JP7007723B2 - Wrist unit - Google Patents

Description

The present invention relates to, for example, a wrist unit attached to the tip of an orthogonal triaxial robot to perform swinging motion and rotating motion, and in particular, the swing angle and rotation angle can be easily manually set even when power is not supplied. Regarding things that have been devised so that adjustments can be made.

For example, Patent Document 1 discloses a conventional wrist unit.
First, in the "arm joint and the robot having the arm joint" described in Patent Document 1, the first arm and the second arm are connected via an intermediate arm.
The intermediate arm is rotatably installed with respect to the first arm, and the second arm rotates about the intermediate arm with an axis orthogonal to the rotation axis of the intermediate arm with respect to the first arm as a rotation axis. It is installed as possible.

Further, two differential input shafts are rotatably installed on the first arm, and a drive source for rotating and driving each of these differential input shafts is installed. The drive shaft is rotated by the drive source via the spur gear, and the rotation of the drive shaft is transmitted to the differential input shaft via the worm fixed to the drive shaft.
A differential output shaft is rotatably installed on the intermediate arm. A bevel gear is fixed to the base end side of this differential output shaft. A bevel gear is also fixed to the tip side of each of the two differential input shafts, and the bevel gear of the two differential input shafts is meshed with the bevel gear of the differential output shaft.

With such a configuration, the swing operation and the rotation operation of the second arm are performed by the combination of the rotation directions of the two differential input shafts by the drive source.

Japanese Patent No. 5195054

According to the above-mentioned conventional configuration, there are the following problems.
First, in the "arm joint and the robot having the arm joint" described in Patent Document 1, the power transmission from the drive source to the intermediate arm and the second arm is performed by spur gears, worm wheels, worms, and bevel gears. For example, if power is not supplied due to a power failure, it becomes very difficult to adjust the swing angle and rotation angle of the second arm.

The present invention has been made based on such a point, and an object thereof is to provide a wrist unit capable of easily manually adjusting the swing angle and the rotation angle even when power is not supplied. To do.

In order to achieve the above object, the wrist unit according to claim 1 of the present invention includes a housing, a swing drive motor built in the housing, a rotary drive motor built in the housing, and the housing. A swing center shaft that is rotatably installed, a rotation center shaft that is swung by rotating the swing center shaft by the swing drive motor, and a rotation center shaft that is rotatably provided around the rotation center shaft. A wrist rotated by the rotary drive motor is provided, and a swing posture adjusting means for manually rotating the swing center axis and a rotary posture adjusting means for manually rotating the wrist are provided. A swing-side transmission mechanism accommodating member and a rotation-side transmission mechanism accommodating member are installed in the housing, and the oscillating posture adjusting means is accommodated in the oscillating-side transmission mechanism accommodating member so as not to protrude to the outside and the rotational posture. The adjusting means is also characterized in that it is accommodated in the rotating side transmission mechanism accommodating member and does not project to the outside .
Further, in the wrist unit according to claim 2, in the wrist unit according to claim 1, the rotation of the swing drive motor is transmitted to the swing center shaft via the swing drive shaft, and the swing posture adjusting means is used. It is characterized by being a tool engaging portion provided at the shaft end of the swing drive shaft.
Further, the wrist unit according to claim 3 is the wrist unit according to claim 2, wherein the rotation of the swing drive motor is a worm gear fixed to the swing drive shaft and a swing side fixed to the swing center shaft. It is characterized in that it is transmitted to the swing center shaft via a helical gear.
Further, the wrist unit according to claim 4 is the wrist unit according to any one of claims 1 to 3, wherein the rotation of the rotation drive motor is transmitted to the wrist via a rotation drive shaft, and the rotation posture is described. The adjusting means is characterized by being a tool engaging portion provided at the shaft end of the rotary drive shaft.
Further, the wrist unit according to claim 5 is the wrist unit according to claim 4, wherein the rotation of the rotary drive motor is a rotation rotatably attached to the worm gear fixed to the rotary drive shaft and the swing center shaft. It is characterized in that it is transmitted to the wrist via a side helical gear and a pair of bevel gears.

