JPS6374589A - Mechanism of industrial robot wrist section - Google Patents

Abstract

(57) [Abstract] 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 robot having a wrist capable of performing three movements: rotational movement, bending movement, and twisting movement.

[Conventional technology]

Rotation 1 The robot structure with a wrist capable of bending and twisting motions is - LJ, S, P 3.784031
, Special Publication No. Sho 51-17791, Special Publication No. Sho 53-1878
Publication No. 5, JP-A-59-53176, JP-A-60
A large number of proposals have been made in many publications such as Publication No. 4.4291.

The wrist is often used under harsher conditions than the base, upper arm, forearm, etc. Nevertheless, it is required to be small and lightweight. Therefore, maintenance and inspection must be performed more frequently than other parts.

[Problem that the invention seeks to solve]

In the conventionally proposed devices, the forearm and wrist were closely connected, so if you tried to remove just the wrist from the forearm and inspect it, many parts had to be disassembled, making maintenance and inspection extremely troublesome.

The present invention has been made in view of these points, and its object is to provide a robot having a structure in which the wrist can be easily removed from and attached to the arm.

[Means for solving problems]

The present invention provides a robot having an outer rotating barrel, an intermediate rotating barrel, and an inner rotating shaft arranged concentrically with each other, in which a frame base is fixed to the tip of the outer rotating barrel, and a transmission chamber and a winding transmission chamber are fixed to the tip of the outer rotating barrel. An outer frame having an inner frame storage chamber is fixed by a fixing means that can be disassembled and reassembled. An inner frame that rotates on the bending center axis is installed in the inner frame storage chamber, and the inner frame supports the hand portion so that it can rotate on a twist axis that is perpendicular to the bending center axis. The rotation of either one of the inner rotation axes,
It has a bending power transmission means for transmitting the rotation to the inner frame and a torsion power transmission means for transmitting the rotation of the other to the hand part.
A pulley and a timing belt forming part of the bending power transmission means and the torsion power transmission means are arranged in the winding transmission chamber.

The diameter of the bearing seat that supports the intermediate rotating cylinder of the inner frame is configured to be larger than the maximum outer diameter of the pulley fixed to the intermediate rotating cylinder and the inner rotating shaft.

[Effect]

With the above structure, by removing the timing belt from the pulley, the mechanical communication between the first bending power transmission means and the twisting power transmission means is released within the winding transmission chamber.

In addition, since the outer diameter of the pulley is smaller than the inner diameter of the bearing seat, the frame base and outer frame can be disassembled without removing the pulley, so the wrist can be easily removed from the arm and fixed. .

〔Example〕

Embodiments of the present invention shown in the figures will be described below.

1 is a base, 2 is a turning table which rotates on the base 1 around a vertical axis shown in 3, and 4 is a motor for driving this turning table.

An upper arm 6 is pivotally mounted on the rotating table 2 and is rotatable about the horizontal @S. A forearm 8 is pivotally attached to the tip of the upper arm 6 and is rotatable about a horizontal axis 7.

A digging arm 9 is provided parallel to the upper arm 6, and a lever 1o is provided parallel to the forearm 8. And upper arm 6. Earth excavation arm 9. The forearm 8 and the excavating arm 9 are pivoted around a horizontal axis 11 so that the forearm 8 and lever 10 form a parallel link, and one end of the lever 10 is pivoted around a horizontal axis 5. , the other end is pivoted with a pin around the lower end of excavation @ 9 and horizontal @ 12.

Reference numeral 13 denotes a motor for rotating the forearm 8 about the horizontal plane @7. When this motor is driven, the dust cover 14.
The screw shaft 16 inside the screw shaft 15 rotates, and accordingly the position of the horizontal shaft 12 is raised and lowered, and the forearm 8 is rotated.The upper arm 6 is rotated around the horizontal shaft 5. The motor for the movement is not visible in these figures after the motor 13. When this motor is driven, the upper arm 6
A rigid lever that rotates in unison with the upper arm rotates around a horizontal axis 5, and the upper arm 6 rotates accordingly. The rigid lever is behind the lever 10, and the screw shaft that moves the rigid lever up and down is the screw shaft 1.
6 and are not shown together.

