JPH0480798B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a wrist mechanism attached to the tip of an arm of an industrial robot.

[Prior art]

Conventionally, the arm of an industrial robot is provided with a bendable wrist mechanism. As an example of this wrist mechanism, one disclosed in Japanese Utility Model Application Publication No. 56-160790 is known. As shown in Fig. 5, this robot has a base body 1 attached to the robot body, a large number of links (basic arms) 3 connected through universal joints 2, a worker 4 at the tip, and a cylinder mechanism. By contracting 5, the wrist mechanism can be bent as shown in FIG.

[Problem that the invention seeks to solve]

This conventional wrist mechanism uses a large number of links and universal joints, resulting in a complicated and large structure, a narrow working range, easy entry of dust, etc., which requires a dust cover, and furthermore, the rigidity is insufficient. There is a problem with this.

The object of the present invention is to provide a wrist mechanism that solves the above-mentioned problems of the conventional wrist mechanism.

[Means for solving problems]

In order to achieve the above object, the wrist mechanism of the present invention is arranged such that a plurality of intermediate members are interposed between both end members, and one of the end members and the plurality of intermediate members are connected to the other end member. With respect to the axis, the both end members and the plurality of intermediate members are arranged in a straight line and are rotatable around an axis that sequentially intersects in opposite directions, and the both end members and the plurality of intermediate members are one It is characterized in that it has two drive systems so that adjacent ones are alternately connected and rotated, and a rotation drive mechanism that drives each of the drive systems, respectively.

[Effect]

According to the wrist mechanism of the present invention, for example, when a drive system different from the rotary drive member connected to the other end member is driven to relatively rotate the corresponding rotary drive mechanism, the drive force is generated. rotates an intermediate member in a drive system connected to this rotational drive mechanism. Here, one end member and the plurality of intermediate members rotate about an axis that sequentially intersects in the opposite direction with respect to the axis of the other end member when these end members and the intermediate members are arranged linearly. Because it is free to move, by driving the adjacent parts as described above, the axes of both end members and the intermediate member that are not driven and the intermediate member that is driven and the adjacent intermediate member are If they are made consecutive, they will curve in the same direction. In this way, the wrist mechanism will be curved.

〔Example〕

A first embodiment of the present invention will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, a plurality of intermediate members 13, 14, 1 are provided between both end members 11, 12.
These plural intermediate members 13, 1 with 5 interposed
4, 15 and both end members 11, 12 are arranged in series and relatively rotatable with respect to each other. The plurality of intermediate members 13, 14, 15 have a plurality of axes 17, 18, 19, 20 that sequentially intersect in a zigzag manner with one of the end members 11, 12, that is, the axis 16 of the end member 11.
It is said that each can be rotated freely around each of them,
These plural intermediate members 13, 14, 15 and both end members 11, 12 are connected to a first connecting means (for example, a gear 2
1, 22, 23, 24, etc.) 25 and second coupling means (for example, gears 26, 27, 28, 29, etc.) 30
are connected by. A first rotational drive mechanism 31 provided on one of the end members (for example, the end member 11) is connected to the first connecting means 25, and a second rotation drive mechanism 31 is connected to the first connecting means 25.
The connecting means 30 includes a second rotational drive mechanism 32 provided on one of the end members (for example, the end member 11).
are connected to each other, and the first and second rotation drive mechanisms 31 and 32 enable relative rotation of both end members 11 and 12 and the plurality of intermediate members.

The wrist mechanism shown in FIG. 1 is used as follows. When one of the end members (end member 11) is fixed to, for example, an arm 33 of an industrial robot and the first rotational drive mechanism 31 is rotated about the axis 16,
This rotational force is transmitted to the intermediate member 13 via the gears 21 and 22 to rotate the intermediate member 13, and further this rotational force is transmitted to the intermediate member 15 via the gears 23 and 24 to rotate the intermediate member 15. let

Further, when the first rotational drive mechanism 31 is fixed to, for example, an arm 33 of an industrial robot and the second rotational drive mechanism 32 is rotated about the axis 16, this rotational force is transmitted to one end member 11. , this one end member 11 is rotated, and the rotational force is applied to the gear 2
6, 27 to the intermediate member 14 to rotate the center member 14, and further, this rotational force is transmitted to the other end member (end member 1) via gears 28, 29.
2) and rotates this end member 12.

Here, when the first rotation drive mechanism 31 is operated to rotate the intermediate member 13 by 180 degrees with respect to the end member 11, the state shown in FIG. 2 is obtained. At this time, the directions of the hands provided at the tip of the end member 12 P ₀ , P ₁ ---
−−→
changes continuously as the first rotational drive mechanism 31 rotates.

