JPS61293793A - 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 Industrial Application] The present invention relates to a wrist device attached to the tip of an arm of an industrial robot.

[Prior Art] Originally, a wrist device attached to the tip of a robot arm is required to be as compact and lightweight as possible, while also having high rigidity and durability. However, in recent years, the work operations performed by robot devices have become more complex and diversified year by year, and accordingly, the wrist device attached to the tip of the arm of the robot is also required to perform complicated operations. Therefore, the structure of the wrist device becomes complicated, and tends to be large and heavy. If it is required to withstand a 'C8 load, the size and illumination must be further increased. In order to solve these problems, the Special Publication Publication No. 53-4598
The one described in Publication No. 7 was considered, but in this one,
Because it had a structure in which a first shaft supported by a bearing was rotated and force was transmitted to a second shaft that was keyed to this first shaft, the bearing was prone to looseness and lacked durability. In addition, it is difficult to manufacture a wrist device that can withstand high loads because force is transmitted by keying, and in order to overcome these drawbacks, the wrist device must inevitably become larger and heavier.
Moreover, the manufacturing cost is also high.

[Problem to be Solved by the Invention 1] In view of the above-mentioned points, the purpose of the present invention is to provide a wrist device that is compact, can withstand high loads, and is highly durable and can be attached to the tip of a robot arm. There is a particular thing.

[Means for solving the problem] The object is to provide a base member attached to the tip of an arm of a robot, a first axis fixed to the base member, and a first axis centered on the first axis. a first rotating member rotatably attached to a first shaft; and an axial center;
a second shaft that rotates around the first axis due to the rotation of the rotating member and is attached to the first rotating member so as to be rotatable about the axis; a support member protruding in the radial direction of the second shaft; and a third shaft having an axis in the same direction as the protrusion direction of the support member and rotatably attached to the support member with respect to the cough axis. and,
a second rotating member attached to the first shaft so as to be rotatable with respect to the first shaft; and a second rotating member that rotates the second shaft about its axis due to the rotation of the second rotating member. a third rotating member rotatably attached to the first shaft; and a second rotating member that rotates the third shaft about its axis by the rotation of the third rotating member. This can be achieved by a robot wrist device consisting of a transmission mechanism.

[Operation of the Invention] In the robot wrist device according to the present invention, the first and second shafts, which rotate around the first shaft, are attached to the first shaft fixedly installed on the base member at the tip of the arm of the robot. , and a third rotating member are respectively attached. A second shaft is attached to the first rotating member so as to be rotatable around the axis, a supporting member is fixedly attached to the second shaft, and a third shaft is attached to the supporting member. The shaft is attached,
Rotation of the first rotating member causes the third axis to rotate around the first axis. Rotating the second rotating member causes the second axis to rotate about the axis, thereby causing (
``Rotate the third axis around the second axis. By rotating the third rotating member, the third axis is rotated about the third axis.

By combining the above rotations, the third axis can be moved to various positions and angles.

[Embodiment 1 of the Invention Without limiting the present invention, in order to better understand the object of the present invention, an example of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows an articulated bot device 50. As shown in FIG. The main body 1 of the robot device 50 consists of a base 2 and a movable arm 3, and the arm 3 has a rotary table 4 that can freely rotate in six directions with respect to the base 2, and a rotary table 4 that rotates in a direction B with respect to the table 4. Rotatable pillar 5
, an arm 6 that is rotatable in the C direction with respect to the support column 5, and a wrist device 7.

2 and 3 are enlarged views of the wrist device 7. FIG. According to this wrist device 7, a bracket 9 serving as a base member is fixed to the tip 8 of the arm 6, and a first shaft 10 is fixed to the bracket 9 by a mounting member 11. The first shaft 10 includes a sprocket 12 as a first rotating member, which is arranged to be rotatable about the axis 14 of the first shaft 10, and a sprocket 12 which is arranged coaxially with the sprocket 12 and has an end portion 27. It is integrally fixed to this sprocket 12 by means such as a screw 15, and the first shaft 1
It is integrally attached to the sprocket 12 around the axis 14 of the first axis 10 and is rotatably mounted at bearing portions 20 and 21, and extends substantially in the direction a, which intersects with the first axis 10. ,
A cylindrical arm member 19 is provided with a protruding part 16 having a bearing part 17 at the tip part 18 and a bearing part 33 disposed coaxially with the bearing part 17, and is meshed with the sprocket 12. When the sprocket 12 is rotationally driven by the endless chain 13 as a force transmission member driven by a suitable driving means (not shown),
The cylindrical arm member 19 also rotates integrally with the sprocket 12. Here, instead of the sprocket 12, other rotating means such as a boob or gear may be used, and depending on the respective rotating means, a belt, a string-like lobe, or the like may be used as the force transmitting member.

Further, a sprocket 23 is further arranged as a second rotating member on the first shaft 10, and is rotatable about the axis 14 of the first shaft 10, and is arranged coaxially with the sprocket 23. - This sprocket 23 at the end 26
It is integrally fixed to the sprocket 23 by a means such as a screw 24, and is rotatably supported by a bearing part 25 integrally with the sprocket 23 with respect to the axis 14 of the first shaft 10, and the other end part 28
A cylindrical member 30 as a first transmission mechanism having two bevel gears and a bevel gear 31 that meshes with the bevel gear 29 of this cylindrical member 30 are arranged. With the key 32, one end 36 of the second shaft 34 is rotatably supported by a bearing 33 and a bearing 17 provided in It is fixed concentrically with the axis 35 of the second @34. A bearing portion 40 is fixed at the other end 37 of the second shaft 34 by a key 38 and extends substantially in one direction intersecting the second shaft 34 .
A cylindrical arm member 42 serving as a support member is attached to the second shaft 34 and has a protruding portion 41 having a shape. Then, a suitable drive means (
When the sprocket 23 is rotationally driven by the endless chain 43 (not shown) as a force transmission member, the cylindrical member 30 rotates integrally with the sprocket 23, and the bevel gear 29 also rotates due to the rotation. The bevel gear 31 meshed with the bevel gear 29 also rotates, causing the second shaft 34 fixed to the heavy vehicle *31 to rotate around the second shaft.