As described above, according to the wrist unit according to claim 1 of the present invention, the housing, the swing drive motor built in the housing, the rotary drive motor built in the housing, and the housing On the other hand, a swing center shaft that is rotatably installed, a rotation center shaft that is swung by rotating the swing center shaft by the swing drive motor, and a rotation center shaft that is rotatably provided around the rotation center shaft. A wrist rotated by the rotary drive motor is provided, and a swing posture adjusting means for manually rotating the swing center axis and a rotary posture adjusting means for manually rotating the wrist are provided. The swing angle can be easily adjusted manually by the swing posture adjusting means, and the rotation angle can be easily adjusted manually by the rotation posture adjusting means.
Further, according to the wrist unit according to claim 2, in the wrist unit according to claim 1, the rotation of the swing drive motor is transmitted to the swing center shaft via the swing drive shaft, and the swing posture adjusting means. Is a tool engaging portion provided at the shaft end of the swing drive shaft, so that the swing angle can be adjusted more easily.
Further, according to the wrist unit according to claim 3, in the wrist unit according to claim 2, the rotation of the swing drive motor is the worm gear fixed to the swing drive shaft and the swing fixed to the swing center shaft. Since it is transmitted to the swing center shaft via the side helical gear, it is difficult to swing due to an external force even when it is not driven, a brake is not required, and the size can be reduced.
Further, according to the wrist unit according to claim 4, in the wrist unit according to any one of claims 1 to 3, the rotation of the rotation drive motor is transmitted to the wrist via the rotation drive shaft, and the rotation is transmitted to the wrist. Since the posture adjusting means is a tool engaging portion provided at the shaft end of the rotation drive shaft, the rotation angle can be adjusted more easily.
Further, according to the wrist unit according to claim 5, in the wrist unit according to claim 4, the rotation of the rotary drive motor is rotatably attached to the worm gear fixed to the rotary drive shaft and the swing center shaft. Since it is transmitted to the wrist via the rotary side helical gear and the pair of bevel gears, it is difficult to be rotated by an external force even when it is not driven, a brake is not required, and the size can be reduced.

It is a figure which shows one Embodiment of this invention, and is the perspective view of the robot which the wrist unit is movably installed in the three-dimensional space of the X-axis, the Y-axis, and the Z-axis. It is a figure which shows one Embodiment of this invention, and is the perspective view which the wrist unit was seen from the lower side and the front right side. It is a figure which shows one Embodiment of this invention, and is the perspective view which the wrist unit was seen from the lower side and the front left side. It is a figure which shows one Embodiment of this invention, and is the left side view of the wrist unit. It is a figure which shows one Embodiment of this invention, and is the front view of the wrist unit. It is a figure which shows one Embodiment of this invention, and is the VI-VI sectional view of FIG. It is a figure which shows one Embodiment of this invention, and is the VII-VII sectional view of FIG. It is a figure which shows one Embodiment of this invention, and is the rear view in the state which the housing of the wrist unit, the swing side transmission mechanism accommodating part, the rotation side transmission mechanism accommodating part, and the shaft cover are removed. It is a figure which shows one Embodiment of this invention, and is the perspective view seen from the back side with the housing of a wrist unit, the swing side transmission mechanism accommodating member, the rotation side transmission mechanism accommodating member, and the shaft cover removed. .. It is a figure which shows one Embodiment of this invention, and is the XI-XI sectional view of FIG.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 10.
As shown in FIG. 1, two X-axis actuators 3a and 3b are first installed in the robot 1 according to this embodiment in parallel in the X-axis direction.
The X-axis actuator 3a has a housing 7, and the housing 7 is fixed to the base 9. A slider 11 is movably installed in the X-axis direction with respect to the housing 7. A part of the slider 11 projects to the outside of the housing 7 through the opening 13 of the housing 7. Further, the slider 11 is guided in the X-axis direction by a guide (not shown) installed in the housing 7.

Further, a ball screw shaft (not shown) is installed in the housing 7, and a ball screw nut (not shown) is fixed to the slider 11. The ball screw shaft is screwed into the ball screw nut, and when the ball screw shaft is rotated, the ball screw nut and thus the slider 11 are moved in the X-axis direction. Further, the opening 13 of the housing 7 is closed by a cover 15 installed through the slider 11.

