JP3512679B2 - Industrial robot wrist device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wrist device for an industrial robot, in which piping, wiring for air, water, electricity, etc. supplied to a work tool attached to the tip of the industrial robot is arranged in the wrist device. The present invention relates to a wrist device of an industrial robot that enables

[0002]

2. Description of the Related Art Conventionally, at the tip of an industrial robot arm, tools suitable for the purpose of work are supported, and materials such as wires, paints, air, and power supplies, and pipe wiring members for supplying a power source are installed in the robot. Often pulled around along the arm.
Also, the area around the wrist is easily soiled by scattered materials generated during work, and for example, when painting, it is necessary to use expensive materials that are solvent resistant to diluents such as thinner,
It was necessary to pay attention to the ingress of the diluent itself from the outside and, conversely, the oil outflow from the drive unit. Normally, as processing of the piping and wiring member connected from the tools attached to the tip of the robot wrist, it is freely arranged around the vertically movable arm, but by drawing the piping and wiring member around the wrist and arm, Since the length of the piping and wiring members is sufficient to absorb the rotational movement of the wrist axis, the movement area (space) around the wrist of the robot is restricted, and attention must be paid to interference with peripheral devices and workpieces. It will be difficult and difficult in terms of operability. Further, as an adverse effect due to the length, for example, when the color is changed in the painting operation, the loss of paint is increased and the color changing time is extended, which is an obstacle in shortening the production time. Further, the piping and wiring members are treated as consumables due to external adhered substances, repeated rubbing against themselves, etc., and are subject to maintenance.

Japanese Patent Publication No. 4-46 is a conventional wrist device that allows a supply means such as air, water, and electricity supplied to a work tool attached to the tip of a conventional industrial robot to pass through the wrist.
In 720 and Japanese Patent No. 2746543, the piping and wiring member connected from the tools at the tip of the wrist passes through the double structural material of the housing and the guide member as a wrist unit, passes through the center of the arm, and moves in the opposite wrist direction. Since the end face of the arm is completely covered with the driving force transmitting material and the arm structure material, it is difficult to inspect or replace the internal piping and wiring member. Moreover, fairness
In No. 04-26995, the wrist unit structural material is composed of the first, second and third members having hollow holes and continuous passages inside, and the coating and air to the wrist tip tool provided on the third member Although it is configured to connect hoses for supplying such as from the arm side to the tip of the wrist, the structure is such that it is difficult to inspect or replace the internal piping and wiring member. Since it is driven via the member and the hollow gear, there are problems that the drive range of the wrist tip portion is limited, and the outside air is not cut off from the gear portion and the hollow path.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to provide a wrist device which allows a supply means such as air, water or electricity supplied to a work tool attached to the tip of an industrial robot to pass through the wrist. The piping / wiring member from the tools at the tip of the wrist can be easily inspected or exchanged from outside the wrist by the movement of the first and second and third axes at the tip of the wrist. Thus, it is an object of the present invention to provide a wrist device for an industrial robot, which has improved maintainability and whose drive range of the wrist tip is not limited. Another object of the present invention is to provide a wrist device for an industrial robot in which the outside air is cut off from the gear part and the hollow path, and the reliability of the hose and the life of the gear are improved. .

[0005]

