JPS60146696A - Turning gear for wrist section, etc. of robot arm - Google Patents
Turning gear for wrist section, etc. of robot armInfo
- Publication number
- JPS60146696A JPS60146696A JP412684A JP412684A JPS60146696A JP S60146696 A JPS60146696 A JP S60146696A JP 412684 A JP412684 A JP 412684A JP 412684 A JP412684 A JP 412684A JP S60146696 A JPS60146696 A JP S60146696A
- Authority
- JP
- Japan
- Prior art keywords
- wrist
- robot arm
- turning gear
- shaft
- link
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
（イ）技術分野
この発明は各種産業ロボットのアーム手首部等の回転装
置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (a) Technical Field The present invention relates to a rotating device for an arm wrist portion, etc. of various industrial robots.
（ロ）技術背景
従来のロボツ１−アーム手首部の回転装置は、単に回転
軸を中心として、指先部取付プレートが回転Ｊるもので
ある。従って、指先部取付プレートの軌跡は必然的に円
弧状となる。(b) Technical background In the conventional robot arm wrist rotation device, the fingertip attachment plate simply rotates around the rotation axis. Therefore, the trajectory of the fingertip attachment plate inevitably becomes an arc.
上記のような従来の機構では□、ロボットが原子炉等の
限定されたスペース内で作業する際に指％１．ＩＭＱ、
。In the conventional mechanism as described above, when a robot works in a limited space such as a nuclear reactor, the robot's finger %1. IMQ,
.
部の運動に支承を来たすおそれがある。There is a risk that the movement of the club will be undermined.
（ハ）発明の目的
この発明は、上記のような従来の手首部回転装置の問題
点を解消するためになされたもので、限定された空間に
お１プる自由痘の確保に有利な手首部等の回転装置を提
供することを目的とする。(C) Purpose of the Invention The present invention was made to solve the problems of the conventional wrist rotation device as described above, and it is a wrist rotating device that is advantageous in securing freepox in a limited space. The purpose of this invention is to provide a rotating device for parts, etc.
（ニ）実施例
以下、この発明の手首部等の回転装置の詳細を図面に示
す一実施例にもとづいて説明する。(iv) Embodiment The details of the wrist rotation device of the present invention will be described below based on an embodiment shown in the drawings.
図面において１は、支持体であって、その後端の凹所２
に左右一対の駆動リンク３の一端部を軸４により枢着し
、該支持体１の前部両側には、左右一対の従動リンク５
の一端を軸６により枢着する。In the drawings, reference numeral 1 denotes a support body with a recess 2 at its rear end.
One end of a pair of left and right drive links 3 is pivotally connected to the support body 1 by a shaft 4, and a pair of left and right driven links 5 are mounted on both sides of the front part of the support body 1.
one end of which is pivotally connected by a shaft 6.
７は手首部等の取付プレートで、その前後両側には前記
の駆動リンク３と従動リンク５を軸８，９により互いに
ねじれ関係にあるように枢着する。Reference numeral 7 designates a mounting plate for a wrist portion, etc., on both front and rear sides of which the driving link 3 and driven link 5 are pivotally mounted by shafts 8 and 9 so as to be in a twisted relationship with each other.
即ち、リンク３，５を交差させて支持体１と取（＝Ｊプ
レート７に軸４．６及び軸８．９で枢着する。That is, the links 3 and 5 are intersected with the support 1 (=J plate 7 is pivotally connected to the shaft 4.6 and the shaft 8.9).
前記の軸４は駆動軸とし、この軸４申央を支持体１の中
央に設けた凹所１２に臨ませ、この凹所１２内の軸４に
プーリー１１を固定→゛る。The shaft 4 is used as a drive shaft, and the center of the shaft 4 faces a recess 12 provided in the center of the support 1, and a pulley 11 is fixed to the shaft 4 in the recess 12.
１３は支持体１に取イ１けた駆動用モーターで、このモ
ーター１３の軸１４に固定したプーリー１５と前記プー
リー１１を無端伝動ベルト１６によって連動させる。Reference numeral 13 denotes a drive motor installed on the support 1, and a pulley 15 fixed to a shaft 14 of the motor 13 and the pulley 11 are interlocked by an endless transmission belt 16.