Further, a motor case 17 is installed behind the housing 7 (upper right side in FIG. 1). A motor (not shown) that rotates and drives the ball screw shaft is installed in the motor case 17. A cable (not shown) for transmitting a signal and supplying electric power is connected to the X-axis actuator 3a.
The X-axis actuator 3b also has the same configuration as the X-axis actuator 3a, and the same parts in the drawings are designated by the same reference numerals and the description thereof will be omitted.
Then, the X-axis actuators 3a and 3b are synchronously controlled.

The Y-axis actuator 19 is suspended on the sliders 11 and 11 of the X-axis actuators 3a and 3b. That is, the Y-axis actuator 19 is arranged along the Y-axis direction orthogonal to the X-axis actuators 3a and 3b. The Y-axis actuator 19 has the same configuration as the X-axis actuators 3a and 3b, and is configured such that the slider 25 is moved in the Y-axis direction with respect to the housing 21. Both ends of the housing 21 in the Y-axis direction are fixed to the sliders 11 and 11 of the X-axis actuators 3a and 3b via the mounting members 23 and 23.
Although the mounting member 23 corresponding to the slider 11 of the X-axis actuator 3b is not shown, it will be described using reference numerals for convenience of explanation.

Further, on the side of the X-axis actuator 3b, a cable carrier 27 in which a cable (not shown) for transmitting a signal and supplying electric power to the Y-axis actuator 19 is installed is installed. One end of the cable carrier 27 is fixed to the base 9 on the X-axis actuator 3b side, and the other end is fixed to the motor case (not shown) of the Y-axis actuator 19.

Further, a Z-axis / R-axis integrated actuator 31 is installed on the slider 25 of the Y-axis actuator 19 via a mounting member 29. The Z-axis / R-axis integrated actuator 31 first has a housing 33. A Z-axis drive motor (not shown) and a ball screw shaft (not shown) rotated and driven by the Z-axis drive motor are installed in the housing 33. A ball screw nut (not shown) is screwed into the ball screw shaft. A hollow ball spline shaft 35 is installed in the ball screw nut in a state of being integrated in the Z-axis direction and in a state of being rotatable in the R direction.

A ball spline nut (not shown) is rotatably installed in the Z-axis / R-axis integrated actuator 31, and the hollow ball spline shaft 35 penetrates the ball spline nut and is on the tip side of the housing 33 (FIG. 1 It protrudes to the outside from the lower middle side). The hollow ball spline shaft 35 is configured to be movable in the Z-axis direction with respect to the ball spline nut, and is integrated in the R direction.
Further, a recess is formed on the outer peripheral side of the hollow ball spline shaft 35. Further, a recess is formed on the inner peripheral side of the ball spline nut, and a no-load circulation path (not shown) is formed inside the recess. A plurality of steel balls (not shown) are rolled and circulated in the space between the concave portion on the outer peripheral side of the hollow ball spline shaft 35 and the concave portion on the inner peripheral side of the ball spline nut and the no-load circulation path. It has become.
Further, an R-axis drive motor (not shown) is installed in the Z-axis / R-axis integrated actuator 31, and for example, the power of the R-axis drive motor is supplied via a pulley / timing belt mechanism (not shown). It is transmitted to the ball spline nut.

When the ball screw shaft is rotated and driven by the Z-axis drive motor, the hollow ball spline shaft 35 is moved up and down in the Z-axis direction. Further, when the ball spline nut is rotated by the R-axis drive motor, the hollow ball spline shaft 35 is also rotated about the Z axis.

Further, on the side of the Y-axis actuator 19, a cable carrier 37 including a cable (not shown) for transmitting a signal and supplying electric power to the Z-axis / R-axis integrated actuator 31 is installed. One end of the cable carrier 37 is fixed to the housing 21 of the Y-axis actuator 19 via the mounting member 39a, and the other end is fixed to the housing 33 via the mounting member 39b and the mounting member 29.

A wrist unit 41 is installed at the tip of the hollow ball spline shaft 35. The wrist unit 41 is arbitrarily moved and controlled in the three-dimensional space of the X-axis, the Y-axis, and the Z-axis by the X-axis actuators 3a and 3b, the Y-axis actuator 19, and the Z-axis / R-axis integrated actuator 31. , The Z-axis / R-axis integrated actuator 31 rotates in the R-axis direction.