In addition, the first shaft 10 further includes a cylindrical member 30 as a third rotating member with respect to the axis 14 of the first shaft 10.
A sprocket 44 is rotatably supported by an upper bearing part 45, and a sprocket 44 is arranged on the cylindrical member 30, and as a second transmission mechanism, a sprocket 44 is disposed coaxially with the sprocket 44 on the cylindrical member 30. A bevel gear 47 is rotatably arranged on the cylindrical member 30 by a bearing portion 45 and is integrally fixed to the sprocket 44 by screws 46 or the like, and one tooth 48 meshes with the bevel gear 47, and the bearing A bevel gear 52 rotatably supports the second shaft 34 at a portion 51 and has teeth 49 on the other side;
a bevel gear 53 meshing with the other 61iI49 of the cylindrical arm member 42; The third shaft 54 is rotatably supported by the bearing portion 40 . When the sprocket 44 is rotationally driven by an endless chain 56 as a force transmitting member that is meshed with the sprocket 44 and driven by a suitable driving means (not shown), the bevel gear 41, the bevel gear 52, The gear 53 and the third shaft 54 each rotate.

A working member 51 (FIG. 1), such as a spray gun nozzle or a welding torch, is connected to the tip 55 of the third shaft 54, and the working member 51 (FIG. 1) is connected to the working member 58 according to the purpose of each work. The working member 51 is positioned.

In addition, similar to sprocket 12, sprocket 23°4
4 may also be replaced with a sprocket by using other rotation means such as a pulley or tooth width, or a belt or a string-like lobe may be selected as the force transmission member depending on the respective rotation means. .

The robot wrist device 7 configured as described above operates 1° as follows. The sprocket 12 rotationally driven by the endless chain 13 rotates the cylindrical arm member 19 coaxially around the first shaft 10, and the sprocket 12 rotates the cylindrical arm member 19 coaxially around the first axis 10, and the bearing part 33 of the cylindrical arm member 19 and the bearing provided at the tip of the protruding part 16 The second shafts 34 pivotally supported by the portions 17 are connected to the first shafts 10.
In other words, the second shaft 34 is rotated across the drawing, and the third shaft 54, which is pivotally supported by the bearing part 40 of the cylindrical arm member 42 fixed to the second shaft 34, is rotated so that the second shaft 34 crosses the drawing. Rotate with respect to @10.

The sprocket 23 rotationally driven by the endless chain 43 coaxially rotates the cylindrical member 30 around the first axis 10, rotates the bevel gear 29 integrally formed on the cylindrical member 30, and rotates the bevel gear 29. The second shaft 34 fixed to the bevel gear 31 rotates the bevel gear 31 meshed with the
is rotated around its axis, the cylindrical arm member 42 fixed to the second shaft 34 is rotated around the second shaft 34, and the third cylindrical arm member 42, which is supported by the bearing part 40 on the cylindrical arm member 42, is rotated. The shaft 54 is rotated about the second shaft 34 in the d direction.

The sprocket 44 rotationally driven by the endless chain 56 rotates the heavy vehicle 1!47 coaxially around the first shaft 10, and the bevel gear 52 meshed with the bevel gear 47.
The bevel gear 53 meshed with this heavy gear *i52.
is further rotated, and the third shaft 54 fixed to this bevel gear 53 is rotated around the third shaft.

Therefore, by combining the above rotational operations, the working member 57 attached to the tip 55 of the third shaft 54 is
can be moved to various positions.

[Effects of the Invention] As described above, according to the present invention, the first shaft is fixed to the base member, and force is transmitted around the first shaft, so that the bearing is equally spaced. Compared to a shaft that is rotatably mounted, it is less likely to rattle and can provide a highly durable structure. In addition, since the rotation of the second shaft around the first axis is directly transmitted through the first rotating member, the strength of the shaft can be increased compared to the case where rotation is transmitted using a key. It can also be adapted to work with heavy loads.

[Brief explanation of drawings]

FIG. 1 is an overall view of an example of a preferred articulated robot device to which the wrist device of the present invention can be applied, FIG. 2 is a plan view of the wrist device of the present invention, and FIG. 3 is a diagram of the wrist device of the present invention. FIG. 1... Robot body, 7... Wrist device, 14... First axis, 34... Second axis, 29.31.47, 52.53...Bevel gear. Figure 1

Claims (1)

[Claims] A base member attached to the tip of the arm of the robot, a first shaft fixed to the base member, and a first rotation rotatable to the first shaft about the first axis. a member, and has an axial center, and is attached to the first rotating member so as to rotate about the first axis by the rotation of the first rotating member and to be rotatable about the axial center. a second shaft; a support member fixed to the second shaft and protruding in the radial direction of the second shaft; a third shaft rotatably attached to the support member with respect to the first shaft; a second rotating member rotatably attached to the first shaft with respect to the first shaft; a first transmission mechanism that rotates the second shaft about its axis by the rotation; a third rotating member rotatably attached to the first shaft; A robot wrist device comprising a second transmission mechanism that rotates the third shaft about its axis by rotation.