Attached to the distal end of the forearm 8 is a wrist 20, which is shown in detail in FIG. This wrist 20 is an axis 21 along which the forearm 8 extends.
A rotational movement in the direction shown by arrow 22 and an arrow 23
The structure is such that the bending motion shown by arrow 24 and the twisting motion shown by arrow 24 are possible.

The bending action is an action of swinging the hand portion 25 on a plane perpendicular to the axis 21, and the twisting action is rotating the hand portion 25 around a specific axis on a plane perpendicular to the bending center axis. It is an action.

The rotational movement indicated by arrow 22 is accomplished by motor 26;
The bending motion indicated by arrow 23 is performed by motor 27;
The twisting motion indicated by arrow 24 is configured to be performed by a motor located after motor 26 and not shown.

These motors for rotating, bending, and twisting operations are arranged to be located at the pivot point of the forearm 8, that is, on the opposite side of the wrist 20 when viewed from the horizontal axis 7, in consideration of weight balance.

Now, the rotation of the motor for these rotating, bending, and twisting operations is carried out via a pulley (not shown) and a timing belt (not shown) for the forearm 8.
The outer rotary cylinder 30. It is configured to be transmitted to the intermediate rotating cylinder 31 and the inner rotating shaft 32.

The intermediate rotating cylinder 31 is located inside the outer rotating cylinder 3o,
The inner rotating shaft 32 is located inside the intermediate rotating cylinder 31. The rotational axes of the outer rotating barrel 3o, the intermediate rotating barrel 31, and the inner rotating shaft 32 are all on the axis 21.

The tip of the outer rotary cylinder 30 is connected to the forearm 8 via bearings 33 and 34.
It is supported so that it can rotate.

At the tip of the outer rotary cylinder 30, there is an arrow 2 integrally attached to the tip.
The frame base 39 is fixed with bolts (not shown) so that it can rotate in the direction indicated by 2 (see FIG. 2). The outer frame 4o is attached to the frame base 39 with bolts 38.
It is fixed. This outer frame 40 serves as the base of the wrist 20.

This outer frame 40 is approximately the same as the inner frame storage chamber 41.
It is composed of four parts: a gear storage chamber 42, 43, and a winding transmission chamber 44.

Among these, the winding transmission chamber 44 is located at the base end of the outer frame 40, and openings 45 and 46 are provided on both sides of the shaft 821.

The inner frame storage chamber 41 is provided at the end of and adjacent to the winding transmission chamber 44, and has circular openings 4 on both sides of the axis 21.
7.48. In addition, this inner frame storage chamber 41
has an arcuate wall 51 centered on the central axis or bending center 50 of the circular opening 47°48 as a whole.

The gear storage chambers 42 and 43 are located around the bending center 5o, sandwiching the inner frame storage chamber 41.

The frame base 39 includes an intermediate rotating cylinder 31 and an inner rotating shaft 32.
A through hole 53 is provided for passing through. The distal end of the intermediate rotating cylinder 31 enters the winding transmission chamber 44 through the through hole 53, and is rotatably supported via a bearing 55 by a bearing seat 54 provided on the outer frame 4o.

The rotation of the intermediate rotary cylinder 31 is transmitted to the hand portion 25 via a torsional power transmission means generally indicated by 56, and the rotation of the intermediate rotation cylinder 31 is transmitted to the hand portion 25 through
A twisting motion indicated by an arrow 24 is performed.

Further, the tip of the inner rotary shaft 32 has a bearing seat 6o bearing 61°62.
It is rotatably supported by a bearing seat 54 via a bearing seat 55 .

The rotation of the inner rotary shaft 32 is transmitted to the inner frame 64 via a bending power transmission means generally indicated by 63.

The inner frame 64 is made to perform the bending motion shown by the arrow 23.

The inner frame 64 has a disc shape with annular shapes 865 and 66 on both sides, and has a protrusion 67 at one location on the circumference, and further extends from this protrusion 67 perpendicularly to the axis of the bending center 50. A hole 68 extending in the direction shown in FIG.