Furthermore, if the first and second rotation drive mechanisms 31 and 32 are controlled independently, the directions of the tips P ₀ , P ₁ -----→ of the end members can be directed in any direction. .

A second embodiment of the present invention will be described below with reference to FIG.

In FIG. 3, 41 is one end member that is a component of the wrist mechanism, and 42 is the other end member. Both end members 41 and 42 are made of cylindrical members, and a plurality of intermediate members made of cylindrical members, that is, a first intermediate member 43, a second intermediate member 44, and a third intermediate member 45 are interposed between these end members 41 and 42. I'm forced to. These both end members 41, 42, the first intermediate member 4
3. Adjacent end surfaces of the second intermediate member 44 and the third intermediate member 45 are inclined at a predetermined angle with respect to the axis 46 of one end member 41 and are opposed to each other, and both end members 41 and 42 and the first intermediate member 43, the second intermediate member 44, and the third intermediate member 45 are arranged in series and mutually rotatable.

The end member 41 has a middle stage 47 and is integrally connected to a cylindrical shaft (rotation drive mechanism) 50 coaxially provided at the tip of an industrial robot arm 48 and rotatably provided via a bearing 49. has been done. A rotary shaft (rotary drive mechanism) 52 is coaxially and rotatably provided on the cylindrical shaft 50 via a bearing 51 . The tip of the rotating shaft 52 is located within one end member 41, and a bevel gear 53 is fixedly provided at this tip. In the middle stage 47 of one end member 41, a first
A shaft 54 extends and is integrally provided within the first intermediate member 43. This first shaft 54 is connected to one end member 4
It passes approximately through the center of the inclined surface 55 of No. 1 and is perpendicular to this inclined surface 55. The first shaft 54 has a bevel gear 5
6 is fixedly attached.

The first intermediate member 43 also includes a bearing 58.
A gear 57 rotatably fitted to the single shaft 54 is integrally attached via a, and this gear 57 is rotatably attached to one end member 41 via a bearing 58b. The gear 57 is meshed with the bevel gear 53. First intermediate member 4
3 is rotatable around a first shaft 54.

Further, the second intermediate member 44 is provided with a bracket 59 that protrudes inward from the inner surface of the side wall thereof. The bracket 59 has a second plate that intersects the axis 46 of the one end member 41 at a predetermined angle.
A shaft 60 extends and is integrally provided within the first intermediate member 43 . The second axis 60 passes approximately through the center of the first intermediate member side inclined surface 61 of the second intermediate member 44 and is perpendicular to this inclined surface 61 . A bevel gear 62 is fixedly attached to the second shaft 60. The bevel gear 62 is meshed with the bevel gear 56. Further, a gear 63 rotatably fitted to the second shaft 60 via a bearing 64a is integrally attached to the first intermediate member 43.
3 is the second intermediate member 44 via the bearing 64b.
is rotatably attached to. The bracket 59 also has a third axis 65 that intersects the axis 46 of one end member 41 at a predetermined angle.
It extends and is integrally provided within the intermediate member 45. The third axis 65 passes approximately through the center of the third intermediate member side inclined surface 66 of the second intermediate member 44 and is perpendicular to this inclined surface 66 . The third shaft 65 has a bevel gear 6
7 is fixedly attached. The second intermediate member 44 is rotatable about the second shaft 60 together with the second shaft 60.

Further, the third intermediate member 45 includes a bearing 69.
A gear 68 rotatably fitted to the third shaft 65 is integrally attached via a, and this gear 68 is rotatably attached to the second intermediate member 44 via a bearing 69b. The gear 68 is meshed with the gear 63.

Further, the other end member 42 is provided with a middle stage 70, and this middle stage 70 has a fourth axis 7 that intersects with the axis 46 of the one end member 41 at a predetermined angle.
1 extends and is integrally provided within the third intermediate member 45. The fourth shaft 71 is the third shaft of the other end member 42.
It passes approximately through the center of the intermediate member side inclined surface 72 and is perpendicular to this inclined surface 72 . A bevel gear 73 is fixedly attached to the fourth shaft 71, and this bevel gear 73 is meshed with the bevel gear 67. The fourth shaft 71 is connected to the third shaft through a bearing 74.
It is rotatably connected to the intermediate member 45. In addition, the first axis 54, the second axis 60, the third axis 65, the fourth axis
The shaft 71 is connected to the axis 4 in a zigzag pattern as shown in FIG.
It is provided to intersect with 6. Furthermore, a finger end 75 is provided on the outer end surface of the other end member 42 .
Further, a motor (second rotational drive mechanism) 76 is connected to the cylindrical shaft 50, and a motor (first rotational drive mechanism) 77 is connected to the rotational shaft 52. In addition,
The cylindrical shaft 50 and the motor 76 constitute a second rotational drive mechanism, and the rotational shaft 52 and the motor 77 constitute a first rotational drive mechanism.

