JPH085026B2 - Industrial robots - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an industrial robot, and more particularly to a small wrist,
The present invention relates to an industrial robot that is simple, lightweight, and suitable for improving the operating speed and rigidity of each wrist axis.

[Prior Art] As a conventional technology relating to the wrist of this type of industrial robot, there is a technology disclosed in Japanese Patent Laid-Open No. 52-105463.

In this conventional technique, the output shaft of the wrist is directly driven by the gear.

By the way, there are many examples of using a robot for spot welding in the automobile industry and the like. In a robot that handles heavy objects, such as a spot welding robot, high rigidity is required for each axis of the wrist. In addition, since spot welding has many spots, it is required that the moving time from the spot to the spot be short, and to meet this, it is necessary to shorten the rising time.

And spot welding itself may be quite rough, but if the body of the car is dispersed or there is a problem with the robot body, compatibility of the robot body is necessary to start the line early, so the robot body and the wrist are compatible. High accuracy is required between each part including.

On the other hand, in the robot wrist, in order to drive each axis of the wrist, attaching a drive source such as a motor directly to the wrist axis makes the wrist heavy and large, and it is used in a narrow place or at a high operating speed. Difficult to get a possible robot. Therefore, it becomes necessary to transmit the power from the rear of the wrist by some transmission means without directly mounting the motor on the shaft of the wrist.

In spot welding, a wrist having at least three degrees of freedom is required for the robot to take all postures in space. The three axes that control these three degrees of freedom cannot be parallel to each other in order to avoid overlapping of the degrees of freedom. In other words, it is necessary to change the direction of the power of the wrist transmitted from the rear by some means. In the prior art, such a direction change was performed by a bevel gear.

Usually, when the axis of the wrist of a robot is driven by using a motor as a drive source, it is necessary to decelerate because it rotates at a considerably high speed. As means for reducing the rotation by the motor, there are a case where the bevel gear is used on the low speed side and a case where the bevel gear is used on the high speed side.

When the bevel gear is used at the low speed side, that is, in the latter stage of the reduction gear, the torque to be transmitted is large, and therefore the bevel gear needs to be made large to match it. Moreover, it is indispensable to remove the backlash of the bevel gear because of the low speed, and an adjustment mechanism is required for that purpose, which complicates the structure of the wrist.

On the other hand, when it is used on the high speed side of the bevel gear, that is, before the speed reducer, the grease lubrication has a limit in the number of revolutions and the output shaft cannot be moved at high speed. In addition, oil lubrication complicates the structure for preventing oil leakage, and there is concern about reliability regarding oil leakage.

Further, in both cases of using the bevel gear on the low speed side and the high speed side, increasing the number of rotations of the bevel gear causes a problem of noise.

[Problems to be Solved by the Invention] In summary, in the conventional technique in which the rotation of the motor is reduced by using the bevel gear, the wrist is heavy in a robot that handles heavy objects, such as a robot for spot welding.
There is a growing problem. Further, the above-mentioned conventional technique requires an adjusting mechanism for removing the backlash of the bevel gear, which causes a problem that the structure of the wrist becomes complicated. Further, in the above-mentioned conventional technique, the torque of the speed reducer is transmitted to each axis of the wrist via the gear and the shaft, so that there is a problem that the rigidity is lowered and the operation speed is slowed down.

An object of the present invention is to solve the above-mentioned problems of the prior art and to make the wrist smaller, simpler, and lighter in weight, and moreover, the rigidity of the wrist is large, the operating speed is fast, the accuracy is good, and the noise can be reduced. It is to provide an industrial robot.

[Means for Solving the Problems] In the present invention, a rotating shaft rotatably supported by the tip of the forearm and having an inclined surface at the tip, and an inclined surface of the rotating shaft, on the inclined surface A bending shaft rotatably supported in a direction intersecting the rotation direction of the rotating shaft and having a speed reducer, and a tip end portion of the bending shaft rotatably supported in a direction intersecting the rotating direction of the bending shaft, and A twist shaft having a speed reducer,
A drive source that is attached to the other end of the forearm and drives a rotating shaft, a bending shaft, and a twisting shaft, respectively, a rotating shaft power transmitting unit that transmits the power of the rotating shaft drive source to the rotating shaft, and a bending shaft. A bending shaft power transmission means for transmitting the power of the drive source for the bending shaft to the bending shaft, and a twist shaft power transmission means for transmitting the power of the driving source for the twist shaft to the twist shaft.

