JPS6119590A - Wrist device for 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 Field of the Invention The present invention relates to a wrist device for an industrial robot, and more particularly to a wrist device for a robot that is attached to the distal end side of a robot arm offset from the axis of the robot arm. .

Conventional technology A chain mechanism or a belt nori mechanism is provided in the robot arm in addition to an industrial mouth bit, and the rotational movement of a robot wrist device attached to the tip of the robot arm is performed by two rotational outputs taken out from the chain mechanism or belt nori mechanism. A transmission mechanism for starting the is conventionally used. However, conventionally, this kind of mouth is attached to the tip of the robot arm in the axial direction. Since the degree of freedom is not obtained, the degree of freedom of movement of the rodet wrist and, by extension, the degree of freedom of movement of the mouth attached to the rodet wrist cannot be avoided.

According to the problem to be solved, the present invention has a degree of freedom of movement of 360° around an axis parallel to the axis of the robot arm, and the mouth can be moved at any position around the axis parallel to the axis of the robot arm. The present invention aims to provide a robot wrist device that can initially set the starting point of wrist rotation, and to enable the user to set the most appropriate starting point and range of wrist movement according to the purpose of the work. .

According to the present invention, the first and second rotary outputs, which are independent of each other, are output concentrically from the tip side of the robot arm around an axis perpendicular to the axis of the robot arm. A second output output section is provided, and a first wrist . . A second wrist/% housing is attached to the second output extraction part via a gear transmission coupling part, and is attached to the first wrist housing so as to be rotatable in an axis direction orthogonal to the rotation axis of the first wrist housing. However, these first. The second wrist housing is configured to hold an orthogonal output shaft, and the rotation starting point of the second wrist housing can be initially set to any position around the rotational output axis of the robot arm. A rodet wrist device is provided in which the mouth and wrist can be set to have an appropriate starting point and range of motion depending on the application. Hereinafter, the present invention will be explained in detail based on the accompanying drawings.

Embodiment FIG. 1 shows the basic structure of a rodet wrist device according to the present invention, and FIG. 2 is an external perspective view of the device.

In FIG.
The part 2 is connected to the base body (not shown), and the part of the tip 14 is formed as a logo, the joint part of the wrist device 40, and particularly in connection with the present invention, the tip part 14 is connected to the base body. The side surface 14m is formed as a logo and an output portion for the rotational output of the toe arm 10. This robot arm 10 is equipped with two rotational output systems. A pre-designed first rotational output is taken out via the rocket 22 to the output 7 lange 24. On the other hand, the second rotational output system is connected from a rotational drive source 26 similarly provided near the rear end portion 12 to an input sprocket 28, a chain 30 . A second rotational output is taken out via the output sprocket 32 to a bevel gear 36 coupled to the shaft 34 of the rotation output suzorocket 32.

The robot wrist device 40 of the present invention has a first wrist housing 42 for the robot arm 10 having the above-described configuration.
, a second wrist housing 44 is provided, and the first wrist housing 42 is provided with an input flange 46 that is assembled and fixed to the output flange 24 of the rotet arm 10 by suitable fixing means such as screw gel. . This first wrist/%
A bevel gear 48 attached to the rear end of the second wrist nousing 44 is housed inside the Uzongu 42, and the second wrist housing 44 itself rotates around the axis of the bevel gear 48 around the first wrist. It is formed to be pivotable relative to the housing 42. Furthermore, the bevel gear 48 has gear specifications that can mesh with the bevel gear 36 in the second rotational output system of the robot arm 10, and the reduction ratio is selected in accordance with appropriate design conditions.

Further, the robot wrist device 40 of the present invention includes a rotary drive source 50 such as a serve motor attached to the first wrist housing 42, an output shaft 52, a drive bevel gear 54, and a driven bevel gear 5.
6, an output system is further provided for transmitting the rotational output to the output shaft 58 and taking out the rotational output to the wrist flange 60 to which a rodet hand, other rodet work tools, etc. (not shown) are attached. That is, the robot wrist device 40 is
A first rotational output of the robot arm 10 is transmitted to the first wrist housing 42, a second rotational output of the robot arm 10 is transmitted to the second wrist-Uzong 44, and a rotational drive source is transmitted to the wrist 7 flange 60. By transmitting the third rotational output from 50, it is constructed as a three-axis operating system LoPitt wrist device.

Now, referring to FIG. 2, in FIG. 2, the same reference numerals as in FIG. 1 indicate the same elements and parts, and the robot wrist device 40 is indicated by arrow A in FIG.

It can be seen that an orthogonal three-axis motion system indicated by B and C is provided. Note that FIG. 2 shows a state immediately before the robot wrist device 40 is assembled to the robot arm 10.

The structural features and operation of the mouth and wrist device 40 of the present invention having the above-described structure will be explained below.