Therefore, according to the present invention, in the wrist device of the industrial robot for positioning and operating the work tool, the first device is supported by the arm 27 so as to be rotatable about the first axis 14. Of the hollow connecting member 3 and the first hollow connecting member 3 and the inspection window 20A on the upper surface.
And an intermediate housing 1 rotatably supported about the second axis 15 via the second hollow connecting member 7 and the first hollow gear 51 in the outer housing. Hollow connection member 5 and second
A tool supporting member 4 rotatably supported about a third axis 16 via a hollow gear 10 of the first hollow connecting member 3, the second hollow connecting member 7, and the third hollow connecting member 7 The hollow connecting member 5 has a discontinuous cavity through which a piping / wiring member capable of supplying a material such as a hose can pass through.
0A is provided with a detachable cover 20, the first hollow connecting member 3 is provided with a first drive shaft 53 which is eccentric with respect to the first axis 14, and the first hollow gear 51 is provided with the first hollow gear 51. By means of a third drive shaft 52A eccentric to said second axis 15 which meshes with a gear of a second drive shaft 54 eccentric to said axis 14 and of said second hollow gear 10 to said first axis 14 Is rotated by a fifth drive shaft 9A that is eccentric with respect to the second axis 15 that engages with the gear of the fourth drive shaft 13 that is eccentric with respect to the first hollow connecting member 3 at the end. The second hollow connecting member 7, the first hollow gear 51, the third hollow connecting member 5 and the second hollow gear 10 are made not to be adjacent to each other, and the first axis 14 and the second axis 15 are provided. 42, the second axis 15 and the third axis The intersection 41 and 16 by being spaced apart from, the first hollow connecting member 3, the second hollow coupling member 7, a first ring gear 51, the third
The hollow connecting member 5 and the second hollow gear 10 of
A space for the inspection window 20A and a space for a pipe wiring member having a discontinuous cavity are ensured,
The second drive shaft 54 and the fourth drive shaft 13 are disposed substantially symmetrically with respect to the first axis 14 on both sides of the inspection window 20A.
The third drive shaft 52A and the fifth drive shaft 9A are the second drive shaft.
The above problem is solved by providing a wrist device for an industrial robot characterized in that the wrist device is incorporated in the side surface of the outer housing 2 on both sides of the inspection window 20A substantially symmetrically with respect to the axis 15.

Preferably, according to the structure of claim 2, a wrist device for an industrial robot is provided, in which the outside air is cut off from the gear part and the hollow path, and the reliability of the hose, gear life, etc. is improved. provide. More preferably, the structure of claim 3 makes it easier to inspect and replace the pipe wiring member from the outside of the wrist.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a three-dimensional perspective view showing a drive system according to an embodiment of the present invention with parts developed. (H1) shows a drive system of an intermediate housing 1, and (H2) shows an outer housing 2.
(K1) shows the drive system of the tool support member 4, FIG. 2 is an external view showing an embodiment of the present invention, and FIG. 3 is the right half on the III side of the three-dot chain line in FIG. 2 is a schematic sectional view of the left half which is the IV side of the three-dot chain line in FIG.

1 to 4, an arm 27 of an industrial robot (not shown) for positioning and operating a work tool is shown.
Has a first hollow connecting member 3 rotatably supported about the first axis 14 and is rotated by a gear 52 meshing with teeth of a first drive shaft 53 eccentric with respect to the first axis 14. To be done. The hollow connecting member 3 is connected to the outer housing 2 having the inspection window 20A by bolts 47, so that the outer housing 2 is supported by the arm 27 so as to be rotatable about the first axis 14. A removable cover 20 is provided on the inspection window 20A.

The intermediate housing 1 is connected to the outer housing 2 via the second hollow connecting member 7 and the first hollow gear 51.
It is rotatably supported about the second axis 15. Figure 1
As shown in FIG. 1, the intermediate housing 1 includes a first hollow gear 51
The first hollow gear 51 is rotated by the second drive shaft eccentric to the first axis 14 via the gear 52 and the gear 53 of the third drive shaft 52A eccentric to the second axis 15. The hollow gear 57 meshing with the gear 54 is rotated, and the hollow gear 57 is rotated by the gear of the sixth drive shaft 58 which is eccentric with respect to the first axis 14. The second hollow coupling member 7 is bolted to the outer housing 2, and the second hollow gear 10 is fitted with a second axis 15 which meshes with the gear of the fourth drive shaft 13 which is eccentric to the first axis 14. The first hollow gear 51 is rotatably supported by the outer housing 2 via a bearing by being rotated by a fifth drive shaft 9A which is eccentric with respect to each other.

The tool support member 4 is connected to the intermediate housing 1 via the third hollow connecting member 5 and the second hollow gear 10 to form a third hollow member.
It is rotatably supported about the axis 16. The tool support member 4 is rotated by a gear 12 that meshes with the gear 11 of the second hollow gear 10, and as shown in FIG.
Is rotated by a fifth drive shaft 9A that is eccentric with respect to the second axis 15 that meshes with the gear of the fourth drive shaft 13 that is eccentric with respect to the axis 14 of the hollow gear 55 and the hollow gear 55. It is rotated by a sixth drive shaft 56 that is eccentric with respect to the first axis 14 that meshes with. The third hollow connecting member 5 is the intermediate housing 1
It is fixed by bolts 23 to. Tool support member 4
19 is attached.

