JPH04310391A - Robot hand - Google Patents

Abstract

PURPOSE:To set a robot hand tip part to the minimum required width, lower the internal inertia in a tilting arm while improving rigidity and reduce assembling mandays and the number of part items in a robot hand provided with three kinds of freedom at its wrist part and formed in such a way that the rotation axis of a grip part provided at the wrist tip coincides with the axis of a turning arm supporting the wrist. CONSTITUTION:There are provided a turning arm 3 rotatably connected to a base arm rotatably connected to another arm, and a tilting arm 4 provided with a tool grip part 5 rotatably connected to the tip thereof connected in the tiltable state to the tip of the turning arm 3. Inside the turning arm 3, a tilting motor 7 for the tilting arm 4 and a motor 6 for rotating the tool grip part 5 are disposed parallel with the respective output shafts thereof placed in the same direction, and also vertically to the rotational axis of the turning arm 3. The tip part width of the turning arm 3 is made independent of the length of the motor in the turning arm 3 so as to be set to the minimum required width, and also the tension adjustment of timing belts 12, 13 can be performed easily without using a tension pulley and the like.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is characterized in that the wrist has three degrees of freedom, and the axis of rotation of the tool grip provided at the tip of the wrist coincides with the axis of the rotating arm that supports the wrist. Regarding robot hands.

0002

2. Description of the Related Art A conventional robot hand will be explained below.

As shown in FIG. 4, a rotating arm 3 is rotatably connected to a base arm which is movably connected to other arms, and a rotating arm 3 is rotatably connected to the tip of the rotating arm 3. It has a tilting arm 4 and a tool grip 5 rotatably connected to the tip of the tilting arm 4. A motor 8 for tilting the tilting arm 4 and a motor 9 for rotating the tool gripping part 5 are connected to output shafts 8a and 9 inside the rotary arm 3.
a are arranged in parallel with each other facing in opposite directions and perpendicular to the rotation axis of the rotation arm 3, and power is transmitted to the tilting arm 4 and the tool gripping part 5 via a pulley or a gear. There is. Pulleys 17 and 19 fixed to the output shafts 8a and 9a of the motors 8 and 9, and pulleys 21 and 22 fixed to the rotating shaft 22 and the rotating shaft 27 for rotating the tool gripping part 5.
Timing belts 23 and 25 are placed between them, respectively. With the above configuration, it is possible to reduce the internal inertia of the wrist drive unit, improve the rigidity, and reduce the number of parts and assembly man-hours.

0004

However, in the conventional configuration described above, the timing belts 23 and 25 stretched on both left and right sides inside the rotating arm 3 interfere with the motors 8 and 9 inside the rotating arm 3. Therefore, the width of the tip of the rotating arm 3 is uniquely determined by the lengths of the motors 8 and 9 disposed inside the rotating arm 3. That is, when a motor with a long overall length is used, this structure has the problem that the width of the tip of the rotating arm 3 becomes unnecessarily wide, making it easy to interfere with the tool at the tip of the wrist or the work being processed. Was.

Note that the motor 8 for tilting the tilting arm 4 and the motor 9 for rotating the tool gripping portion 5 are connected to the rotary arm 3.
Although it is possible to arrange the bevel gears parallel to each other in parallel to the axes of the bevel gears, it is necessary to change the direction twice for each bevel gear, which increases the number of parts and makes adjustment difficult.

[0006] The present invention solves the above conventional problems by making the width of the tip of the rotating arm independent of the length of the motor inside the rotating arm, making the tip the minimum necessary width,
Another object of the present invention is to provide a robot hand that can reduce the internal inertia and improve the rigidity of the drive arm, and further reduce the number of assembly steps and parts.

[0007]

[Means for Solving the Problems] To achieve this object, the robot band of the present invention is provided within a rotating arm that is rotatably connected to a base arm that is movably connected to another arm. , a motor for tilting a tilting arm having a tool gripping part rotatably connected to the tip thereof and a motor for rotating the tool gripping part are arranged in parallel with the output shafts of each motor facing the same direction, and the motors are rotated in parallel. It has a configuration in which it is arranged perpendicular to the rotation axis of the arm.

[0008]

[Operation] With this configuration, the width of the tip end of the rotating arm is made independent of the length of the motor inside the rotating arm, and the width is reduced to the minimum necessary width.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 to 3, a rotating arm 3 is rotatably connected to a base arm 1 which is movably connected to other arms, and a rotating arm 3 is rotatably connected to the tip of the rotating arm 3. The tilting arm 4 and this arm 4
It has a tool grip part 5 rotatably connected to the tip of the tool. A rotation motor and a reducer for the rotation arm 3 are installed inside the base arm 1, and the power of the rotation motor for the rotation arm 3 is transmitted to the rotation arm 3 via the reduction gear and the rotation shaft 2. is transmitted to rotate the rotating arm 3 in the direction shown by arrow A or the direction shown by arrow B in FIG.

