JPS6020892A - Wrist device for industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a wrist device for an industrial robot mainly used for welding operations.

Conventionally, as this type of device, for example, Japanese Patent Publication No. 55-20839
9, the machine housing fixed to the tip of the robot arm is provided with a swing f that swings around the horizontal axis, and a swing cylinder that swings around the vertical axis in the swing cylinder. The number of rotatable tools (qWai
A type with a + is known, but in this case, the device is a 3-axis operating type consisting of the horizontal axis, the ``(number of tools)'' axis, and the tool mounting axis is removed as necessary. It is preferable that L1 can be freely cut into a 2Iiii11 structure with the tK axis used as the tool mounting axis.

The purpose of this project is to make the equipment f1''tr compatible with the above requirements.The machine housing is fixed to the tip of the 10-bottom arm, and the oscillating device swings around the fir21 axis. A rotating tube that rotates around the glaze is provided, and the rotating tube rotates in the nif direction.
■In the case of a type with a tool mounting shaft with a movable index, the pivoting housing is fitted into the top of the vertical shaft extending upward from the swinging housing, and the removable shaft is fitted into the top part of the vertical shaft, and it can be attached or removed using a nut or other means. freely tied 7
? The rotating shaft is provided with a motor or other drive source on the side of the tool mounting shaft.

An example of implementing the present invention will be explained with reference to all attached drawings.

In the drawings (11 is the robot arm, (2) is the arm (1)
), and a swinging cylinder (41) is shown on the side of the machine casing (2), which can swing freely around a cylindrical horizontal shaft (3) inside the machine casing (2). At the same time, a rotating cylinder (6) is provided above the swinging machine (4) that can freely rotate around a vertical shaft (5) extending upward from inside the swinging machine (4), and Rotatable tool mounting shaft (7) that extends forward
At the same time, a welding torch and other tools (8) are provided protruding forward from the mounting shaft (7).

The horizontal shaft (3) is connected to a drive source (not shown) at a sprocket (5a) Ic on its outer periphery so that it can be rotated thereby to give appropriate rocking motion to the rocker (4). The vertical axis (5) is connected to a pair of bevel gears (9) in the rocker (4).
) (9), the sprocket (10a) on the outer periphery of the central drive N (Ill) in the machine casing (2) is connected to a separate drive source (not shown), and is rotated by it. Therefore, a predetermined rotation is given to the rotating tube (6).The tool (8) consists of a welding torch, and the welding core wire from the rear conduit cable circle and the air supply port (121) are connected to the welding torch.
gas can be introduced freely.

Although the above is not particularly different from the conventional one, according to the present invention, the rotating cylinder (6) is fit into the top of the vertical shaft (5) so as to be freely inserted and removed from the upper side, and a nut Q3) etc. The thread is removably tied at the swivel tube (6), and the lateral drive d:;! is connected to the tool mounting shaft (7). Equipped with alpha power. To explain further, the drive source α4 has an outer machine housing (14bJ) having a rearward-extending cage motor (14a) and an electric motor (output of the motor (14aJ) (reduction m!(1) connected to III).
4c) and a sub-block (14d) for its output, which is connected to the sprocket (bell at 14) (14f) on the tool mounting shaft (7) at the sub-block (i4d). shall be connected. In the drawings, (19 indicates the power supply body on the rocking machine (4) side, (LGI indicates the power receiving bodies of the mounting shafts (7), and (Lr) indicates the power supply brush in the middle thereof.

As mentioned above, the rotating cylinder (6) is provided with a tool mounting shaft (7) and its drive source side, and is slidably prepared on the vertical shaft (5), and can be attached to the vertical shaft as necessary. (5) Remove it from above and replace it with a tool attachment member (181) prepared separately in advance. This state is as shown in FIG. 9, for example.

In order to explain its operation, in the case where the rotating cylinder (6) is mounted on the vertical axis (5), the swinging machine (4) is used to swing around the horizontal axis (3) and the N rotating cylinder (6) is mounted on the vertical axis (5). ) is given a rotation around the vertical axis (5), and the tool attachment shaft (7) is given a rotation around its own axis, making it a three-axis operating type as a whole.
To make this a two-axis operation, the rotating cylinder (6) is removed together with the mounting shaft (7) and its drive @o4) and replaced with a tool mounting member aal prepared separately in advance. That is, in this state, the swinging machine (4) only swings about the horizontal axis +31'f, and the member rotates about the vertical axis (5), resulting in two-axis operation as a whole. Become.

As described above, according to the present invention, it is possible to freely switch from a 3-axis operating type to a 2-axis operating type, and to adapt it to various uses, and the switching can be done simply by removing the entire rotating tube and replacing it with a tool mounting member. It has the advantage of being simple and easy.

[Brief explanation of drawings]

Fig. 1 is a side view of one example of the device of the present invention, Fig. 2 is a plan view thereof, Fig. 3 is its back view (11), and Fig. 4 (1) is its cut-out F @ side view S Fig. 5 to 8 The figure is a cross-sectional view taken along line V--V through ■--■, and FIG. 9 is a side view of the main parts when switched to the two-axis operating type. Ill...Robot arm (2)...Housing (3)...Horizontal axis (4)...Rocking machine (5)...・Nt axis (6)...Rotation Housing<7)...Tool taking axis (13J...Sut a city...Drive source patent Applicant: Honda Motor Co., Ltd. Representative: Kin Kitamura - 2 others

Claims (1)

[Claims] The r? A rotating cylinder that rotates around a vertical axis is provided in the working housing, and a niJ
In the case of a type that has a rotatable tool mounting shaft extending upwardly, the pivoting cylinder is removably fitted to the top of the vertical shaft extending upward from the swinging cylinder, and is attached to and detached from it with a nut or other means. A wrist device for an industrial robot which can be freely stopped and has a motor and other drive sources on the sides connected to the tool mounting shaft in the rotating cylinder.