Now, robot arm 10 (7) 1st. Each second rotational output system has a concentric structure, but each output flange 2
4 and the bevel gear 36 so that a rotational output of 3600 can be extracted, it is possible to position the output Franciro 0 of the robot wrist device 40 at a desired position in a three-dimensional space with respect to the robot wrist device 40. Therefore, the first and second rotational output systems of the robot arm 10 include a rotational drive source 16.
26 or chain 20, 30, etc., as appropriate.

No J? A configuration is adopted in which a means or a mechanical stopper means is provided to regulate each rotational output within 0 to 360 degrees. Of course, if necessary, the rotational output can be adjusted to a narrower range, e.g.
It is also possible to restrict the rotation to a range of 70 degrees, and it is also possible to use a restriction method that allows rotational output to be taken out in steps of 180 degrees in the forward and reverse directions with a fixed point as the origin.

The offset type rotary wrist device 40 (attached to the side parallel to the axis of the rotary arm 10) of the present invention, in which the mouth described above is assembled to the robot arm 10, is attached to the robot arm 10.
The bevel gear 48 of the wrist is meshed with the bevel gear 36, and the first wrist housing 4 is connected to the output flange 24 of the robot arm 10.
The configuration is such that assembly is achieved by joining two cuff inserts 46 together. Therefore, now, the bevel gear 36 of the robot arm 10 is moving in the forward and reverse directions around the origin.
Assuming that it has a degree of freedom of movement from 80° to +180° and is indexed to its origin position, the bevel gear 48 of the wrist that meshes with this bevel gear 36 is attached to the wrist. The robot is previously rotated idly in the direction shown by axis A in FIG. 2 to set the output franchisor to a posture position corresponding to the frequency of use of the desired robot work, and then the bevel gear 48 is indexed to the home position. By meshing with the bevel gear 36 of the arm 10, the output franchisor 0, to which the robot hand and other robot work tools are attached, can be held at all times at the center of the frequently used area.

On the other hand, for example, in the desired robot work, the output Franciolo 0 to which the robot hand, etc. is attached rotates 270° in the clockwise direction of the A-axis, with the frequency of use centered on the downward direction shown in FIG. On the other hand, if the usage conditions are such that it is sufficient to be able to rotate the A-axis by 90° counterclockwise, the bevel gear 36 of the robot arm 10 may be The degree of freedom for counterclockwise rotation is 270 degrees, and the degree of freedom for clockwise rotation is 90 degrees.
The bevel gear 48 of the robot wrist is indexed to a certain position by the indexed bevel gear 36 in this way, and the output franco 0 attached to the housing 44 is directed downward as shown in FIG. By idling to the position and then meshing with the bevel gear 36, the above-mentioned usage conditions can be met.

Of course, while selecting the coupling conditions in the transmission mechanism of the bevel gears 36 and 48 described above, during this time the output 7 flange 24 of the first output shaft system of the gutter arm 10 and the robot wrist device 4 are selected.
The conditions for coupling with the input flange 46 of 0 may be selected and set in the same manner as described above, taking into consideration the frequency of use and conditions of use for optimal assembly.

Effects of the Invention As is clear from the above explanation, according to the present invention, in locomotion work in which an industrial robot is used, the posture position of the robot wrist device in three-dimensional space can be adjusted to a state suitable for the frequency of use and conditions of use. It is possible to assemble it to the robot arm, thus improving the speed of robot control.

[Brief explanation of drawings]

FIG. 1 is a mechanical diagram showing the basic configuration of a robot wrist device according to the present invention, and FIG. 2 is a partial perspective view showing the device in a state in which the mouth is attached to the arm before being assembled. 10... Rodet arm, 14... Tip part, 14a.
... Side part, 24... Output 7 lange, 36... Bevel gear, 40... Robot wrist device, 42... First wrist housing, 44... Second wrist housing, 46...
...Input 7 lange, 48...Bevel gear.

Claims (1)

[Scope of Claims] 1. First and second rotary outputs that concentrically output mutually independent rotational outputs around an axis perpendicular to the axis of the robot arm at the distal end side of the robot arm. a first wrist housing that is attached to the first output extraction part via an assembly coupling part and rotates in the same manner as the first rotational output; and a gear in the second output extraction part. a second wrist housing attached via a transmission coupling portion and rotatably attached to the first wrist housing in an axial direction orthogonal to the rotational axis of the first wrist housing; 1. A wrist device for a robot, characterized in that a housing holds an orthogonal output shaft, and a rotation starting point of the second wrist housing can be initially set to any position around the rotational output axis of the robot arm. 2. Claim 1, wherein the assembly coupling portion is formed by a coupling flange provided on both the robot arm and the first wrist housing, and the gear transmission coupling portion is formed by a bevel gear transmission mechanism. The robot wrist device described in Section. 3. The robot wrist device according to claim 1, wherein another orthogonal output shaft is held in the second wrist housing by a rotational drive source attached to the first wrist housing.