Reference numeral 6 denotes a motor for rotating the tool gripping portion 5;
is a motor for tilting the tilting arm 4, and is installed perpendicular to the axis of the rotating arm 3, with output shafts 6a and 7a facing in the same direction. A pulley 11 is attached to the motor 7. The housing 16 itself, which can rotatably support the rotary shaft 18, can also be rotatably adjusted and fixed to a fixed base 30 formed in the rotary arm 3. The rotation axis of this rotation shaft 18 is eccentric to the rotation axis of the housing 16. Pulleys 11 are provided on both sides of the rotating shaft 18.
A pulley 14 and a pulley 15 having the same diameter are attached. The pulley 15 is interlocked with a pulley 21 via a timing belt 20, and a rotating shaft 22 is fixed to the pulley 21. The power of the motor transmitted to the rotary shaft 22 is output to the tilting arm 4 via the reducer 24, causing the tilting arm 4 to rotate in the direction shown by arrow C or the direction shown by arrow D in FIG.

On the other hand, a motor 6 for rotating the tool gripping portion 5
A pulley 10 having a larger outer diameter than the pulley 11 is fixedly installed. The rotating shaft 27 is rotatably supported via bearings 28 and 29, and a pulley 26 having the same diameter as the pulley 10 is fixed on the outer wall side of the rotating arm 3, and a bevel gear 31 is fixed on the center side. are doing. The rotating shaft 34 is a bearing 3
A bevel gear 32 that meshes with a bevel gear 31 is fixed to the end on the motor side, and a bevel gear 32 that meshes with the bevel gear 31 is fixed to the end on the motor side.
is connected to. Timing belt 12 to pulley 1
0 and the pulley 26, the tool grip part 5
The power of the motor 6 for rotation is transmitted to the rotating shaft 27,
Furthermore, the direction is changed by bevel gears 31 and 32, and the tool gripping portion 5 is
is transmitted to rotate the tool grip portion 5 in the direction shown by arrow E or the direction shown by arrow F in FIG.

By moving a motor plate (not shown) on which motors 6 and 7 are attached in the direction of base arm 1, the tension of timing belts 12 and 13 can be adjusted. Further, as described above, the axis of the rotating shaft 18 is connected to the housing 16 that rotatably supports the rotating shaft 18.
Since it is eccentric to the axis of the timing belt 20, the tension of the timing belt 20 can be adjusted by rotating the housing 16.

As described above, according to this embodiment, the motor 7 for tilting the tilting arm 4 and the motor 6 for rotating the tool gripping part 5 are installed inside the rotary arm 3, with the output shafts 7a and 6 of each motor being connected to each other. By arranging the output shafts 7a, 6a in parallel with the output shafts 7a facing the same direction and perpendicularly to the rotation axis of the rotation arm 3, the tilting arm 4 can be connected to the drive source motor 7 or 6.
Since the distance to the output shaft of the tool gripping section 5 is short and the transmission mechanism is simple, the transmission efficiency is good, internal inertia in driving can be reduced, and rigidity can be improved at the same time. The tension can be easily adjusted without using a tension pulley or the like, and since there is only one place to adjust the meshing of the bevel gears 31 and 32, the number of parts and processing steps can be significantly reduced.

[0014]

As is clear from the description of the embodiments above, the present invention provides a motor for tilting a tilting arm having a tool gripping portion at its tip and a motor for rotating the tool gripping portion inside the rotary arm. By arranging the motors in parallel with each motor's output shaft pointing in the same direction and perpendicular to the rotation axis of the rotating arm, the width of the tip is kept to the minimum necessary width and the internal space of the drive arm is minimized. This makes it possible to realize an excellent robot hand that reduces inertia, improves rigidity, and reduces the number of parts and assembly man-hours.

[Brief explanation of drawings]

FIG. 1 is a sectional view showing the concept of a rotating arm of a robot hand according to an embodiment of the present invention.

[Figure 2] Front view showing the concept of the main parts of the robot hand

[Figure 3] Bottom view showing a cross-section through a partial cutout of the rotating arm of the robot hand

[Fig. 4] Cross-sectional view showing the concept of a rotating arm of a conventional robot hand

[Explanation of symbols]

1 Basic arm 3 Rotating arm 4 Tilting arm 5 Tool gripping part 6 Motor 6a Output shaft 7 Motor 7a Output shaft

Claims (1)

[Claims] Claims: 1. A rotating arm rotatably connected to a base arm movably connected to another arm; a rotating arm rotatably connected to a tip of the rotating arm and rotatably coupled to the tip; The tilting arm includes a tilting arm having a tool gripping part, and the tilting arm is arranged inside the rotary arm in parallel with each output shaft facing the same direction and perpendicular to the rotation axis of the rotary arm. A robot hand comprising a tilting motor and a rotation motor of the tool gripping section.