The rotary shaft power transmission means is rotatably supported inside the forearm, and has one end connected to the rotary drive shaft, and the other end of the rotary drive shaft.
It comprises a speed reducer built in the forearm and a first winding transmission member that connects the speed reducer and the output shaft of the drive source for the rotary shaft. The bending shaft power transmission means connects a bending drive shaft rotatably supported coaxially with the rotation driving shaft of the forearm, and one end of the bending drive shaft and a driving source for the bending shaft. A second winding transmission member, a universal joint in which one end is connected to the other end of the bending drive shaft via a third winding transmission member, and a fourth joint which connects the other end of the universal joint and the speed reducer of the bending shaft. It consists of a winding transmission member. The twist shaft power transmission means is rotatably supported in the rotary drive shaft of the forearm coaxially therewith, and one end of the twist drive shaft is connected to a drive source for the twist shaft, and a reducer for the bending shaft. An intermediate shaft that is rotatably supported by the intermediate shaft, a first universal joint connected to the other end of the twist drive shaft, and an input side of the intermediate shaft and one of the first universal joints. A fifth winding transmission member, a second universal joint, one of which is connected to the output side of the intermediate shaft, and a sixth winding transmission member, which connects the other of the universal joint and the reducer of the twist shaft. It consists of

[Operation] As described above, in the present invention, the rotary shaft power transmission means, the bending shaft power transmission means, and the twist shaft power transmission means serve as mechanical elements for changing the directions of the power from the respective drive sources. Since the universal joint and the winding transmission means are used, it is not necessary to adjust the backlash, and the backlash adjusting mechanism can be omitted. Therefore, it is possible to reduce the size, the simplification, and the weight of the wrist including the rotating shaft, the bending shaft, and the twisting shaft.

Also, both the bending axis and the twist axis have speed reducers,
Moreover, the power is transmitted to the respective speed reducers by the power transmission means for the bending shaft and the power transmission means for the twist shaft which have the universal joint and the winding transmission member. As a result, both the bending shaft and the twist shaft can take out the output of the reduction gear as it is as the rotational force of each shaft. Therefore, since the rigidity of the wrist can be the rigidity of the speed reducer itself, the rigidity of the wrist can be easily increased by using a compact speed reducer having high rigidity.

Moreover, since the rotary shaft power transmission means, the bending shaft power transmission means, and the twist shaft power transmission means use the universal joint and the winding transmission member as described above, it is possible to eliminate the decrease in accuracy due to backlash, and to reduce the speed. Combined with the fact that the rotational force of each wrist axis is directly extracted from the output of the machine, the accuracy of each wrist axis can be improved, and even if each wrist axis is rotated at high speed, noise will be generated. Can be reduced.

In the present invention, the bending axis is tilted and supported with respect to the rotation axis that is the rotation center of bending of the wrist, and the twist axis is tilted and supported with respect to this bending axis, so the bending angle of the universal joint is reduced. can do. As a result, the power transmission efficiency of the universal joint can be improved and lubrication becomes easy. Further, the universal joint uses a cruciform joint so that both ends of the universal joint have a constant velocity, but the intermediate shaft of the cruciform joint has a non-constant velocity. It is conceivable that this non-uniform velocity of the intermediate shaft becomes more remarkable as the bending angle of the universal joint becomes larger, which causes vibration. According to the present invention, by supporting the bending shaft having the inclined surface at the tip end with respect to the rotation shaft that is the rotation center of the bending shaft, the non-uniform velocity of the intermediate shaft of the cross joint forming the universal joint is supported. Can be relaxed. As a result, the wrist can be rotated at a high speed without structurally reducing the weight of the wrist, so that the operating speed of the wrist can be increased.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

1 to 4 show an embodiment of the present invention. FIG. 1 is an enlarged sectional view of a wrist portion of a robot, and FIG. 2 is a wrist portion rotated by 180 ° with respect to FIG. FIG. 3 is an enlarged cross-sectional view of the state, FIG. 3 is an external view of the entire industrial robot according to the present invention, and FIG. 4 is a vertical cross-sectional view of a forearm portion of the robot.