Further, cables 42a and 42a for transmitting a signal to the wrist unit 41 and supplying electric power are installed on the side of the Z-axis / R-axis integrated actuator 31. One end of the cables 42a and 42a is fixed to the housing 33 of the Z-axis / R-axis integrated actuator 31 via a mounting member 42b, and the other end is connected to the wrist unit 41 side. Further, a cable guide member 42c is installed in the housing 33 of the Z-axis / R-axis integrated actuator 31. The cables 42a and 42a are guided by the mounting member 42b and the cable guide member 42c.

The wrist unit 41 has the following configuration.
First, as shown in FIGS. 2 to 5, there is a housing 43. As shown in FIGS. 6 and 7, for example, the housing 43 has a hollow housing body 45 having an opening on the tip end side and the proximal end side (upper side and lower side in FIG. 6), and the tip end side of the housing body 45. It is composed of a front end side cap 47 that closes (lower side in FIG. 6) and a base end side cap 49 that closes the base end side (upper side in FIG. 6) of the housing body 45.
The tip-side cap 47 is formed with a swing-side pulley accommodating recess 51 and a rotating-side pulley accommodating recess 53.

A swing drive motor 61 is installed in the housing body 45. As shown in FIG. 6, for example, the swing drive motor 61 is rotatably installed on the motor housing 63, the stator 65 fixed to the inner peripheral surface of the motor housing 63, and the inner peripheral side of the stator 65. It is composed of a rotor 67 and an output shaft 69 fixed to the rotor 67. Further, an encoder 71 for detecting the rotation speed and the rotation angle of the output shaft 69 is installed on the base end side (upper side in FIG. 6) of the rocking drive motor 61.

For example, as shown in FIGS. 6 and 7, the swing-side transmission mechanism accommodating member 73 is installed on the tip-side cap 47. As shown in FIG. 7, a swing drive shaft housing portion 75 is formed in the swing side transmission mechanism housing member 73.

A swing drive shaft 81 is rotatably installed in the swing drive shaft accommodating portion 75 by bearings 79 and 79. A swing-side worm gear 83 is fixed to the swing drive shaft 81.
Further, as shown in FIGS. 7 to 9, in the center of the tip side (lower side in the middle of FIG. 7) of the swing drive shaft 81, a flat-blade screwdriver engagement portion which is a tool engaging portion as a swing posture adjusting means is used. A recess 85 is formed. The flat-blade screwdriver engaging recess 85 is extended and formed in the radial direction of the swing drive shaft 81 (direction from the lower left to the upper right in FIG. 9), and the tip of a flat-blade screwdriver (not shown) is engaged and shown above. The swing drive shaft 81 can be manually rotated by a flat-blade screwdriver.

Further, as shown in FIG. 8, on the outer peripheral side of the tip end side (lower side in FIG. 8) of the swing drive shaft 81, a wrench engaging recess 87, which is a tool engaging portion as a swing posture adjusting means, 87 is formed. An open-end wrench or monkey wrench (not shown) is engaged with the wrench engaging recesses 87, 87, and the swing drive shaft 81 can be manually rotated by the open-end wrench or monkey wrench (not shown).

Further, the swing-side timing pulley / timing belt mechanism 91 is housed in the swing-side pulley accommodating recess 51 of the tip-side cap 47. The swing-side timing pulley / timing belt mechanism 91 includes a swing-side first timing pulley 93 fixed to an output shaft 69 of the swing-side drive motor 61 and a proximal end side of the swing-side drive shaft 81 (FIG. 9). From the swing-side second timing pulley 95 fixed to the middle upper end side), the swing-side first timing pulley 93, and the swing-side timing belt 97 wound around the swing-side second timing pulley 95. It is configured. A plurality of teeth (not shown) are formed on the swing-side first timing pulley 93, the swing-side second timing pulley 95, and the swing-side timing belt 97, and the swing-side timing belt 97 is formed. The teeth are meshed with the teeth of the swing-side first timing pulley 93 and the teeth of the swing-side second timing pulley 95.