Next, the operation of the wrist mechanism configured as described above will be explained. The rotating shaft 52 is fixed to the arm 48 so that one end member 41 does not rotate.
is rotated by a predetermined angle in the direction of arrow A in FIG. Then, the first intermediate member 43 rotates about the first shaft 54 via the bevel gear 53 and the gear 57 to the state shown in FIG. 4. Also, at this time, the gear 63,
68, the third intermediate member 45 rotates about the third shaft 65 to the state shown in FIG.
The state shown in the figure will be reached. That is, when the rotating shaft 52 is rotated by a predetermined rotation angle, the rotating shaft 52 includes one end member 41 (the one end member 41 itself does not rotate), and even-numbered end members and intermediate members from this end member 41 rotate. The rotation angle is a constant ratio to the rotation angle of .

In addition, the arm 4 is
When the cylindrical shaft 50 is rotated by a predetermined rotation angle in the direction of arrow A in FIG. Further, at this time, the second intermediate member 44 rotates together with the second shaft 60 through the bevel gears 56 and 62, and
The other end member 42 connects to the fourth shaft 71 via 7 and 73.
Rotate around. This directs the hand 75 in the desired direction. That is, when the rotation shaft 52 is fixed and the cylindrical shaft 50 is rotated by a predetermined rotation angle, one end member 41 (one end member 4 itself rotates) is rotated, and an odd numbered end member 41 is rotated from this end member 41. The end members and the intermediate member rotate by a rotation angle that is a constant ratio to the rotation angle of the cylindrical shaft 50. Therefore, the cylindrical shaft 50,
By appropriately rotating the rotating shaft 52, the hand 7
5 can be changed continuously, the operating range of the wrist mechanism constituent members can be widened, and the hand 75 can be directed in any direction within this operating range.

〔Effect of the invention〕

According to the wrist mechanism of the present invention, it is possible to turn the tip of the wrist to a state where it is wrapped around the base of the wrist. In addition, since multiple intermediate members are provided, the flexibility of the wrist is high and the working range is wide. However, both end members and the intermediate member are driven by two drive systems, so even if there are multiple intermediate members, the number of drive systems increases. There's no need. Furthermore, since the wrist is curved by rotation, both end members and the intermediate member can be made cylindrical, increasing rigidity. Furthermore, since the drive system can be installed inside, a dust-proof structure is used and a dust cover is provided. It becomes possible to make it unnecessary.

[Brief explanation of the drawing]

Fig. 1 is a side view showing a wrist mechanism according to the present invention, Fig. 2 is a partially omitted side view showing the wrist mechanism in a bent state, and Fig. 3 is a partially omitted longitudinal section showing an embodiment of the present invention. 4 is a partially omitted schematic side view showing the wrist mechanism in a bent state; FIG. 5 is a schematic side view of a conventional wrist mechanism; FIG. 6 is a schematic side view showing the wrist mechanism in a bent state. FIG. 11, 12... End member, 13, 14, 15... Intermediate member, 16, 17, 18, 19, 20... Axis line, 2
5...first connection means, 30...second connection means, 3
1... First rotational drive mechanism, 32... Second rotational drive mechanism, 41, 42... End member, 43... First intermediate member, 44... Second intermediate member, 45... Third intermediate member,
46... Axis line, 50... Cylindrical shaft (second rotational drive mechanism),
52... Rotating shaft (first rotational drive mechanism), 54... First
axis, 60...second axis, 65...third axis, 71...fourth axis
Axis, 75...hand, 76...motor (second rotational drive mechanism), 77...motor (first rotational drive mechanism).

Claims (1)

[Scope of Claims] 1. A plurality of intermediate members are interposed and arranged between both end members, and one of the end members and the plurality of intermediate members are arranged with respect to the axis of the other end member. and the intermediate members arranged in a linear chain are rotatable about axes that intersect in opposite directions one after another, and the both end members and the plurality of intermediate members are arranged so that adjacent ones except one are rotatable. A wrist mechanism characterized by having two systems of drive systems so as to be alternately connected and rotated, and comprising a rotational drive mechanism that drives each of the drive systems, respectively.