The industrial robot of the embodiment shown in FIG. 3 is a vertical articulated robot, and includes a base 1, a rotating body 2, and an upper arm 3.
It has a forearm 4, a wrist rotation shaft 5, a bending shaft 6, and a twist shaft 7.

The rotating body 2 is adapted to rotate about an axis 8 in the vertical direction, which allows the robot to move in the left-right direction.

The upper arm 3 is adapted to rotate about an axis 9 orthogonal to the axis 8 so that the robot can move in the front-back direction.

The forearm 4 is adapted to rotate about an axis 10 which is orthogonal to the axis 8 and the axis 9, whereby the robot can move vertically.

The rotary shaft 5 of the wrist is attached so as to be rotatable around the central axis 11 of the forearm 4, and an inclined surface 5'is provided at the tip thereof.
have.

The bending shaft 6 is tilted by being attached to the inclined surface 5 ′ of the rotary shaft 5 of the wrist, and is rotatably supported by the rotary shaft 5. The bending shaft 6 rotates about an axis 12 that is inclined with respect to the central axis 11 of the forearm 4 to perform a bending operation of the wrist.

The twist shaft 7 is inclined with respect to the bending shaft 6 and is rotatably supported by the bending shaft 6. The twisting shaft 7 rotates about a shaft 13 inclined with respect to the shaft 12 to perform a twisting motion of the wrist. Various tools are attached to the twist shaft 7, and various operations are performed with the tools.

At the rear end of the forearm 4, as shown in FIG. 4, a motor 14 for the rotary shaft of the wrist, a motor 20 for the bending drive shaft,
A motor 26 for a twist drive shaft is attached. Further, inside the forearm 4, a rotary drive shaft 19 'connected to a speed reducer 19 for a rotary shaft, a bending drive shaft 25, and a twist drive shaft 28 are rotatably supported. The bending drive shaft 25 is hollow, and the twist drive shaft 28 is inserted therein.

The rotary drive shaft 19 'has one end connected to the rotary shaft 5 and the other end connected to the output shaft of the speed reducer 19. As shown in FIG. 4, from the output shaft 15 of the rotary shaft motor 14 to the speed reducer 19, a pulley 16 and a timing belt 17 are provided.
And the driven pulley 18 transmits power to the speed reducer.
The rotary shaft 5 is rotatably driven via the output shaft 21 of the bending drive motor 20 to the bending drive shaft.
As shown in FIG. 4, power is transmitted to 25 via a drive pulley 22, a timing belt 23, and a driven pulley 24, and the bending drive shaft 25 is rotated.

As shown in FIG. 4, power is directly transmitted from the output shaft 27 of the motor 26 for the twist drive shaft to the twist drive shaft 28, and the twist drive shaft 28 is rotated.

Inside the rotary shaft 5 of the wrist, as shown in FIGS. 1, 2, and 4, a universal joint for a bending shaft is provided.
32 and a universal joint 35 for the twist axis are supported. Further, between the flange 37 attached to the side of the bending shaft 6 and the rotating shaft 5, a speed reducer 41 for the bending shaft, a twist drive shaft 28, and an intermediate shaft 46 of the twist shaft 7 are rotatably supported. .

The input shaft 42 of the speed reducer 41 for the bending shaft is formed hollow, and the intermediate shaft 46 is inserted therein.

One of the cross joints of the universal joint 32 for the bending shaft is supported on the inclined surface 5'of the rotary shaft 5 via a bearing 33, and the other cross joint is supported on the inner peripheral wall of the rotary shaft 5 via a bearing 34. Has been done. The universal joint 32 is connected to the bending drive shaft 25 by a driving pulley 29, a timing belt 30, and a driven pulley 31 so as to convert the power direction of the bending drive shaft 25.

One of the cross joints of the universal joint 35 for the twist shaft is supported on the inclined surface 5 ′ of the rotary shaft 5 via a bearing 36, and the other cross joint is directly connected to the twist drive shaft 28. The universal joint 35 converts the power direction of the twist drive shaft 28.