The inner frame 64 is supported by the outer frame 4o via bearings 69, 70 and distant beams 1', 72, 73 so as to be rotatable about the center of bending. The distant bead 1 is fitted into a circular opening 47, and the distant bead 3 is fitted into a circular opening 48.

The bending power transmission means 63 for driving the inner frame 64 around the bending center 50 includes pulleys 76, 77, timing belts 78. First bending power transmission shaft 79° Full gear 80.81
It is composed of a second bending power transmission shaft 82 and a flat harmonic drive reducer 83.

In other words, the pulley 76 is fixed to the tip of the inner rotary shaft 32 so as not to rotate, and the pulley 7-7 is connected to the first bending power transmission @79.
It is fixed by being prevented from rotating at the proximal end.

The timing belt 78 is connected to both of these pulleys 76.7.
Multiply by 7.

The first bending power transmission shaft 79 has its rotation axis @! 2F
The outer frame 40
It is rotatably supported via bearings 85 and 86 by a pipe 84 fixed to the.

The umbrella +8 gear 80 is fixed and prevented from rotating at the tip of the first bending power transmission shaft 79. The second bending power transmission shaft 82 has its rotation axis coincident with the bending center 50, and one end of the second bending power transmission shaft 82 has a distance piece 88 bearing 89. Distance piece 90.
The other end is rotatably supported by the outer frame 40 via a bearing 90°, an inner frame 64, a bearing 69, and a distant beam 1. A fully toothed gear 81 is attached to the base end of the second bending power transmission shaft 79 so as to prevent rotation.

This meshes with a full gear gear 80. Flat type harmonic drive reducer wave generator 91
is fixed to the second bending power transmission shaft 82 so as not to rotate, one circular spline 92 is fixed to the outer frame 440 via the distant beam 1, and the other circular spline 93 is fixed to the outer frame 440 via the distant beam 1. It is fixed to the frame 64.

94 is a flex spline.

The hand portion 25 is rotatably supported by the protrusion portion 67 of the inner frame 64 via a cross roller bearing 95.

A twisting power transmission means 56 for causing the hand portion 25 to perform a twisting operation includes pulleys 100, 101 and a timing belt 102.
, the second torsional power transmission shaft 103, the second torsional power transmission shaft 10
4. Third torsional power transmission shaft 105, fully geared gears 106, 10
7,108.10'; Consists of a flat type harmonic drive reducer 110.

The tight pulley 100 is also used as a bearing seat 60, which prevents the intermediate rotating portion from rotating. The pulley 101 is fixed to the base end of the first torsional power transmission shaft 103 so as not to rotate. The timing belt 102 is connected to both pulleys 100. It is multiplied by L○1.

The first torsional power transmission shaft 103 has its rotation @line as the axis 21
It is provided in a direction parallel to the outer frame 114.
It is rotatably supported by a pipe 111 fixed at zero via bearings 112 and 113.

The fully geared gear 106 is fixed and prevented from rotating at the tip of the torsion power transmission shaft 103.

The second torsional power transmission shaft 104 has its rotational axis coincident with the bending center 50, and one end of the second torsion power transmission shaft 104 has a distance piece 1]4,
Bearing 115. It is rotatably supported by the outer frame 40 via a distance piece 116.73, and the other end is supported by a bearing 17. It is rotatably supported by the outer frame 40 via the inner frame 64, bearing 70, and distant beams 2.73.

The base end of the second torsional power transmission shaft 104 has a fully-toothed gear 1.
07 is attached to prevent rotation, and this is the full gear gear 1.
It meshes with 06. The fully geared gear 108 is fixed to the tip of the second torsional power transmission shaft 104 so that it does not rotate. Third
The base end of the torsional power transmission shaft 105 is inserted into the hole 68 and is rotatably supported by the inner frame 64 via bearings 118 and 119. The proximal extension of the third torsional power transmission shaft 105 faces in a direction intersecting the bending center axis indicated by 50.