First hollow connecting member 3, outer housing 2
A hollow supporting member 8 fixed to the second hollow connecting member 7,
A fourth hollow connecting member 6 supported by the intermediate housing 1,
The third hollow connecting member 5 forms a discontinuous cavity through which the pipe wiring member 33 capable of supplying a material such as a hose can pass through the inside connected to the tool 19. The inspection window 20A is provided with a detachable cover 20, which allows maintenance and inspection of piping and wiring members such as hoses connected from tools at the tip of the wrist at an intermediate position where the wrist is severely bent. Also, the tool support member 4 and the intermediate housing 1, the intermediate housing and the outer housing 2,
Arm 27 and outer housing 2, arm 27 and first hollow connecting member 3, second hollow connecting member 7 and fourth hollow connecting member
6, and the rotary seals 29, 31, 26, 25, 28, 30 are installed between the third hollow connecting member 5 and the tool supporting member 4, respectively, and the outside air and the gear part and the hollow path are mutually connected. Can be shut off.

The second drive shaft 58 and the fourth drive shaft 13 are symmetrical with respect to the first axis 14 on both sides of the inspection window 20A, and the third drive shaft 52A and the fifth drive shaft 9A are the same as the first drive shaft 58A. The outer housings are arranged on both sides of the inspection window 20A symmetrically with respect to the axis 15 of 2.
2 Placed on the side, the inspection window 20A space is expanded,
The piping and wiring member 33 can be inspected and replaced easily from outside the wrist.

[0013]

According to the present invention, the wrist unit is provided with the inspection window on the upper surface of the outer housing , and the detachable cover is attached to the wrist unit. Even if the piping and wiring members such as hose are not exposed from the wrist unit at all,
It makes it possible to maintain and inspect piping and wiring members such as hoses connected from tools at the tip of the wrist in the middle of the wrist where the bending is severe, and the first hollow connecting member 3 faces the first axis 14.
Due to the eccentric first drive shaft 53, the first hollow gear 51
Gears of the second drive shaft 54 eccentric to the first axis 14
The third drive shaft 5 which is eccentric to the meshing second axis 15
2A, and the second hollow gear 10 is connected to the first shaft.
Before meshing with the gear of the fourth drive shaft 13 eccentric to the line 14
By the fifth drive shaft 9A eccentric to the second axis 15,
Each of them is rotated, and at the end of the first hollow connecting member 3,
The second hollow connecting member 7, the first hollow gear 51, the first hollow gear 51,
The hollow connecting member 5 of No. 3 and the second hollow gear 10 are not adjacent to each other.
And the intersection of the first axis 14 and the second axis 15
42 and the intersection 41 of the second axis 15 and the third axis 16 are separated by
By being separated from the first hollow connecting member 3,
Second hollow connecting member 7, first hollow gear 51, third hollow
The connecting member 5 and the second hollow gear 10 are separated from each other, and the inspection window 2
Space for 0A and pipe wiring members with discontinuous cavities
The second drive shaft 54 and the fourth drive shaft 13 are arranged substantially symmetrically with respect to the first axis 14 on both sides of the inspection window 20A and the third drive shaft 52A. And the fifth
Drive shaft 9A is almost symmetrical with respect to the second axis 15
On either side of, built in the outer housing 2 side, respectively,
Space for inspection window 20A and piping arrangement of discontinuous cavities
The space for the wire members is secured, and the inspection and replacement of the piping and wiring members can be performed more easily from the outside of the wrist. For this reason, there is an effect of preventive maintenance of wear and hose disconnection inside the wrist, which has been a concern for maintenance. Preferably, the cover can be replaced with a transparent material for easier inspection. At the same time, a rotary seal is provided on the hollow connecting member and the sliding part of the movable part on the outer circumference of the wrist. Since the gear transmission part and the internal hollow path part are cut off, the reliability of the hose, gear life, etc. is improved, and spaces that are incompatible with each other such as oil are created, making it suitable for the work environment.