The universal joint 32 for the bending shaft is configured to move power to the input shaft 42 of the speed reducer 41 for the bending shaft by the driving pulley 38, the timing belt 39, and the driven pulley 40 in parallel. Has been done. The speed reducer 41 decelerates the rotation of the input shaft 42 and directly drives the bending shaft 6 to rotate.

The drive pulley 43, the timing belt 44, and the driven pulley 45 move the power in parallel to the intermediate shaft 46 from the universal joint 35 for the twist shaft to transmit the power.

A casing 47 for a twisting shaft is attached to the bending shaft 6 as shown in FIGS. 1, 2, and 4. The casing 47 rotatably supports another universal joint 48 for the twist shaft, a reducer 53 for the twist shaft, and the twist shaft 7.

One of the cross joints in the other universal joint 48 for the twist shaft has the casing 47 via a bearing 49.
The other cross joint is directly connected to the intermediate shaft 46. This universal joint 48 is the intermediate shaft
It is designed to change the direction of power of 46.

From the other universal joint 48 for the twist shaft to the input shaft 54 of the reducer 35 for the twist shaft, the drive pulley 50
The timing belt 51 and the driven pulley 52 move the power in parallel and transmit the power. The speed reducer 53 reduces the number of rotations of the input shaft 54, and
Is directly driven to rotate.

In the industrial robot of the above embodiment, each axis of the wrist is driven as follows.

That is, when the rotary shaft motor 14 shown in FIG. 4 is driven, its power is transmitted to the output shaft 15 → driving pulley 16 → timing belt 17 → driven pulley 18 → reducer 19 and is connected to this reducer 19. The rotary drive shaft 19 'allows the rotary shaft 5 to be the third
It is directly driven to rotate about the central axis 11 of the forearm 4 shown in the figure.

Further, when the motor 20 for the bending drive shaft is driven, its power is, as can be seen from FIGS. 1, 2, and 4, the output shaft.
21 → Drive pulley 22 → Timing belt 23 → Driven pulley 24
→ Transmitted to the reducer 25. Then, from this bending drive shaft 25, drive pulley 29 → timing belt 30 → driven pulley 31 →
Power is transmitted to the universal joint 32 for the bending shaft, and the direction of the power is changed by the universal joint 32. Power is transmitted from the universal joint 32 to the drive pulley 38 → the timing belt 39 → the driven pulley 40 → the input shaft 42 of the speed reducer 41 for the bending shaft, and the speed reducer 41 tilts the bending shaft 6 as shown in FIG. It is driven to rotate directly about the shaft 12.

When the motor 26 for the twist shaft is driven, its power is transmitted from the output shaft 27 to the twist drive shaft 28, as can be seen from FIGS. 1, 2, and 4. And from this twist drive shaft 28 to the universal joint for the twist shaft
Power is transmitted to 35, and the power is changed in direction. Then, from the universal joint 35 to the drive pulley 43 →
Power is transmitted to the timing belt 44, the driven pulley 45, and the intermediate shaft 46. Further, power is transmitted from the intermediate shaft 46 to another universal joint 48 for a twist shaft, and the universal joint 48 redirects the power again. Subsequently, power is transmitted from the universal joint 48 to the drive pulley 50 → timing belt 51 → driven pulley 52 → the input shaft 54 of the reduction gear 53 for the twist shaft, and this reduction gear
The twist shaft 7 is directly driven by 53 to rotate about a shaft 13 inclined with respect to the shaft 12 shown in FIG.

In this embodiment, however, the universal joints 32, 35, 48 are used as the mechanical elements that change the direction of the power of the bending drive shaft 25 and the twist drive shaft 28, so the adjustment mechanism for adjusting the backlash is omitted. can do.