The all-toothed gear 109 is fixed to the base end of the third torsional power transmission @1o5 so as not to rotate, and is meshed with the all-toothed gear 108. The wave generator 120 of the flat type harmonic drive reducer 110 is fixed to the third torsional power transmission shaft 105 so as not to rotate, and one circular spline 121 is connected to the distance piece 122.
The other circular spline 123 is fixed to the inner frame 64 via the inner frame 64, and the other circular spline 123 is fixed to the hand portion 25.

] 24 is a flex spline.

As is clear from the above explanation, the pulley is 76°77.1
00, 101 and the timing belt 78° LO2 are incorporated in the winding transmission chamber 44.

In order to easily change the timing belt 781102, the following measures have been taken in this embodiment.

That is, the distance from the tip of the inner rotating shaft 32 to the arc-shaped wall 5 which partitions the winding transmission chamber 44 and the inner frame storage chamber 41 is determined by the timing belt 78. ] The maximum thickness is greater than the maximum thickness of 02. In addition, the pulley 77 can be attached to the opening 45 by removing the pulley 77.101 from the first bending power transmission shaft 79 and the first torsion power transmission shaft 103, so that the timing belts 78, 102 can be hooked on differently. There is. In other words, the first bending power transmission shaft 79,
A screw 125 is provided at the base end of the first torsional power transmission shaft 103, respectively.
, 126 are cut out, and tightening nuts 127, 12 are inserted here.
8 is screwed together. By removing this tightening nut, the pulleys 77 and 101 are connected to the first bending power transmission shaft 79, respectively.
．． It can be removed from the first torsional power transmission shaft unit 03.

The tightening nuts 127, 128 are connected to the fully geared gears 80 and 82.
It also functions to adjust the meshing state between 106 and 107. In other words, the first bending power transmission shaft 79 and the first torsion power transmission shaft 103 have a fully geared gear 80° 106, a fully geared gear 81,
Compression springs 120, 121 that act to press against 107
is a fit.

When the tightening nuts 127 and 128 are tightened, the car surface pawl 80
．． IC+6 is in the direction l\ away from the fully geared gears 81, 107
Moving.

In order to change the engagement of these timing belts 78 and 102 and easily adjust the meshing of the full gears 80 and 81, and 106 and 107, tighten the tightening nuts 127 and 128.
Boo 1.177.101 is provided near opening 45°46.

When changing the hook, the first bending power transmission shaft 79, the first
Remove the pulley 77.101 from the torsional power transmission shaft 103.

These pulleys 77.101 are removed when removing pulleys 77.101.
Also remove timing belts 78 and 102 from 101. In order to facilitate this operation, a flange for preventing the timing belt from coming off is not provided at the same corner on the right side of the pulley 77 and the unit 01 in the figure.

Next, connect the timing belts 78, 102 to the pulleys 76.1
00, and remove it from between the tip of the inner rotating shaft 32 and the arcuate wall 51. The interval of this part is the timing belt 78,
Since the timing belts 78 and 102 are larger than the maximum thickness of the timing belts 102, the timing belts 78 and 102 can be easily removed. When installing a new timing belt 78°] 02, first attach the outer timing belt 02, then insert the timing belt 78 at the interval.
through the pulleys 60 and 100, and then gradually tighten the timing belt while passing it through the pulleys 77 and 101.
7.101 is applied to the first bending power transmission shaft 79 and the first torsion power transmission shaft 103, and finally, the tightening nuts 127 and 128 are tightened to fix it.

In this way, the pulleys 76°, 77.
A wrap transmission device consisting of timing belts 100, 101 and a timing belt 78° 102 is housed.

Now, it is also possible to perform the bending operation by rotating the intermediate rotary cylinder 31 and to perform the twisting operation by rotating the inner rotary shaft 32. However, if the hand portion 25 is driven by the rotation of the intermediate rotary cylinder 31 as in this embodiment, there are the following advantages. In other words, the twisting motion of the tip portion 25 requires higher speed than the bending motion.

Since the intermediate rotating shaft 31 has a larger diameter than the inner rotating shaft,
Rigidity can be easily increased. Therefore, the twisting motion power that requires higher speed is transmitted by the intermediate rotating shaft 31,
It is more advantageous to transmit the bending operation power, which does not require high-speed rotation, through the inner rotary shaft 32.

