JPH0343034B2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention provides a twist wrist that rotates around an axis parallel to the axis of the arm body at the tip of an arm body, and a twist wrist that rotates around an axis parallel to the axis of the arm body, and a This invention relates to a robot equipped with a bend wrist that rotates around an axis and a swivel wrist that rotates around an axis that is inclined with respect to the rotation axis of the bend wrist.

<Prior art> Conventionally, in a robot having six axes of freedom, a twist housing is rotatably attached to the tip of the arm body, and the bend housing is bent at the tip of the twist housing around an axis that is inclined with respect to the rotational axis of the twist housing. In a case where the bend housing is rotatably supported and a swivel shaft is rotatably supported on the bend housing around an axis inclined with respect to the rotation axis of the bend housing, the operating range of the bend housing may be limited due to interference between the twist housing and the bend housing. There was a constraint that I couldn't make it big. Therefore, in order to widen the operating range of the bend housing 4, an eccentric cylindrical part that is eccentric by a predetermined amount with respect to the rotational axis of the twist housing is formed at the tip of the twist housing, and rotational power is transmitted to the bend housing through this eccentric cylindrical part. It is effective to make the rotating shaft for bending and the rotating shaft for the swivel that transmits rotational power to the swivel shaft in a double structure and rotatably support the rotary shaft. Difficult to assemble into housing.

Further, if the long rod-shaped bend rotation shaft and swivel rotation shaft are provided at positions offset from the rotation axis of the twist housing, there is a problem that the moment of inertia for rotating the twist housing becomes large.

<Object of the invention> In order to solve the above-mentioned problems, the object of the present invention is to expand the operating range of the bend wrist, and to improve the assembly of the swivel rotation shaft and the bend rotation shaft to the twist body and the rotating body. It's about making it easier. Another purpose is to reduce the moment of inertia that rotates the rotating body.

<Structure of the Invention> The robot according to the present invention is capable of assembling a rotating body and a twisting body independently of each other, and a rotating shaft for bending is rotatably supported on the rotational axis of the rotating body within the rotating body, and A swivel rotating shaft is rotatably supported around an axis parallel to the bending rotating shaft, and gears to which rotation from a drive motor is input are provided at the rear ends of these two rotating shafts and the rotating body, respectively, Further, a connecting gear is provided at the tip of the rotating shaft for bending, an eccentric cylindrical portion substantially coaxial with the rotating shaft for swivel is provided at the tip of the twisting body, and the connecting gear is provided in the rear end of the twisting body. A hollow gear that can mesh with the hollow gear is provided, and a hollow shaft coaxially connected to the hollow gear is rotatably supported in the eccentric cylinder portion, and a hollow shaft that penetrates through the hollow shaft and the hollow gear and is connected to the rotating shaft for the swivel. A coupling means is provided to rotatably support an insertion shaft extending to the tip, and to removably couple the insertion shaft and the swivel rotation shaft, and a bevel gear is provided at each tip of the hollow shaft and the insertion shaft. , a tilted shaft provided with a bevel gear meshing with a bevel gear on the insertion shaft is rotatably supported at the tip of the twist main body about an axis inclined at a predetermined angle with respect to the insertion shaft; The rotation shaft includes first and second bend shafts and a bend connection shaft, and the swivel rotation shaft includes first and second swivel shafts and a swivel connection shaft, and the first bend shaft and the first Each of the swivel shafts is rotatably supported via a bearing in a first bearing case attached to the rear end of the rotating body, and the second bend shaft and the second swivel shaft are each mounted on a first bearing case attached to the rear end of the rotating body. The first and second bend shafts and the first and second swivel shafts are rotatably supported through bearings in a second bearing case attached to the tip of the rotating body, and the first and second bend shafts and the first and second swivel shafts are respectively connected to the bend shafts within the rotating body. It is characterized in that the connecting shaft and the swivel connecting shaft are connected via a coupling.