Moreover, the power of the motor 14 is transmitted to the speed reducer 19 by the winding transmission member including the pulley 16, the timing belt 17 and the driven pulley 18, and the rotary drive shaft connected to the speed reducer 19 is transmitted.
The rotating shaft 5 is directly rotated by 19 '.
Furthermore, the power of the bending drive shaft 25 is universal joint.
The direction is changed by 32, and the power is moved in parallel with the input shaft 42 of the speed reducer 41 for the bending shaft by the winding transmission member including the drive pulley 38, the timing belt 39 and the driven pulley 40, and taken out from the speed reducer 41. The bending shaft 6 is directly rotated by the output. Further, the power of the twist drive shaft 28 is converted in direction by the universal joint 35, and the power is moved in parallel to the intermediate shaft 46 via the winding transmission member of the drive pulley 43, the timing belt 44, and the driven pulley 45,
The power as the output of this intermediate shaft 46 is redirected again by another universal joint 48, and the power of the speed reducer 53 for the twist shaft is wound by the winding transmission member of the drive pulley 50, the timing belt 51 and the driven pulley 52. The twist shaft 7 is moved in parallel with the input shaft 54, and the output taken from the speed reducer 53 is used to directly rotate the twist shaft 7. As a result, the rigidity of the wrist can be regarded as the rigidity of the speed reducer 19,41,53 itself.Therefore, by selecting a compact and highly rigid speed reducer 19,41,53 for use, The rigidity can be easily increased.

In addition, the universal joint 32,3
Since the 5,48 is used, it is possible to eliminate the decrease in accuracy due to backlash and to take out the rotational force of each axis of the wrist directly from the reducer 19,41,53. The accuracy of can be improved, and noise can be significantly reduced even when each axis of the wrist is rotated at high speed.

Furthermore, by bending and supporting the bending shaft 6 with respect to the rotating shaft 5, the bending angles of the universal joints 32 and 35 can be reduced, and by supporting the bending shaft 6 by tilting it, Universal joint
The bending angle of 48 can be reduced. as a result,
The power transmission efficiency of the universal joints 32, 35, 48 can be improved, and lubrication becomes easy. As a result, the non-uniform velocity of the intermediate shaft connecting the two cross joints of the universal joints 32, 35, 48 can be alleviated. As a result, it is possible to reduce vibration, rotate each axis of the wrist at high speed, and thus increase the operating speed of the wrist.

Further, in this embodiment, since the power is transmitted from the universal joint 32 for the bending shaft to the input shaft 42 of the speed reducer 41 via the transmission member, the universal joint 32 can be arranged freely. Therefore, the axial dimension of the wrist can be shortened.

Further, by disposing two universal joints for the twist shaft, and connecting the universal joint 48 and the input shaft 54 of the reducer 53 for the twist shaft by a winding transmission member, the twist shaft 7 and the twist drive shaft 28 are connected. It is possible to make one point intersect with the axis 13. As a result, the control program can be simplified, and the operating speed can be further increased.

Next, FIG. 5 shows another embodiment of the present invention and is an enlarged vertical sectional view of a wrist portion.

In this embodiment, the twist drive shaft 55 is formed long, and the tip end of the twist drive shaft 55 is supported inside the rotary shaft 5 of the wrist via a bearing 56.

A universal joint 60 for a twist shaft is attached to the inner peripheral wall of the rotary shaft 5 of the wrist.

One of the universal joints 60 is a cross joint,
Twist drive shaft 55, drive pulley 57, and timing belt 58
And a driven pulley 59 are connected by a winding transmission member. The other cross joint of the universal joint 60 is directly connected to the intermediate shaft 46 that transmits power to the twist shaft 7.

Therefore, in this embodiment, the power is transmitted from the twist drive shaft 55 to the drive pulley 57 → the timing belt 58 → the driven pulley 59 → the universal joint 60, and the direction of the power is converted by the universal joint 60 and transmitted to the intermediate shaft 46. It has become so.

Other structures and operations of the embodiment shown in FIG. 5 are the same as those of the embodiment shown in FIGS.

In the present invention, the winding transmission member is not limited to the pair of pulleys and the timing belt hung between the pulleys, but may be a pair of sprocket wheels and a chain, and a silent chain is used as the chain. May be.