As shown in FIG. 6, the swing center shaft 101 is rotatably supported by the swing side transmission mechanism accommodating member 73 via bearings 99 and 99. The swing-side helical gear 103 fixed to the swing-side central shaft 101 is housed and arranged in the swing-side transmission mechanism accommodating member 73. The swing-side helical gear 103 is meshed with the swing-side worm gear 83.
Further, a through hole 105 for the rotation center shaft is formed in the center of the swing center shaft 101. Further, the swing center shaft 101 is formed with a swing center shaft side air chuck through hole 107 which is opened on the right end side in FIG. 6 and is connected to the rotation center shaft through hole 105.

For example, as shown in FIG. 6, the rotation center shaft 111 is fixed to the swing center shaft 101. The base end side (upper side in FIG. 6) of the rotation center shaft 111 is inserted into the rotation center shaft through hole 105 of the swing center shaft 101. The vicinity of the center of the rotation center shaft 111 in the vertical direction in FIG. 6 is expanded in diameter to form a positioning portion 113, and the upper side of the positioning portion 113 in FIG. 6 is in contact with the swing center shaft 101. Further, a fixing nut 115 is screwed into the base end side (upper end side in FIG. 6) of the rotation center shaft 111, and the rotation center shaft 111 is moved to the swing center shaft 101 by the fixing nut 115. It is fixed. Therefore, the rotation center of the swing drive motor 61 via the swing side timing pulley / timing belt mechanism 91, the swing drive shaft 81, the swing side worm gear 83, and the swing side helical gear 103. The shaft 111 can be swung (rotated in the direction of arrow P in FIG. 4).
Further, the rotation center shaft 111 is formed with a rotation center shaft side air chuck through hole 117 that communicates with the tip side (lower side in the middle of FIG. 6) and the swing center shaft side air chuck through hole 107. There is.

Further, a rotation drive motor 121 is installed in the housing main body 45. The rotary drive motor 121 has the same configuration as the swing drive motor 61. For example, as shown in FIG. 6, the rotary drive motor 121 has a motor housing 123 and a stator 125 fixed to the inner peripheral surface of the motor housing 123. It is composed of a rotor 127 rotatably installed on the inner peripheral side of the stator 125 and an output shaft 129 fixed to the rotor 127. Further, an encoder 131 for detecting the rotation speed and rotation angle of the output shaft 129 is installed on the base end side (upper side in FIG. 6) of the rotation drive motor 121.

For example, as shown in FIGS. 6 and 10, the rotation side transmission mechanism accommodating member 133 is installed on the tip side cap 47. As shown in FIG. 10, a rotation drive shaft accommodating portion 135 is formed in the rotation side transmission mechanism accommodating member 133.

A rotary drive shaft 141 is rotatably installed in the rotary drive shaft accommodating portion 135 by bearings 139 and 139. A rotation-side worm gear 143 is fixed to the rotation drive shaft 141.
Further, as shown in FIG. 8, on the tip end side (lower side in the middle of FIG. 8) of the rotary drive shaft 141, a flat-blade screwdriver engaging recess 145 and a wrench engaging recess, which are tool engaging portions as rotational posture adjusting means, are provided. 147 and 147 are formed. The rotary drive shaft 141 can also be manually rotated by a flat-blade screwdriver, an open-ended wrench, and a monkey wrench (not shown).

Further, the rotation side timing pulley / timing belt mechanism 151 is housed in the rotation side pulley accommodating recess 53 of the tip end side cap 47. The rotation side timing pulley / timing belt mechanism 151 includes the rotation side first timing pulley 153 fixed to the output shaft 129 of the rotation drive motor 121 and the base end side (upper end side in FIG. 9) of the rotation drive shaft 141. ), The rotation side second timing pulley 155, the rotation side first timing pulley 153, and the rotation side timing belt 157 wound around the rotation side second timing pulley 155. A plurality of teeth (not shown) are formed on the rotation side first timing pulley 153, the rotation side second timing pulley 155, and the rotation side timing belt 157, and the teeth of the rotation side timing belt 157 are the above. It is meshed with the teeth of the first timing pulley 153 on the rotating side and the teeth of the second timing pulley 155 on the rotating side.