It is better to select the pulley 10 as in this embodiment.
The diameter of 0 can be made larger than the diameter of 101, and the rotation of the intermediate rotating shaft 31 can be increased to increase the rotation speed of the first torsional power transmission shaft 103.
Another important feature is that it can be communicated to others.

Now, the maximum outer diameter of the pulley 76 is 17. Set the maximum outer diameter of the boot 1102 to 5. When the inner diameter of the bearing seat 54 is 14,
By making the relationship 4>11>J=, bolt 3
8, and release the connection between the frame base 39 and the outer frame 40 and remove the wrist 2o from the frame base 39 (pulley 76
．． 100 can be removed while attached to the intermediate rotating cylinder 31 and inner rotating shaft 32, respectively. (Of course, at this time, the timing belts 78, 102 are connected to the pulleys 77.
It is removed from 101. ) By doing this, the wrist 20 can be assembled independently from the forearm 8 and the sword 1, and the wrist 20 can be assembled on the forearm 8 without disassembling the wrist once assembled, which greatly facilitates production control. It becomes easier.

In this embodiment, all teeth 1180, 106, 108 and 81
, 107 and 109 have the same specifications. The reason why two types of specifications are required is because curved gears are used.

It is necessary to lubricate the vehicle surface #i with a lubricant, but in this embodiment, all gears 80, 82, 106, 107°, 108.
109 are arranged only around the bending axis center 50,
Lubrication is a must. That is, oil seals 141 and 142 centered on the bending axis center 50 are arranged between the outer frame 40 and the inner frame 64, and between the pipe 84 and the first bending power transmission shaft 79, and between the pipe 111 and the first torsional power transmission shaft. axis 1
03 and between the third torsional power transmission shaft 105, the respective shafts 7
9. Oil seal 143 centered on 103, 105,
I 4 'tr 140 is placed, and the openings of the gear storage chambers 42 and 43 are closed with closing plates 152 and 153.

Due to this, all gears 80, 82, 106, 107.1
A lubrication chamber 150 surrounding 08 and 109 is formed.

Therefore, lubricant is sealed here. 151 is a plug that also functions as an oil gauge.

〔Effect of the invention〕

According to the present invention, as is clear from the above description, it is possible to assemble the wrist independently from the forearm and then assemble them together later, making production control very easy.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view of essential parts showing an embodiment of the robot of the present invention. FIG. 2 is a front view showing an embodiment of the robot of the present invention. 20 is the wrist, 30 is the outer (+!!1 rotating cylinder, 31 is the intermediate rotating cylinder, 32 is the inner rotating shaft, 39 is the frame base. 40 is the outer frame, 41 is the inner frame storage chamber, 44 is the winding transmission chamber) , 54 is a bearing seat, 56 is a torsional power transmission means, 6
3 is a bending power transmission means, 64 is an inner frame, 76.77
．． 100 and 101 are pulleys. 78.102 is a timing belt.

Claims (1)

[Claims] 1. An outer rotating cylinder, located within the outer rotating cylinder,
an intermediate rotating tube that rotates on the rotational axis of the outer rotating tube; an inner rotating shaft that is located inside the intermediate rotating tube and rotates on the rotational axis; and a frame fixed to the tip of the outer rotating tube. The frame includes a base, a winding transmission chamber, and an inner frame storage chamber, and an outer frame fixed to the frame base;
an inner frame that rotates on a bending center axis that is perpendicular to the rotational axis in the inner frame storage chamber; a supported hand portion, a bending power transmission means for transmitting the rotation of one of the intermediate rotating cylinder and the inner rotating shaft to the inner frame, and a torsional power transmission means for transmitting the rotation of the other to the hand portion; A pulley and a timing belt that constitute a part of the bending power transmission means and the torsional power transmission means are arranged in the winding transmission chamber, and the belt supports the intermediate rotating cylinder of the inner frame. The robot is characterized in that the inner diameter of the bearing seat is larger than the maximum outer diameter of the pulley fixed to the intermediate rotating cylinder and the inner rotating shaft.