また、図示省略しであるが、取付プレート７には任意の
指先部を有する手首部を取付けるものである。Further, although not shown, a wrist portion having an arbitrary fingertip portion is attached to the mounting plate 7.
いま、第４図のように、モーター１３により、プーリー
１５．ベルト１６、プーリー１１を介して軸４を右回転
または左回転させると、駆動リンク３が右または左回転
し、ごれとともに従動リンク５も回転するが、各リンク
３，５の支点が前後にずれているため取イ」プレー１〜
７は、支持体１に接近しつつ回転する。Now, as shown in FIG. 4, the motor 13 moves the pulley 15. When the shaft 4 is rotated clockwise or counterclockwise via the belt 16 and pulley 11, the drive link 3 rotates clockwise or counterclockwise, and the driven link 5 also rotates along with the movement, but the fulcrum of each link 3, 5 moves forward and backward. Play 1~
7 rotates while approaching the support 1.
（ホ）発明の効果
従って、１本の軸を中心として回転する従来のロボッ１
ヘアーム手首部の回転装置に比較して取付プレーヒフ０
回動に必要なスペースが小さくなり、限定された空間に
おりる自由度の確保に有利である。(e) Effects of the invention Therefore, the conventional robot 1 that rotates around one axis
Installation error is 0 compared to the hair arm wrist rotation device.
The space required for rotation is small, which is advantageous in ensuring the degree of freedom to get into a limited space.
ま１こ、取付プレート７が支持体１より下方には来ない
構造となっているため、アーム前腕部サイズの設計が自
由になるという特有の効果がある。Moreover, since the mounting plate 7 is structured so as not to come below the support body 1, there is a unique effect that the size of the forearm part of the arm can be designed freely.
なお、実施例はロボットの手首部の取付について述べた
が、その他に視覚数ｆ」プレー１〜の回転装置等にも実
施できる。Although the embodiment has been described with respect to attachment to the wrist of a robot, the present invention can also be applied to a rotating device with a visual number f'' Play 1 and the like.
第１図はこの発明の手首部回転装置の側面図、第２図は
同上の平面図、第３図は同じく正面図、＠４図は作用を
説明する側面図である。
１・・・支持プレート ３・・・駆動リンク５・・・従
動リンク
７・・・手首等の取付プレーｈ
１１・・・モーター（駆動手段）
特許出願人 住友電気工業株式会社
代 理 人 弁理士 和 １） 昭
’Ｉｉ’ ２ ｌ：’、１FIG. 1 is a side view of the wrist rotating device of the present invention, FIG. 2 is a plan view of the same, FIG. 3 is a front view of the same, and FIG. 4 is a side view for explaining the operation. 1... Support plate 3... Drive link 5... Followed link 7... Attachment plate h for wrist, etc. 11... Motor (driving means) Patent applicant Sumitomo Electric Industries Co., Ltd. Agent Patent attorney Sum 1) Showa 'Ii' 2 l:', 1
Claims (1)
に、この両リンクの端部を手首等の取付プじ一トに、互
いにねじれの位置関係にあるように枢着し、前記支持体
には、前記駆動リンクを回動せしめる駆動手段を設けた
ことを特徴とするロボットアーム手首部等の回転装置。The ends of a driving link and a driven link are pivotally connected to a support, and the ends of both links are pivotally connected to a mounting point such as a wrist so that they are in a torsion positional relationship with each other, and A rotating device for a wrist portion of a robot arm, etc., characterized in that a driving means for rotating the drive link is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP412684A JPS60146696A (en) | 1984-01-11 | 1984-01-11 | Turning gear for wrist section, etc. of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP412684A JPS60146696A (en) | 1984-01-11 | 1984-01-11 | Turning gear for wrist section, etc. of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60146696A true JPS60146696A (en) | 1985-08-02 |
Family
ID=11576089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP412684A Pending JPS60146696A (en) | 1984-01-11 | 1984-01-11 | Turning gear for wrist section, etc. of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60146696A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0227892U (en) * | 1988-08-11 | 1990-02-22 |
-
1984
- 1984-01-11 JP JP412684A patent/JPS60146696A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0227892U (en) * | 1988-08-11 | 1990-02-22 |
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