Further, as shown in FIG. 6, a rotary side helical gear 161 is rotatably installed in the rotary side transmission mechanism accommodating member 133 via a bearing 159. The rotation-side helical gear 161 is also rotatable with respect to the swing center shaft 101 via the bearing 163. The first bevel gear 165 is fixed to the rotary side helical gear 161. The first bevel gear 165 is rotatably supported with respect to the rotary side transmission mechanism accommodating member 133 via the bearing 167, and is rotatably supported with respect to the swing center shaft 101 via the bearing 169 and the bearing 163. It is rotatable.

A second bevel gear 171 is rotatably installed on the rotation center shaft 111 via bearings 173 and 173. The second bevel gear 171 is meshed with the first bevel gear 165. A wrist 175 is fixed to the second bevel gear 171. Therefore, the rotation drive motor 121 causes the rotation side timing pulley / timing belt mechanism 151, the rotation drive shaft 141, the rotation side worm gear 143, the rotation side helical gear 161 and the first bevel gear 165, and the second bevel gear 165. The wrist 175 can be rotated via the bevel gear 171. That is, the wrist unit 41 itself is rotated in the direction of the arrow R in FIG. 1 by the Z-axis / R-axis integrated actuator 31, and the wrist 175 is also rotated. Further, the wrist 175 is swung together with the rotation center axis 111.

Further, as shown in FIG. 1, a suction hand 177 is attached to the wrist 175. Further, as shown in FIGS. 1 and 6, an elbow joint 179 that communicates with the through hole 107 for the air chuck on the swing center axis side of the swing center shaft 101 is attached. The elbow joint 179 is connected to a suction device (not shown), and the suction device (not shown) can be operated to suck and hold an object (not shown) by the suction hand 177.
Further, for example, as shown in FIGS. 2 and 6, the vicinity of the center of the swing center shaft 101 and the rotation center shaft 111 are covered with a shaft cover 181.

Next, the operation of this embodiment will be described.
First, the normal operation will be described. The robot 1 sucks and holds an object (not shown) by the suction hand 177 installed on the wrist unit 41.
Further, the robot 1 moves the object (not shown) via the wrist unit 41 by the X-axis actuators 3a and 3b in the X-axis direction, and the object (not shown) via the wrist unit 41 by the Y-axis actuator 19. Is moved in the Y-axis direction, and the object (not shown) is moved in the Z-axis direction and rotated in the R direction via the wrist unit 41 by the Z-axis / R-axis integrated actuator 31.

Further, the wrist 175 of the wrist unit 41 is oscillated by the oscillating drive motor 61, and is rotated by the rotation drive motor 121. As a result, the object (not shown above) is swung and rotated.

Next, the swing / rotation posture adjustment will be described.
First, regarding the swing posture adjustment, when the swing drive shaft 81 is rotated by a flat-blade screwdriver, an open-end wrench, and a monkey wrench (not shown), this rotation is caused by the swing-side worm gear 83 and the swing-side helical gear 103. It is transmitted and the swing center shaft 101 is rotated. As a result, the rotation center axis 111 and, by extension, the wrist 175 are swung.
Next, regarding the rotation posture adjustment, when the rotation drive shaft 141 is rotated by a minus driver, an open-end wrench, and a monkey wrench (not shown), this rotation causes the rotation side worm gear 143, the rotation side helical gear 161 and the first bevel gear. It is transmitted via the 165 and the second bevel gear 171. As a result, the wrist 175 is rotated.

As a result, when power is not supplied, the swing angle and rotation angle are adjusted.
In addition, teaching may be performed by manually swinging or rotating the wrist 175.

Next, the effect of this embodiment will be described.
Further, on the tip end side (lower side in the middle of FIG. 8) of the swing drive shaft 81, a minus driver engaging recess 85 and a wrench engaging recesses 87 and 87, which are tool engaging portions as swing posture adjusting means, are formed. Therefore, the swing center shaft 101 can be manually rotated via the swing drive shaft 81 by a flat-blade screwdriver, an open-end wrench, and a monkey wrench (not shown), and the swing angle can be easily adjusted. can do.
Further, on the tip end side (lower side in FIG. 8) of the rotary drive shaft 141, a minus driver engaging recess 145 and a wrench engaging recess 147 147, which are tool engaging portions as swing posture adjusting means, are formed. Therefore, the wrist 175 can be manually rotated via the rotation drive shaft 141 by a minus driver, an open-end wrench, and a monkey wrench (not shown), and the rotation angle can be easily adjusted.
Further, when the power is not supplied, the swing angle can be manually adjusted and the rotation angle can be adjusted, and the teaching can be performed by manually swinging or rotating.
Further, since general tools such as a flat-blade screwdriver, an open-ended wrench, and a monkey wrench can be used, the swing angle and the rotation angle can be adjusted more easily.

