first motor to the first speed reducer. Wrist mechanism. 前記第２モータは、出力軸が前記第１減速機の出力軸と同一平面上で直交する位置に配置されたことを特徴とする請求項２８乃至３０いずれかに記載の産業用ロボットの手首機構。 31. The wrist mechanism for an industrial robot according to any one of claims 28 to 30 , wherein the second motor has an output shaft disposed at a position orthogonal to the output shaft of the first speed reducer on the same plane. . 前記第２モータは、出力軸が前記第２減速機の出力軸と同一軸上になるよう配置されたことを特徴とする請求項２８乃至３０いずれかに記載の産業用ロボットの手首機構。 31. The wrist mechanism for an industrial robot according to claim 28 , wherein the second motor is disposed such that an output shaft is on the same axis as an output shaft of the second reduction gear. 前記第１モータと前記第２モータは、前記第１可動部の側面において、同じ側であって前記上部アームの延在する方向に並んで配置されたことを特徴とする請求項３２記載の産業用ロボットの手首機構。 The industry according to claim 32, wherein the first motor and the second motor are arranged on the same side of the side of the first movable part and in a line in the direction in which the upper arm extends. Robot wrist mechanism. 前記第３モータの出力軸は、前記第３減速機の出力軸と同一軸上に配置されたことを特徴とする請求項２８乃至３４いずれかに記載の産業用ロボットの手首機構。 35. The wrist mechanism of the industrial robot according to claim 28 , wherein an output shaft of the third motor is disposed on the same axis as an output shaft of the third reduction gear. 前記第１可動部には、前記第１モータと前記第２モータの反出力側に対向する位置に前記第１モータと前記第２モータを覆う蓋が脱着可能に形成されていることを特徴とする請求項３３記載の産業用ロボットの手首機構。 The first movable part is formed with a lid that covers the first motor and the second motor so as to be detachable at a position facing the opposite output sides of the first motor and the second motor. 34. A wrist mechanism for an industrial robot according to claim 33 . 前記第１可動部は、前記第２減速機の出力軸と前記第２可動部とが接続される側に脱着可能なカバーを備えたことを特徴とする請求項２８記載の産業用ロボットの手首機構。 29. The wrist of the industrial robot according to claim 28, wherein the first movable portion includes a detachable cover on a side where the output shaft of the second reducer and the second movable portion are connected. mechanism. 前記第１減速機に中空穴が形成され、
前記上部アームの先端側が円筒状に形成されて前記中空穴と挿通され、
前記第１モータ、前記第２モータ及び前記第３モータへ接続されるケーブルが、前記上部アームの先端側の円筒に挿通されたことを特徴とする請求項２８記載の産業用ロボットの手首機構。 A hollow hole is formed in the first reduction gear,
The tip side of the upper arm is formed in a cylindrical shape and is inserted through the hollow hole,
29. The wrist mechanism of the industrial robot according to claim 28 , wherein a cable connected to the first motor, the second motor, and the third motor is inserted into a cylinder on a distal end side of the upper arm. 前記第１可動部は、前記第２モータ及び前記第３モータの反出力側に対向する位置に前記第２モータと前記第３モータを覆う脱着可能な蓋を備えて前記蓋の内側に通路が形成され、かつ、前記第２減速機の出力軸と前記第２可動部とが接続される側に脱着可能なカバーを備えて前記カバーの内側に通路が形成され、
前記第２可動部は、その基端に前記カバーの内側の通路に連通する通路が形成され、
前記第１モータ、前記第２モータ及び前記第３モータへ接続されるケーブルが、前記第１可動部の基端側の円筒に挿通されたのち、その一部が前記蓋の内側の通路を通って前記第１モータと前記第２モータへ接続され、その一部が前記カバーの内側の通路と前記第２可動部の通路とを通って前記第３モータへ接続されることを特徴とする請求項３７記載の産業用ロボットの手首機構。 The first movable portion includes a removable lid that covers the second motor and the third motor at a position opposite to the opposite output side of the second motor and the third motor, and a passage is formed inside the lid. Formed and provided with a removable cover on the side where the output shaft of the second reduction gear and the second movable part are connected, a passage is formed inside the cover,
The second movable part is formed with a passage communicating with a passage inside the cover at a base end thereof.
After the cables connected to the first motor, the second motor, and the third motor are inserted into the cylinder on the proximal end side of the first movable portion, a part of the cable passes through the passage inside the lid. The first motor and the second motor are connected to each other, and a part thereof is connected to the third motor through a passage inside the cover and a passage of the second movable portion. Item 38. The wrist mechanism of the industrial robot according to Item 37 . 請求項１、請求項１０、請求項１９、請求項２８いずれかに記載の手首機構と、前記上部アームを上下に揺動可能に支持する下部アームと、前記下部アームを前後に揺動可能に支持する旋回ヘッドと、前記旋回ヘッドを垂直軸回りに旋回可能に支持するベースと、から構成されたことを特徴とする合計６軸の産業用ロボット。 The wrist mechanism according to any one of claims 1, 10 , 19 , and 28 , a lower arm that supports the upper arm so as to be able to swing up and down, and a mechanism that allows the lower arm to swing back and forth. A 6-axis industrial robot in total comprising a turning head for supporting and a base for supporting the turning head so as to be turnable about a vertical axis. 請求項１、請求項１０、請求項１９、請求項２８いずれかに記載の手首機構と、前記上部アームを上下に揺動可能に支持する上側下部アームと、前記上側下部アームを回転可能に支持する下側下部アームと、前記下側下部アームを前後に揺動可能に支持する旋回ヘッドと、前記旋回ヘッドを垂直軸回りに旋回可能に支持するベースと、から構成されたことを特徴とする合計７軸の産業用ロボット。
The wrist mechanism according to any one of claims 1, 10 , 19 , and 28 , an upper lower arm that supports the upper arm so as to swing up and down, and a support that rotatably supports the upper lower arm. A lower lower arm, a swivel head that supports the lower lower arm so as to be swingable back and forth, and a base that supports the swivel head so as to be able to swivel about a vertical axis. Industrial robot with a total of 7 axes.
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