<Examples> Examples of the present invention will be described below based on the drawings. FIG. 1 shows the entire robot. A swing base 11 is supported on a fixed base 10 so as to be able to swing around a vertical axis A1, and is driven to swing by a first shaft drive motor 12. There is.
The first arm 13 is attached to the rotating base 11 along the horizontal axis A.
A second arm 14 is supported rotatably around an axis A3 parallel to the horizontal axis A2 at the tip of the first ground 13. These first and second arms 13,
14 is a second
The drive motor 15 and the third shaft drive motor (not shown) each drive the drive motor to rotate. A wrist 17 having three degrees of freedom is provided at the tip of the second arm 14. That is, the wrist 17 includes a twist wrist part 18 supported rotatably around an axis A4 perpendicular to the horizontal axis A3 at the distal end of the second arm 14, and a twist wrist part 18 that is rotatably supported around the axis A4 perpendicular to the horizontal axis A3. A bend wrist section 19 rotatably supported around an inclined axis A5, and this bend wrist section 1
9, a swivel wrist part 2 rotatably supported around an axis A6 inclined with respect to the axis A5;
It consists of 0. These three list parts 1
8, 19, and 20 are each rotationally driven by a fourth axis drive motor 21, a fifth axis drive motor 22, and a sixth axis drive motor (not shown) installed at the rear end of the second arm 14. It's becoming like that. As a result, an articulated robot having degrees of freedom in six axes is constructed as a whole.

Next, the configurations of the second arm 14 and wrist 17 will be explained based on FIGS. 2 and 3. 2
5 indicates an arm body of the second arm 14, and this arm body 25 has an axis A at the tip of the first arm 13.
3 is fixed to a support shaft 26 rotatably supported around the shaft 3. A gear housing 80 is fixed to one end of the arm body 25, and a support tube 27 is fixed to this gear housing 80. A cylindrical rotating body 31 is rotatably supported on the support tube 27 around an axis A4 perpendicular to the support shaft 26. A large diameter gear 32 consisting of a gear part and a bearing case part is rotatably supported on the gear housing 80, and this large diameter gear 32 is connected to a required reduction gear mechanism 33.
It is connected to the fourth shaft drive motor 21 via. Further, a first rotating shaft 34 is rotatably supported on the gear housing 80 on the same axis as the rotating body 31, and a second rotating shaft is located at an eccentric position offset by a predetermined amount ε1 with respect to the rotating shaft 34. A rotating shaft 35 is rotatably supported. A gear 36 is formed at one end of the first rotating shaft 34, and this gear 36 is connected to the fifth shaft drive motor 22 via a required reduction gear mechanism 37. Similarly, a gear 38 is formed at one end of the second rotating shaft 35, and this gear 38 is connected to the sixth gear via an intermediate gear 39 rotatably supported on the first rotating shaft 34 and a reduction gear mechanism (not shown). Connected to a shaft drive motor.

A bearing housing 41 is fixed to the other end, that is, the tip of the rotating body 31, and a third rotating shaft 42 is connected to the first rotating shaft 3 to this bearing housing 41.
It is rotatably supported on the same axis as 4, and a gear 51 is formed at its end. Also, the rotating body 31
A bearing case 43 is fixed to the tip of the bearing case 43, and a fourth rotating shaft 44 is rotatably supported on the same axis as the second rotating shaft 35.
A coupling hole 52 is formed at the end thereof.

These axially spaced concentric first and third rotating shafts 34 and 42 are connected to both ends of a connecting shaft 45 by coupling rings 46 and 47, respectively, and are interconnected. The rotating shafts 35 and 44 are connected to both ends of a connecting shaft 48 by coupling rings 49 and 50, respectively, so as to be connected to each other.

A twist body 55 is provided on the tip end surface of the rotating body 31.
is fixed to the twist body 55, and an eccentric cylindrical portion 56 substantially concentric with the fourth rotating shaft 44 is provided on the twist main body 55. A bearing case 57 is fitted and fixed to the eccentric cylinder portion 56, and the rotating sleeve 5 is fitted into the bearing case 57.
8 is rotatably supported around an axis that is slightly eccentric by ε2 with respect to the axis of the fourth rotating shaft 44,
A gear 59 that meshes with the gear 51 on the second rotating shaft 35 is attached to the rear portion of the rotating sleeve 58, and a bevel gear 60 is provided at the tip. A bearing part 61 is provided at the distal end of the bearing case 57 and extends in the diametrical direction in front of the bevel gear 60, and this bearing part 61 has a rotating shaft 6 that passes through the rotating sleeve 58 and the gear 59.
2 is rotatably supported concentrically with the fourth rotating shaft 44. The rear end of the rotating shaft 62 is inserted into the coupling hole 52 on the fourth rotating shaft 44 and is integrally coupled thereto, and a bevel gear 63 is formed at the tip.