Further, a swing side worm gear 83 is fixed to the swing drive shaft 81, and a swing side helical gear 103 meshed with the swing side worm gear 83 is fixed to the swing center shaft 101 to drive rotation. A rotating worm gear 143 is fixed to the shaft 141, and the rotating worm gear 143 and the rotating helical gear 161 fixed to the first bevel gear 165 are engaged with each other. It is difficult to swing, no brake is required, and the wrist unit 41 can be miniaturized.

The present invention is not limited to the above embodiment.
In addition to the suction hand, various tools may be attached to the wrist.
Further, the shapes of the swinging posture adjusting means and the rotating posture adjusting means may be various, and various tools may be used in addition to the minus driver. In addition to the open-ended wrench and monkey wrench, other types of wrenches such as box wrenches may be used.
In addition, various cases can be considered for the power transmission mechanism from the swing drive motor to the swing center axis and the power transmission mechanism from the rotary drive motor to the wrist, and depending on the configuration of these power transmission mechanisms, the swing posture adjusting means. And various cases can be considered for the arrangement of the rotational posture adjusting means.
In addition, the illustrated configuration is an example, and various cases can be considered.

The present invention relates to, for example, a wrist unit attached to the tip of a orthogonal triaxial robot to perform swinging motion and rotating motion, and in particular, the swing angle and rotation angle can be easily manually set even when power is not supplied. It is suitable for a wrist unit used in an industrial robot, for example, as a device devised so that it can be adjusted.

41 Wrist unit 43 Housing 61 Swing drive motor 83 Worm gear 85 Minus screwdriver Engagement recess (swing posture adjusting means)
87 Wrench engagement recess (swing posture adjusting means)
101 Swing center shaft 111 Rotation center shaft 121 Rotation drive motor 145 Negative screwdriver engagement recess (rotation posture adjusting means)
147 Wrench engagement recess (rotary posture adjusting means)
175 Wrist 103 Swing side helical gear 161 Rotating side helical gear 165 1st bevel gear 171 2nd bevel gear

Claims (5)

With the housing
The rocking drive motor built into the housing and
With the rotary drive motor built in the above housing,
With the swing center axis rotatably installed with respect to the above housing,
A rotation center shaft that is swung by rotating the rocking center shaft with the rocking drive motor,
It is equipped with a wrist that is rotatably provided around the rotation center axis and is rotated by the rotation drive motor.
A swing posture adjusting means for manually rotating the swing center axis and a rotation posture adjusting means for manually rotating the wrist are provided .
A swing-side transmission mechanism accommodating member and a rotation-side transmission mechanism accommodating member are installed in the housing, and the oscillating posture adjusting means is accommodated in the oscillating side transmission mechanism accommodating member so as not to project to the outside and to rotate. A wrist unit characterized in that the posture adjusting means is also housed in the rotation side transmission mechanism accommodating member and does not protrude to the outside . In the wrist unit according to claim 1,
The rotation of the swing drive motor is transmitted to the swing center shaft via the swing drive shaft, and is transmitted to the swing center shaft.
The wrist unit, characterized in that the swing posture adjusting means is a tool engaging portion provided at the shaft end of the swing drive shaft. In the wrist unit according to claim 2,
The rotation of the swing drive motor is transmitted to the swing center shaft via a worm gear fixed to the swing drive shaft and a swing side helical gear fixed to the swing center shaft. unit. In the wrist unit according to any one of claims 1 to 3.
The rotation of the rotary drive motor is transmitted to the wrist via the rotary drive shaft, and is transmitted to the wrist.
The wrist unit characterized in that the rotary posture adjusting means is a tool engaging portion provided at the shaft end of the rotary drive shaft. In the wrist unit according to claim 4,
The rotation of the rotary drive motor is transmitted to the wrist via a worm gear fixed to the rotary drive shaft, a rotary side helical gear rotatably attached to the swing center shaft, and a pair of bevel gears. Wrist unit.

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