JPS6125796A - Wrist mechanism of robot for working having three degree of freedom - 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 original F! Regarding the wrist mechanism of a working robot with AFi 3 degrees of freedom, it is intended to make the area around the joint smaller and lighter.

There are various types of work robots for painting, welding, etc., but a typical work robot is constructed by connecting multiple arm members in series, as shown in Figure 1. There's a robot. This work robot has a base O1
, a vertical arm 02 that can be tilted relative to the base O1 and can be rotated around the center, a horizontal arm 03 that is provided with a tiltable pressure at the tip of the vertical arm 02, and various work tools provided at the tip of the horizontal arm 03. It consists of a wrist part 04 that holds the wrist. In addition, the wrist part 04 is attached to a first hydraulic actuator 05 whose output shaft rotates around the center axis of the horizontal arm 03, and a direction in which the output shaft is orthogonal to the horizontal arm 03. a second hydraulic actuator 06 that rotates around the second hydraulic actuator 06;
a third hydraulic actuator 08 that is attached to the block 07 and whose output shaft is orthogonal to the horizontal arm 03 and rotates around a direction that is orthogonal to the output shaft of the second actuator 06; , a fixture 0 that is attached to the output shaft of the third actuator 08 and holds the work tool.
9, a position detector O1O for detecting the rotational position of each actuator, and piping and wiring 011 to each part. Therefore, when the first hydraulic actuator 05 is driven, the fixture 09 swings around the central axis of the horizontal arm 03 via the second hydraulic actuator 06, the block 07, and the third hydraulic actuator 08 (as indicated by the arrow in the figure). ), when the second hydraulic actuator 06 is driven, block 07. Fixture 0 via third hydraulic actuator 08
9 swings around the direction perpendicular to the central axis of the horizontal arm 03 (indicated by the arrow in the figure), and when the third hydraulic actuator 08 is further driven, the mounting fixture 09 moves to the horizontal arm 0.
3 and the second hydraulic actuator 0
6 (indicated by arrow C in the figure).

However, the above-mentioned nine-work robot is physically bulky due to the fact that hydraulic actuators, wiring, and piping, etc., which are drive devices, are concentrated around the wrist portion 04, making it difficult to work in a narrow space. At the same time, the area around the arm is heavy, so there is a large inertia when the arm swings, and the mobility of the arm's end is hindered. In addition, since the drive mechanism for rotation is a three-axis array, numerical control of cheating and correction force is complicated.

The present invention was made in view of the above situation, and aims to reduce the size and weight of the wrist by installing drive systems with three degrees of freedom in parallel.
The purpose of the present invention is to provide a wrist mechanism for a work robot with a ridge, thereby improving movement performance in narrow spaces and simplifying numerical control.

In order to achieve such an object, the present invention has a first swing block rotatably supported at the tip of an arm of a working robot and connected to a first drive source provided at the base end of the arm. and #a first power source supported within the first swing block coaxially with respect to the swing center of the first swing block and connected to a second drive source provided on the base end side of the boom. a transmission shaft, and a gear rotatably supported by the first M moving block at right angles to the first power transmission shaft and meshing with a gear provided on the first power transmission shaft. a second power transmission shaft; a second swing block that is integrally fixed to the second force transmission shaft and is rotatable relative to the first swing block around the second power transmission shaft; # Provided at the tip of the second swing block and connected to the first swing block. a pivot shaft rotatable about a direction perpendicular to the second power transmission shaft and to which a working tool is attached; a third power transmission shaft connected to a third drive source provided on the base end side of the arm; It is characterized by comprising a pivot shaft power transmission mechanism that is attached to the second swing block and transmits the rotation of the third power transmission shaft to the pivot shaft.

An embodiment of the present invention will be described in detail below based on the drawings.

Fig. 2 shows a child piece mechanism of a working robot having 31 degrees of freedom according to one embodiment of the present invention. This is the side view of the broken part. The wrist portion shown in this figure is provided at the tip of the horizontal arm 03 shown in FIG.

IK is the first power transmission shaft to which the screw gear 2 and the first tin rocket 3 are attached.
A sprocket shaft 4 is rotatably supported.

Also a shirt) IK is the bevel gear 5 and the second subroket) 6
The second tin rocket 7, which is the third power transmission shaft mounted on the shaft, is rotatably supported, and the second sprocket shaft 7
A third sprocket shaft 9 to which a third sprocket 8 is attached is rotatably supported. One end trap of the third sprocket shaft 9 is the first tin rocket shaft 3
A body 10, which is a first rocking block rotatably provided on the outer periphery, is fixed, and a casing 12 is attached to the body 10 via a backlash adjustment shim lli. Inside the casing 12, a second power transmission shaft (β shirt) 13 is rotatably supported perpendicular to the KFi α shaft l, and one end trap of the β shaft 13 is parallel to the α shaft l and orthogonal to the β shaft 13. 14 is fixed to the outer casing 14, and an outer casing 15, which is a second swinging block, is fixed to the other end. Further, a screw gear 2 and a spur gear 16 are fixed to the β shirt 13, and a ring 17
A gear shaft 19 having a bevel gear 18 that meshes with the bevel gear 5 is rotatably supported. The gear shaft 19 includes a bevel gear 22 that meshes with a bevel gear 21 provided at one end of a gear shaft 20 rotatably supported by the γ shirt 14.
A spur gear 23 is fixed to the other end of the gear shaft 20. On the other hand, the outer casing 15 rotatably supports a working tool mounting shaft 24 which is a turning axis, and a spur gear 25 is fixed to the working tool mounting shaft 24.
meshes with the spur gear 23. The power transmission mechanism of the swivel shaft includes a ring 17, a gear shaft 19.20° and a spur gear 23.2.
It is composed of 5.