[Advantages of the Invention] According to the present invention described above, a rotary shaft that is rotatably supported by the tip of the forearm and that has an inclined surface at the tip,
On the inclined surface of the rotating shaft, a bending shaft that is rotatably supported on the inclined surface in a direction intersecting the rotation direction of the rotating shaft and has a speed reducer, and at the tip of the bending shaft, the bending shaft rotates. For a rotating shaft, which is rotatably supported in a direction intersecting the direction, and which has a speed reducer and a drive source which is attached to the other end of the forearm and drives the rotating shaft, bending shaft, and twisting shaft, respectively. The power transmission means for the rotary shaft that transmits the power of the drive source to the rotary shaft, the power transmission means for the bending shaft that transmits the power of the drive source for the bending shaft to the bending shaft, and the power of the drive source for the twist axis And a twist shaft power transmission means for transmitting to the twist shaft,
These rotary shaft power transmission means, bending shaft power transmission means,
Since the twist shaft power transmission means is configured by using the universal joint and the winding transmission means as mechanical elements for changing the direction of the power from the respective drive sources,
There is no need to adjust the backlash, and the backlash adjusting mechanism can be omitted. Therefore, it is possible to reduce the size, the simplification, and the weight of the wrist including the rotating shaft, the bending shaft, and the twisting shaft.

Also, both the bending axis and the twist axis have speed reducers,
Moreover, the power is transmitted to the respective speed reducers by the power transmission means for the bending shaft and the power transmission means for the twist shaft which have the universal joint and the winding transmission member. As a result, both the bending shaft and the twist shaft can take out the output of the speed reducer as the rotational force of each shaft as it is. Therefore, the rigidity of the wrist can be the rigidity of the speed reducer itself. By using the speed reducer, the rigidity of the wrist can be easily increased.

Further, by using the universal joint and the winding transmission member as described above for the rotary shaft power transmission means, the bending shaft power transmission means, and the twist shaft power transmission means, it is possible to eliminate the decrease in accuracy due to backlash, and to reduce the speed. Combined with the fact that the rotational force of each axis of the wrist is directly taken out from the output of the machine, it has the effect of improving the accuracy of each axis of the wrist, and even if each axis of the wrist is rotated at high speed, noise will be generated. There is an effect that can be reduced.

Moreover, according to the present invention, since the bending axis is tilted and supported with respect to the rotation axis that is the rotation center of the wrist bending, and the twist axis is tilted and supported with respect to this bending axis, the universal joint The bending angle can be reduced, which improves the power transmission efficiency of the universal joint and facilitates lubrication, which contributes to the weight reduction of the wrist and the structure of each wrist axis. In addition, since it can be rotated at high speed, the operation speed of the wrist can be increased.

[Brief description of drawings]

1 to 4 show an embodiment of the present invention.
The figure is an enlarged cross-sectional view of the wrist portion of the robot, Fig. 2 is an enlarged cross-sectional view of the wrist portion rotated by 180 ° with respect to Fig. 1, and Fig. 3 is an external view of the entire industrial robot according to the present invention. FIG. 4 is a vertical cross-sectional view of the forearm bulge of the robot, and FIG. 5 shows another embodiment of the present invention and is an enlarged vertical cross-sectional view of the wrist portion. 4 ... Forearm, 5 ... Wrist rotation axis, 6 ... Bending axis, 7 ...
… Twist axis, 11 …… Forearm center axis, 12 …… Axis tilted with respect to center axis 11, 13 …… Axis tilted with respect to axis 12, 14…
… Rotary axis motor, 19 …… Rotary axis reducer, 20 ……
Bending drive shaft motor, 22 …… Drive pulley, 23 …… Timing belt, 24 …… Driven pulley, 25 …… Bending drive shaft,
26 …… Twist drive shaft motor, 28 …… Twist drive shaft,
29 …… Drive pulley, 30 …… Timing belt, 31 …… Driven pulley, 32 …… Universal joint for bending shaft,
35 …… Universal joint for twist shaft, 38 …… Drive pulley, 39 …… Timing belt, 40 …… Driven pulley, 41 …… Bending shaft reducer, 42 …… Reducer 41 input shaft, 43… … Drive pulley, 44… Timing belt, 45…
… Drive pulley, 46 …… Intermediate shaft, 48 …… Other universal joints for twist shaft, 50 …… Drive pulley, 51 …… Timing belt, 42 …… Drive pulley, 53 …… Reducer for twist shaft, 54: input shaft of speed reducer 53, 55: twist drive shaft, 57: drive pulley, 58: timing belt, 59 ...
… Driven pulley, 60 …… Universal joint for twist axis.

