JPS6144796Y2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a wrist device for an industrial robot, in which a wrist portion is attached to the tip of a robot arm via a bracket that is pivotally mounted thereto.

Conventionally, when hydraulically controlling the operation of the wrist in this type of device, it was common practice to extend a hydraulic piping member connected to the hydraulic source from the robot arm side to the wrist side and connect it directly.According to this, The hydraulic piping needs to be flexible to accommodate changes in the relative position of the wrist and robot arm due to rotation around the pivot of the bracket, which makes it difficult to organize the piping compactly, and also causes repeated curvature of the hydraulic piping members. This has the disadvantage of causing fatigue and deteriorating durability.

The purpose of the present invention is to provide a device that eliminates such inconveniences.A bracket 2 is pivotally attached to the tip of a robot arm 1 via a pivot 4, and a wrist portion 3 is attached to the bracket 2. In this structure, a fixed piping member 6 connected to a hydraulic power source is connected to the pivot 4, and an oil passage 5 connected to the member 6 is bored, and the bracket 2 is connected to a fixed piping member 6 connected to a hydraulic power source, and the bracket 2 is connected to a fixed piping member 6 connected to a hydraulic power source. It is composed of a first bracket 2a having a flat mounting surface and a second bracket 2b that is removably attached to two different mounting surfaces of the first bracket 2a, and the oil passage 5 is connected to the first bracket 2a. The second bracket 2b is provided with two-way oil passages 13 that open to each mounting surface through the two-way oil passages 13, and a piping connection port 7 that opens to the outer surface through an oil passage 14 that connects to the two-direction oil passages 13. , a wrist piping member 8 connected to the wrist portion 3 is connected to the piping connection port 7.

In the illustrated robot arm 1, a parallel link 9 is provided, and a bracket 2 for attaching the wrist portion 3 is pivotally connected to the arm 1 and the link 9 at respective pivots 4 and 10 to form a parallel link mechanism. When the arm 1 swings, the bracket 2,
Therefore, the wrist portion 3 attached thereto is moved in parallel in a constant posture.

The wrist portion 3 is connected to a pair of first and second hydraulic motors 3.
A and 3b are combined so that their axes are orthogonal to each other, and a mounting seat 3c for the bracket 2 is provided on one side around the first hydraulic motor 3a, and a rotation shaft of the second hydraulic motor 3b is provided. A mounting plate 3d for attaching a welding gun and other tools is provided, and a valve block 11 is attached to the end face of the first hydraulic motor 3a, and a servo valve 12 is attached to this for the first hydraulic motor 3a and the second hydraulic motor 3b. The first hydraulic motor 3a and the second hydraulic motor 3b are supplied with oil from the valve block 11 through an oil passage 16 formed on the rotating shaft of the motor 3a. .

A pair of oil passages 5, 5 consisting of shaft holes on both sides in the axial direction are bored in the pivot shaft 4, as shown in FIG. The fixed piping members 6 were connected to each other.

Further, the bracket 2 is composed of a first bracket 2a which is pivotally attached to the robot arm 1, and a second bracket 2b which can be freely attached to two different sides A and B of the first bracket 2a. By replacing the second bracket 2b, the wrist portion 3 can be attached in different postures as shown in FIG. 1 or FIG. 13 are formed in one pair each on the A side and the B side, and a pair of piping connection ports 7 are formed on both sides of the outer surface of the second bracket 2b, so that the second bracket 2b is configured as shown in the first figure. Like the first bracket 2
When installing on side A of A, each connection port 7 is connected to each oil hole 13 opened on side A via the oil hole 14 in the second bracket 2b, and When the second bracket 2b is installed on the B side of the first bracket 2a as shown in the fourth figure, the oil holes 14 on the second bracket 2b side are connected to the oil holes 13 that open on the B side. , the oil from each fixed piping member 6 flows through each oil passage 5 and each oil hole 13, 14.
Oil is supplied to each of the connection ports 7 through the connection ports 7, and is supplied to each of the servo valves 12 from each of the connection ports 7 via each of the wrist piping members 8 connected thereto.

In the drawings, reference numeral 15 indicates a blind plug provided to each oil hole 13 that opens on the surface of both sides A and B of the first bracket 2a to which the second bracket 2b is not attached.

Next, to explain its operation, as the robot arm 1 swings, the wrist portion 3 is rotated around the pivot shaft 4 of the bracket 2 by the swing angle of the arm 1 and translated in parallel. Although the relative position between the arm 1 and the wrist portion 3 changes, the relative position between the arm 1 and the pivot 4 and the relative position between the bracket 2 and the wrist portion 3 do not change, so that the pivot a fixed piping member 6 connected to the oil passage 5 formed in 4;
The wrist piping member 8 connected to the piping connection port 7 formed in the bracket 2 is maintained in a fixed piping shape without being deformed.

According to the present invention, a fixed piping member 6 connected to a hydraulic pressure source is connected to a pivot shaft 4 for pivotally mounting a bracket 2 to a robot arm 1, an oil passage 5 connected to the member 6 is bored, and a wrist portion 3 is attached. The bracket 2 has a first bracket 2a which is pivotally supported by a pivot 4 and has two different mounting surfaces A and B, and a first bracket 2a which has two different mounting surfaces A and B.
The first bracket 2a is provided with two-way oil passages 13 that open to the mounting surfaces A and B via the oil passage 5, and a second bracket 2b that is removably attached. The second bracket 2b is provided with a piping connection port 7 that opens to the outside through an oil path 14 that connects to the oil path 13 in the two directions, and a wrist piping member 8 that connects to the wrist portion 3 is connected to the piping connection port 7. Since the wrist part 3 can be attached to the bracket 2 in two directions, the versatility of the robot can be dramatically increased.
Even in the case of replacement, the piping of the oil passage should be connected to the axis 4.
Since the brackets 2 and 2 are used as relay members for oil, they can be assembled compactly, and each piping member 6, 8 is maintained in a predetermined piping state, preventing fatigue and improving durability.

[Brief explanation of the drawing]

Fig. 1 is a cutaway side view of an example of the proposed device, Fig. 2 is a plan view thereof, Fig. 3 is a sectional view taken along the line - - of Fig. 1, and Fig. 4 is a state in which the mounting position of the wrist portion has been changed. FIG. 1... Robot arm, 2... Bracket, 3
... Wrist part, 4 ... Pivot, 5 ... Oil path, 6 ... Fixed piping member, 7 ... Piping connection port, 8 ... Wrist piping member.

Claims (1)

[Scope of utility model registration request] A bracket 2 is pivotally attached to the tip of the robot arm 1 via a pivot 4, and a wrist portion 3 is attached to the bracket 2.
In the case where the pivot 4
A fixed piping member 6 connected to a hydraulic power source is connected to the fixed piping member 6, and an oil passage 5 connected to the member 6 is bored. 2a and a second bracket 2b that is removably attached to two different mounting surfaces of the first bracket 2a,
The first bracket 2a is provided with oil passages 13 in two directions that open to each mounting surface via the oil passage 5, and the second bracket 2b is provided with oil passages 14 that are connected to the oil passages 13 in the two directions. A wrist device for an industrial robot, characterized in that a piping connection port 7 opening to the outside is provided, and a wrist piping member 8 connected to the wrist portion 3 is connected to the piping connection port 7.