[Brief description of drawings]

FIG. 1 is a three-dimensional perspective view showing a drive system according to an embodiment of the present invention with parts developed, (H1) shows a drive system of an intermediate housing 1, and (H2) shows a drive system of an outer housing 2. And (K1) shows the drive system of the tool support member 4.

FIG. 2 is an external view showing an embodiment of the present invention.

3 shows a schematic cross-sectional view of the right half, which is the III side of the three-dot chain line in FIG.

FIG. 4 is a schematic cross-sectional view of the left half, which is the IV side of the three-dot chain line in FIG.

[Explanation of symbols]

1 Intermediate Housing 2 Outer Housing 3 First Hollow Connection Member 4 Tool Support Member 5 Third Hollow Connection Member 7 Second Hollow Connection Member 10 Second Hollow Gear 14 First Axis 15 Second Axis 16 Third Axis 20 cover 20A inspection window 27 arm 51 1st hollow gear

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Claims (3)

(57) [Claims] 1. A wrist device of an industrial robot for positioning and operating a work tool, comprising: a first hollow connecting member 3 rotatably supported by an arm 27 around a first axis 14; and a first hollow connecting member 3. The outer housing 2 connected to the connecting member 3 and having the inspection window 20A on the upper surface, and the outer housing being rotatable about the second axis 15 via the second hollow connecting member 7 and the first hollow gear 51. A supported intermediate housing 1 and a tool support member 4 rotatably supported on the intermediate housing via a third hollow connecting member 5 and a second hollow gear 10 about a third axis 16 are included. The first hollow connecting member 3, the second hollow connecting member 7, and the third hollow connecting member 5 have discontinuous cavities through which a pipe wiring member such as a hose capable of supplying a material can pass, and the inspection window To 20A A detachable cover 20 is provided, the first hollow connecting member 3 is driven by a first drive shaft 53 which is eccentric to the first axis 14, and the first hollow gear 51 is moved by the first drive shaft 53. By means of a third drive shaft 52A which is eccentric to said second axis 15 which meshes with the gear of a second drive shaft 54 which is eccentric with respect to said second hollow gear 10 and which is eccentric with respect to said first axis 14 The fifth drive shaft 9A that is eccentric with respect to the second axis 15 that meshes with the gear of the fourth drive shaft 13 is rotated, and the second hollow is attached to the end of the first hollow connecting member 3 The connecting member 7, the first hollow gear 51, the third hollow connecting member 5, and the second hollow gear 10 are arranged so as not to be adjacent to each other, and the intersection 42 of the first axis 14 and the second axis 15 is 42.
And an intersection 41 of the second axis 15 and the third axis 16
Is separated from the first hollow connecting member 3 to the second hollow connecting member 7, the first hollow gear 51, the third hollow connecting member 5 and the second hollow gear. 10 are separated from each other so as to secure a space for the inspection window 20A and a space for a pipe wiring member having a discontinuous cavity, and the second drive shaft 54 and the fourth drive shaft 13 are the same as each other. On both sides of the inspection window 20A, substantially symmetrically with respect to the axis 14 of 1.
The third drive shaft 52A and the fifth drive shaft 9A are the second drive shaft.
A wrist device for an industrial robot, which is built in on both sides of the inspection window 20A on both sides of the outer housing 2 substantially symmetrically with respect to the axis 15. 2. The tool supporting member 4 and the intermediate housing 1,
An intermediate housing and an outer housing 2, an arm 27 and an outer housing 2, an arm 27 and a first hollow connecting member 3, a second hollow connecting member 7 and a fourth hollow connecting member 6 supported by the intermediate housing 1, and The rotary seals 29, 3 are provided between the third hollow connecting member 5 and the tool supporting member 4, respectively.
2. The wrist device for an industrial robot according to claim 1, wherein 1, 26, 25, 28, 30 are installed and the outside air and the gear part and the hollow path are mutually cut off from each other. 3. A wrist device for an industrial robot according to claim 1, wherein the cover 20 is made of a transparent material.