The rotating body 3 is attached to the tip of the twist body 55.
A bend main body 65 is located on the opposite side of the eccentric cylindrical portion 56 with respect to the axial center of the rotating body 31, and
A bevel gear 66 that meshes with the bevel gear 60 on the rotating sleeve 58 is attached to the bend main body 65. A tilt shaft 67 is rotatably supported between the twist body 55 and the bend body 65 so as to be rotatable around the tilt axis A5, and a bevel gear 68 that meshes with the bevel gear 63 on the rotary shaft 62 is mounted on the tilt shaft 67. is formed, and a bevel gear 69 is also formed. A swivel shaft 70 is rotatably supported on the bend body 65 at a certain angular position of the bend body 65 around an axis A6 that coincides with the rotation axis A4 of the rotating body 31, and the tilt shaft 67 is mounted on the swivel shaft 70. A bevel gear 71 that meshes with the upper bevel gear 69 is formed. Various work elements such as a handling device can be attached to the tip flange portion 72 of the swivel shaft 70 depending on the work purpose of the robot.

The operation of assembling the rotating shaft to the second arm 14 and the wrist 17 will be described based on the configuration described above. If the arm body 25, gear housing 80, rotary body 31, twist body 55, and bend body 65 are each made into one unit, the rotating shaft is assembled independently for each unit.

The reduction gear mechanisms 33 and 37 are assembled to the arm body 25, and the first rotating shaft 34 and the second rotating shaft 35 are assembled to the bearing case portion of the large-diameter gear 32 in the gear housing 80. This large diameter gear 32
is assembled into the gear housing 80. Rotating body 3
1, the fourth rotating shaft 44 and the connecting shaft 48 are assembled to the bearing case 43, and the third rotary shaft 48 is assembled to the bearing housing 41.
A rotating shaft 42 and a connecting shaft 45 are assembled, and these bearing case 43 and bearing housing 41 are attached to the rotating body 3.
It is assembled into 1. In addition, in the twist body 55, the bearing case 57 includes a rotating sleeve 58, a rotating shaft 62,
The gear 59 is assembled, and the bearing case 57 is assembled to the eccentric cylinder portion 56 so that the bevel gear 60 and the bevel gear 66 and the bevel gear 63 and the bevel gear 68 mesh with each other.

Next, the units are assembled to each other. A gear housing 80 is attached to the arm body 25 so that each gear on the arm body 25 side meshes with each gear on the gear housing 80 side.
The rotating body 31 is attached so that the connecting rod 45 is inserted into the coupling 46 attached to the first rotating shaft 34 and the connecting rod 48 is inserted into the coupling 49 attached to the second rotating shaft 35.
6 and the connecting shaft 45, and the coupling 49 and the connecting shaft 48 are connected. Furthermore, the coupling hole 5 is made so that the gear 51 and the gear 59 mesh with the rotating body 31.
2, the eccentric cylindrical portion 56 is inserted into the rotation shaft 62.
is installed.

In the above-mentioned assembly operation, the portion where the two rotating shafts have a double structure is kept within the necessary minimum range of the twist body 55, and the rotating sleeve 58 and the rotating shaft 62 are shortened, so that the rotating sleeve 5 can be easily assembled.
8. The rotating shaft 62 can be assembled to the twist main body 55. Also, of the two rotating shafts assembled to the rotating body 31, the third rotating shaft 42 and the connecting shaft 45 are supported on the rotating body 31 so as to be rotatable around the same axis as the rotational axis of the rotating body 31, so that the rotating body The moment of inertia that rotates 31 can be reduced.

Furthermore, the drive shaft of the swivel shaft 70 consists of three shafts, the first and third rotation shafts 34 and 42, and the connection shaft 45, and the drive shaft of the bend body 65 also includes the second and fourth rotation shafts 35 and 44, and the connection shaft 45. Since it is composed of three shafts, the shaft 48, the first, second, third, and fourth rotation shafts 3
4, 35, 42, and 44 can be made relatively short, and these shafts can be easily attached to the large-diameter gear 32, the bearing housing 41, and the bearing case 43. Connecting shaft 4
Since the coupling rings 46 and 49 are used to connect the second rotating shaft 35 and the connecting shaft 48, it is possible to easily attach the rotating body 31 to the gear housing 80.