Furthermore, idle bevel gears 26° 27 that mesh with the ring 17 are supported on the α shaft l and the β shaft 13,
Chains 28, 29, and 30 are connected to each sprocket 3, 6, and 8, and are connected to drive devices (not shown) that are drive sources of the i and l 3 units (not shown) provided at the base of the horizontal arm 03. .

Next, the operation of the wrist mechanism configured as described above will be explained.

When the drive device connected to the chain 30 (not shown) is driven, rotation is transmitted to the third sprocket 8 via the chain 30't, and the third tin rocket shaft 9 rotates via the third tin rocket 8t. 3) Tin rocket shear 7) Body lO and casing 12 integrally fixed to 9
swings, and the work tool attachment shaft 24 swings in the α direction in the figure via the β shaft 13 and the outer casing 15. Also, when the drive device connected to the chain 28 is activated,
The rotation of the first sprocket 3 [1a1 is transmitted through the pin 28, the screw gear 2 rotates through the first sprocket 3, the β shaft 13 rotates through the spur gear 16 that meshes with the first sprocket 3, and the β shaft i The outer casing 15, which is integrally fixed to the a.r.t.c., swings, and the work tool attachment shaft 24 swings in the β direction in the figure. Furthermore, the drive tl connected to the chain 29
When the II device is driven, rotation is transmitted to the second sprocket 6 through the chain 29.
The second sprocket shaft 7 rotates through the bevel gear 5 and the ring 1721', and the gear shaft 20 rotates through the bevel gear 5 and the ring 1721'. The shaft 24 rotates in the r direction in the figure. The idler bevel gears 26 and 27 serve to suppress vibration of the ring 17 in the thrust direction. Further, the drive device (not shown) is provided with a position detector, and the movement of the work tool mounting shaft in the α, β, and 7r directions is controlled by the output signal of the position detector.

In the above embodiment, the chain 28.
29.30 and a tin rocket 3#6°8 are used, but the present invention is not limited to this, and it is also possible to use a parallel link mechanism or the like.

Further, the power transmission means for turning the work tool attachment shaft 24 is also the ring 17, the gear shafts 19, 20, . The combination of spur gears 23 and 25 is not limited to traps.

As described above in detail based on one embodiment, according to the present invention, since there is no driving device etc. around the joint of one wrist, the area around the joint can be made smaller and lighter, making it easier for the robot to work in a narrow space. You can do it with the people you want. In addition, the inertia during rocking is small and the maneuverability is improved. Furthermore, since the sprockets serving as the drive mechanism for swinging are coaxially arranged in parallel, numerical control such as teaching and correction can be simplified.

[Brief explanation of drawings]

Fig. 1 shows a working robot, Fig. 1(a) is its overall side view, Fig. 1(b) is a side view showing its wrist,
Fig. 2 shows a wrist mechanism of a working robot having three degrees of freedom according to an embodiment of the present invention, Fig. 2(a) is a partially broken illustration thereof, and Fig. 2(b) is a partially broken illustration thereof. FIG. Inside the drawing. 03 is horizontal arm, leiα shaft, 4 is #Il sprocket shaft. 7 is the second sprocket shaft. 9 is the third sprocket shaft, 1O is the body, and 12 is the casing. 13Fiβ shaft, 14? Shaft, 15 is outer casing, 17 is ring, 19.2011 gear shaft. 23.25 is spur gear, 24it work tool mounting shaft. 29.29.30 is a chain.

Claims (1)

[Claims] a first swing block rotatably supported at the tip of the arm of the work robot and connected to a first drive source provided on the base end side of the arm; a first power transmission shaft supported coaxially with respect to the swing center of the first swing block and connected to a second drive source provided on the base end side; and a first power transmission shaft perpendicular to the first power transmission shaft. a second power transmission shaft rotatably supported by the first rocking block and equipped with a gear that meshes with a gear provided on the first power transmission shaft; a second swing block that is integrally fixed and rotatable relative to the first swing block around the second power transmission shaft; , a pivot shaft rotatable about a direction perpendicular to the second power transmission shaft and to which a working tool is attached; and a pivot shaft coaxially with the first power transmission shaft and rotatably supported by the first swing block. a third power transmission shaft connected to a third drive source provided on the base end side of the arm; and a third power transmission shaft attached to the first and second swing blocks to control the rotation of the third power transmission shaft. A wrist mechanism for a working robot having three degrees of freedom, characterized by comprising a rotation axis power transmission mechanism for transmitting power to a rotation axis.