JPS6044287A - Drive for wrist of industrial robot - Google Patents

Abstract

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

Description

TECHNICAL FIELD The present invention relates to a wrist drive device for an industrial robot, and more particularly to an improvement in a wrist drive device that allows the wrist tip itself to move around three axes.

Conventional technology and problems The wrist drive device of a conventional industrial robot, in which the tip of the wrist itself moves around three axes, transmits rotational driving force around the three axes through three shafts arranged along the robot arm. Because of this configuration, it is necessary to connect a large bevel gear mechanism to the shaft, which increases the weight, size, and cost of the entire wrist group.

Purpose of the Invention In view of the above-mentioned drawbacks of the prior art, the present invention provides a wrist drive for an industrial robot that can give motion around three axes to the tip of the wrist without increasing the weight, size, or cost of the entire wrist group. The purpose is to provide equipment.

Structure of the Invention In order to achieve the above object, the present invention includes a first wrist base that is rotatably supported at the tip of a robot arm about a first axis in a direction perpendicular to the longitudinal axis of the robot arm. a second wrist base is rotatably supported on the first wrist base so as to be rotatable about a second axis perpendicular to the first axis; a first shaft rotatably supported around a third axis in a direction perpendicular to the axis, and rotatably disposed around the first axis;
The second and third rotating bodies are operatively connected to the first wrist base, second hand 4 base, and wrist tip, respectively, and transmit rotational power to the first, second, and third rotating bodies. There is provided a wrist drive device for industrial use, characterized in that winding transmission parts are arranged along the longitudinal direction of the robot arm.

Example Hereinafter, the present invention will be described in detail with reference to the drawings.

1 to 3 show one embodiment of the present invention. Referring to FIG. 1, the industrial robot has a fixed body 1
0, a movable body 11 that is rotatable in the β direction with respect to the fixed body 10, a first arm 12 that is rotatable in the W direction with respect to the movable body 11, and a first arm 12 that is rotatable in the W direction with respect to the movable body 11. The second arm 13 is rotatable in the U direction. 14 is a motor for rotationally driving the movable body 11; 15 is a 17th arm 1;
2 is a motor for rotationally driving the second arm 13; 16 is the second arm 13;
This is a motor to drive the rotation.

A wrist device, generally indicated by reference numeral 20, is provided at the distal end of the second arm 13. As shown in FIGS. 2 and 3, the wrist device 20 has a first wrist base 21 and a second wrist base 21.
It includes a wrist base 22 and a wrist tip 23.

The first wrist base 21 has a tar 1 attached to the tip of the second arm 13.
It is pivotably supported around the first axis C1 so as to be rotatable in the β direction. The second wrist base 22 is pivotally supported to the first wrist base 21 so as to be rotatable in the T direction around the second axis 02. The wrist distal end portion 23 is pivotally supported by the second wrist base portion 22 so as to be rotatable in the α direction around the third axis 03. The first axis C1 extends in a direction perpendicular to the longitudinal axis Go of the 27th beam 13. The second axis C2 extends in a direction perpendicular to the first axis C1. Here, the second axis C2 extends in a direction perpendicular to an axis C4 parallel to the first axis C1. The third cotton wool C3 extends in a direction perpendicular to the second cotton wool C2.

Referring to FIG. 3, within the distal end of the second arm 13 there is a first. First, second and third sprockets 24 as second and third rotating bodies. ．． 25 and 26 are arranged rotatably around the first axis C1.

Inside the second arm 13, there are chain wheels 27, 28, 29 as winding transmission members for transmitting rotational power to the first, second, and third sprockets 24, 25, and 26, respectively. The chinos 27, 28, 29 are connected to drive motors 30, 31, 32 via sprockets and deceleration mechanisms (not shown), respectively.
(See Figure 1). here,
Although the drive motors 30, 31, and 32 are provided at the rear end of the 27th arm 13, they may also be provided at the first arm.

The first sprocket 24 is fixed to a hollow first support shaft 33 that is pivotally supported on the distal end side of the second arm 13 and fixed to one side of the first wrist base 21.

The second sprocket 25 is fixed to a hollow second support shaft 34 that is pivotally supported on the other side of the tip of the second arm 13, and the second support shaft 34 is connected to the wrist via a first rotation transmission mechanism 35. It is connected to the tip portion 23. The third sprocket 26 is the
It is disposed between the sprocket 24 and the second sprocket 25, and the third sprocket is fixed to a third support shaft 36 that extends through the hollow first support shaft 33. The third support shaft 36 is connected to the second wrist base 22 via a second rotation transmission mechanism 37.

The first rotation transmission mechanism 35 includes a gear 38 fixed to the second support shaft 34 , and this gear 38 is connected to a gear 40 via an intermediate gear 39 .

The gear 40 is rotatably supported on the first wrist base 21 around an axis C4. The gear 40 is sequentially replaced by a bevel gear 41,
It is connected to the wrist tip 23 via 42, 43, and 44.

The second rotation transmission mechanism 37 includes a gear 45 fixed to the third support shaft 36 , and this gear 45 is connected to a gear 47 via an intermediate gear 46 .