<Effects of the Invention> As described above, the present invention has a twist main body in which the bend rotating shaft that transmits rotational power to the bend body and the swivel rotating shaft that transmits rotational power to the swivel body have a double structure. By simply shortening these rotating shafts, meshing a set of gears, that is, a connecting gear and a hollow gear, and connecting a set of rotating shafts, that is, a swivel rotating shaft and an insertion shaft, it is easy to connect the rotating body and the twist body. It has the advantage of being easy to assemble. Also,
Since the rotating shaft for swivel and the rotating shaft for bending are divided into three parts, the shafts can be easily attached to the bearing case, which facilitates assembly within the rotating body.

Furthermore, one of the rotating shafts of the bend rotating shaft and the swivel rotating shaft, which are assembled to the rotating body parallel to each other and spaced apart, is supported on the rotating body so that it can rotate about the same axis as the rotational axis of the rotating body. The moment of inertia that rotates the rotating body can be reduced.

[Brief explanation of drawings]

The drawings show embodiments of the present invention; FIG. 1 is an external view of a robot according to the present invention, FIG. 2 is an enlarged sectional view of the wrist portion of the robot, and FIG. 3 is an enlarged sectional view of the second arm of the robot. figure. 25...Arm body, 31...Rotating body, 32...
...Large diameter gear, 34...First rotating shaft, 35... Second rotating shaft, 37... Reduction gear mechanism, 41... Bearing housing, 42... Third rotating shaft, 43...
Bearing case, 44... Fourth rotating shaft, 45, 48
... Connection shaft, 46, 47, 49, 50 ... Coupling, 51 ... Gear, 52 ... Connection hole, 55 ...
... Twist main body, 56 ... Eccentric cylinder part, 57 ... Bearing case, 58 ... Rotating sleeve, 59 ... Gear, 62 ... Rotating shaft, 80 ... Gear housing.

Claims (1)

[Claims] 1 A rotating body rotatably supported within the arm body of the robot, a twist body fixed to the tip of this rotating body, and a twist body that is rotatable around an axis that is inclined with respect to the rotation axis of the twist body. The robot is equipped with a bend body supported by a swivel body, and a swivel body rotatably supported by the bend body, the rotary body and the twist body being able to be assembled independently of each other; A rotating shaft for bending is rotatably supported on the rotating axis of the rotary body, and a rotating shaft for swivel is rotatably supported around an axis parallel to the rotating shaft for bending, and these two rotating shafts and the rotating body A gear to which the rotation from the drive motor is input is provided at each rear end of the bending shaft, a connecting gear is provided at the tip of the bend rotation shaft, and a connection gear is provided at the tip of the twist main body, which is approximately connected to the swivel rotation shaft. It has a concentric eccentric cylindrical part, a hollow gear that can mesh with the connecting gear is provided in the rear end of the twist body, and a hollow shaft coaxially connected to the hollow gear is rotatably supported on the eccentric cylindrical part. and a coupling means for rotatably supporting this hollow shaft and an insertion shaft extending through the hollow gear and extending to the tip of the swivel rotation shaft, and releasably coupling the insertion shaft and the swivel rotation shaft. a bevel gear is provided at each tip of the hollow shaft and the insertion shaft, and an inclined shaft is provided on the tip of the twist main body with a bevel gear that meshes with the bevel gear on the insertion shaft. The swivel shaft is rotatably supported around an axis inclined at a predetermined angle with respect to the bending shaft, and the bending shaft is comprised of a first and second bending shaft and a bending connecting shaft. The first bend shaft and the first swivel shaft are each rotatably supported via a bearing in a first bearing case attached to the rear end of the rotating body. The second bend shaft and the second swivel shaft are each rotatably supported via a bearing in a second bearing case attached to the tip of the rotating body, and the second bend shaft and the second swivel shaft are A robot characterized in that the bend shaft and the first and second swivel shafts are connected via a coupling by the bend connecting shaft and the swivel connecting shaft, respectively, within the rotating body.