Claims (2)

[Claims] 1. A rotary shaft rotatably supported by the tip of a forearm and having an inclined surface at the tip, and a direction on the inclined surface of the rotary shaft that intersects the rotation direction of the rotary shaft on the inclined surface. A bending shaft that is rotatably supported by and has a speed reducer, and a twist shaft that is rotatably supported at the tip of the bending shaft and that has a speed reducer and that is rotatably supported in a direction intersecting the rotation direction of the bending shaft;
A drive source that is attached to the other end of the forearm and drives a rotating shaft, a bending shaft, and a twisting shaft, respectively, a rotating shaft power transmitting unit that transmits the power of the rotating shaft drive source to the rotating shaft, and a bending shaft. A power transmission means for a bending shaft that transmits the power of a drive source for a bending shaft to a bending shaft, and a power transmission means for a twisting shaft that transmits the power of a driving source for a twisting shaft to a twisting shaft, and the power transmission for the rotating shaft The means is rotatably supported inside the forearm, and one end of which is connected to a rotary drive shaft, and the other end of the rotary drive shaft, which is connected to the other end of the forearm.
And a first winding transmission member connecting the output shaft of the drive source for the speed reducer and the rotary shaft, and the power transmission means for the bending shaft is rotatable in the rotary drive shaft of the forearm coaxially therewith. A bending drive shaft supported by the second drive shaft, a second winding transmission member that connects one end of the bending drive shaft and a drive source for the bending shaft, and a third winding transmission member at the other end of the bending drive shaft. And a fourth winding transmission member that connects the other of the universal joint and the speed reducer of the bending shaft, wherein the twist shaft power transmission means is a rotary drive shaft of the forearm. A twist drive shaft that is rotatably supported coaxially therewith, and one end of which is connected to a drive source for the twist shaft; and an intermediate shaft that is rotatably supported by the bend shaft reducer. , Connected to the other end of the twist drive shaft And one of the universal joint,
A fifth winding transmission member connecting between the input side of the intermediate shaft and one of the first universal joints, a second universal joint having one connected to the output side of the intermediate shaft, and the other of the universal joints. And a sixth winding transmission member that connects the reduction gears of the twist shaft to each other. 2. A rotary shaft rotatably supported by the tip of the forearm and having an inclined surface at the tip, and a direction on the inclined surface of the rotary shaft which intersects the rotation direction of the rotary shaft on the inclined surface. A bending shaft that is rotatably supported by and has a speed reducer, and a twist shaft that is rotatably supported at the tip of the bending shaft and that has a speed reducer and that is rotatably supported in a direction intersecting the rotation direction of the bending shaft
A drive source that is attached to the other end of the forearm and drives a rotating shaft, a bending shaft, and a twisting shaft, respectively, a rotating shaft power transmitting unit that transmits the power of the rotating shaft drive source to the rotating shaft, and a bending shaft. A power transmission means for a bending shaft that transmits the power of a drive source for a bending shaft to a bending shaft, and a power transmission means for a twisting shaft that transmits the power of a driving source for a twisting shaft to a twisting shaft, and the power transmission for the rotating shaft The means is rotatably supported inside the forearm, and one end of which is connected to a rotary drive shaft, and the other end of the rotary drive shaft, which is connected to the other end of the forearm.
And a first winding transmission member connecting the output shaft of the drive source for the speed reducer and the rotary shaft, and the power transmission means for the bending shaft is rotatable in the rotary drive shaft of the forearm coaxially therewith. A bending drive shaft supported by the second drive shaft, a second winding transmission member that connects one end of the bending drive shaft and a drive source for the bending shaft, and a third winding transmission member at the other end of the bending drive shaft. And a fourth winding transmission member that connects the other of the universal joint and the speed reducer of the bending shaft, wherein the twist shaft power transmission means is a rotary drive shaft of the forearm. A twist drive shaft rotatably supported coaxially therewith, and one end of which is connected to a drive source for a twist shaft, and an intermediate shaft which is inserted into the speed reducer of the bending shaft and is rotatably supported. A fifth wrap around the other end of the twist drive shaft A first universal joint, one of which is connected via a transmission member and the other of which is connected to an input shaft of an intermediate shaft, a second universal joint in which one is connected to an output side of the intermediate shaft, and the universal joint And a sixth winding transmission member that connects the other of the above and the reducer of the twist shaft to each other.