The gear 47 is arranged concentrically with the gear 40 and is rotatably supported by the first wrist base 21 and the gear 40. The gear 47 is sequentially connected to the second wrist base 2 via bevel gears 48 and 49.
It is connected to the shaft portion 50 of No. 2. The shaft portion 50 of the second wrist base 22 is pivotally supported relative to the first wrist base 21 so as to rotate around the second axis C2. This shaft portion 50 is a hollow shaft, and the bevel gear 42 of the first rotation transmission mechanism 35,
A shaft portion 51 supporting the shaft 43 is rotatably supported within the hollow shaft portion 50.

B1-B20 each indicate a ball hair ring.

With the above configuration, according to the industrial robot wrist drive device according to the above embodiment, when rotational driving force is applied to the first sprocket 24 via the chino 27, the first wrist base 21 moves to the first sprocket 24. It rotates around the first axis 01 in the β direction. Also, the second sprocket 2 is connected via the chino 28.
When a rotational driving force is applied to the wrist 5, the wrist tip 23 rotates in the α direction around the third axis 03. Furthermore, Cheno 2
When rotational driving force is applied to the third sprocket 26 via the sprocket 9, the second wrist base 22 rotates at T around the second axis 02.
Rotate in the direction. Therefore, the wrist tip 23 is the first. Second
and the third axis ci, c2. It can move in three axes around c3.

The driving force around the three axes is transferred from the second arm 13 side to the wrist device 20.
, it is necessary to first convert the rotation to rotation around the first axis 01, but according to the present invention, the three sprockets 24, 2.5 arranged rotatably around the first axis C1
．． Multiplying 26 by cheno 27°28.29 can be accomplished by simply passing it, so the structure is greatly simplified. Therefore, the weight of the entire wrist device and the entire rotational drive force transmission system is reduced in a non-trivial manner. Furthermore, since the number of parts is reduced, it can be provided at a low cost.

Although one embodiment has been described above, the present invention is not limited to the aspect of the above embodiment. For example, the second rotation axis C2 can be arranged to be orthogonal to the first axis C1. Further, the rotation of the gear 47 is transmitted to the bevel gear 42 side and connected to the wrist tip end 23, and the rotation of the gear 40 is transmitted to the bevel gear 49 side and connected to the second wrist base 22. However, the same effects as in the above embodiment can be obtained.

Furthermore, the first aspect of the present invention. The second and third rotating bodies are not limited to sprockets, and may be, for example, pulleys. The winding transmission member may be a combination of a chino and a rondo, a belt means such as a toothed heald, or the like.

Effects of the Invention As is clear from the above explanation, according to the present invention, since the winding can perform three-axis movement of the wrist device by driving using a transmission member, the structure of the rotation transmission system is simplified. , it becomes possible to reduce weight and cost.

[Brief explanation of drawings]

Fig. 1 is a perspective view of the entire industrial robot showing an embodiment of the present invention, Fig. 2 is an enlarged side view of the wrist device of the industrial robot shown in Fig. 1, and Fig. 3 is an industrial robot wrist. FIG. 2 is a cross-sectional diagram taken along the line ■-■ in FIG. 2, showing the configuration of the wrist drive device inside the device. 13-Second arm (robot arm), 20-wrist device, 21-first wrist base, 22-second wrist base, 23-wrist tip, 24, 25, 26--sprocket (rotating body),
27, 28, 29-1-chain (winding is a transmission member)
, 33-first support shaft, 34-second support shaft, 35-first rotation transmission mechanism, 36-third support shaft, 37-second rotation transmission mechanism, C1-first axis, C2-second axis , C3--Third axis. Patent Applicant Fanasoku Co., Ltd. Patent Application Agent Patent Attorney Akira Aoki Patent Attorney Nishidate Japanese Patent Attorney Nishioka Department Attorney Akira Yamaguchi Patent Attorney Hyakude Masayashu QI, 1 1 ○

Claims (1)

[Claims] 1. A first wrist base is attached to the distal end of the robot arm in a direction perpendicular to the longitudinal axis of the robot arm.
A second wrist base is rotatably supported on the first wrist base in a direction perpendicular to the first axis.
a wrist distal end is rotatably supported on the second wrist base so as to be rotatable around a third axis perpendicular to the second axis; and a wrist distal end is rotatably supported around the first axis. first, second, and third rotary bodies rotatably disposed in the first wrist base, second wrist base, and wrist distal end, respectively; 3. A wrist drive device for an industrial robot arm, characterized in that the windings for transmitting rotational power to the rotary body of No. 3 each have a transmission member disposed along the longitudinal direction of the robot arm. 2. In claim 1, a first rotating body connected to the first wrist base and a second rotating body connected to the wrist tip are connected to the second wrist base. Third
A rotating body is disposed, and the first rotating body is fixed to a hollow first support shaft that is pivotally supported on the − side of the distal end of the robot arm and fixed to one side of the first wrist base. ,
The second rotating body is fixed to a second support shaft that is supported on the other side of the tip of the robot arm, and the second support shaft is connected to the first support shaft.
The third rotating body is fixed to a third support shaft extending through the hollow first support shaft, and the third rotating body is connected to the wrist tip end via a rotation transmission mechanism. A wrist drive device for industrial use, characterized in that the shaft is connected to the second wrist base via a second rotation transmission mechanism. 3. In claim 1 or 2, the first axis is disposed at a position perpendicular to the longitudinal axis of the robot arm, and the second axis is parallel to the first axis. It is located perpendicular to the axis,
A wrist drive device for an industrial robot, wherein the third axis is disposed at a position perpendicular to the second axis.