KR890000864Y1 - The three shaft wrist of the starting apparatus - Google Patents

Abstract

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Description

Robot's 3-axis wrist drive

1 is a block diagram of the present invention.

(A) and (b) of FIG. 2 are conventional configurations.

3 is a function of the robot according to the present invention.

* Explanation of symbols for main parts of the drawings

A ₁ : square motor B ₁ : cubic motor

C ₁ : Side motor A ₂ , A ₃ , B ₂ , B ₃ : Driving bevel gear

A ₄ , B ₄ : Shaft A ₄ , A ₆ , B ₅ , B ₆ : Driven bevel gear

A ₇ , A ₉ , B ₇ , B ₉ : Pulley A _s , B _s : Belt

A ₁₀ , B ₁₀ : Reducer B ₁₁ : Frame

C ₂ : Reducer C ₃ : Spur Gear

C ₄ : driven gear C ₅ : shaft

C ₆ : frame

The present invention relates to a three-axis wrist drive device of the robot that can be rotated in all directions.

In general, the robot's movement is designed to be similar to the human movement, and is usefully used in the production industry in which repeated motions must be continuously performed.

It is true that the body of the robot is mainly operated for redirection or repositioning, and the arm of the robot is precisely aligned to the working point so that the movement of the robot is impaired or limited when it is restricted.

Therefore, the robot's arm needs to be driven in all directions and can move freely, increasing precision and increasing its utilization.

The conventional robot arm has a configuration of a biaxial arm or a triaxial arm as shown in FIG. 2 (a) (b), and the first (a) is a biaxial arm, which is only two motions of up and down or left and right. When the movement before and after was needed, the body moved to achieve the purpose of work.

Therefore, the improvement of the accuracy and the occurrence of unnecessary obstacles caused by the movement of the body was improved, and the proposed one was the configuration of the three-axis arm as shown in (b).

The three-axis arm of this structure is that the drive motor is installed directly on the robot wrist for another new action, the volume of the wrist portion can be increased, and the weight can be reduced.

At the point where a robot that can complete a large amount of work in a minimum amount of time as a free and sleek operation is required, the inventors have come up with the present invention to provide a higher performance three-axis arm drive device. The operation will be described in detail with reference to the accompanying drawings as follows.

As shown in FIG. 1, three motors include a horizontal rotational drive motor (hereinafter referred to as a "square motor"), an inverted rotational drive motor (hereinafter referred to as a "cubic motor"), and a lateral rotational drive motor (hereinafter referred to as " Lateral motors ”, all of which are mounted on robot arms.

First m Motor (A ₁₎ axis, a driving bevel gear (A ₂₎ being engaged with a drive shaft bevel gear (A _3), to the driven bevel gear (A ₅₎ in the front end of the driving shaft (A ₄₎ driven shaft of is engaged with the bevel gear (a ₆₎ to rotate the pulley (a _7), which is connected to a pulley (a ₉₎ and the belt (a ₈₎ in the rear end reducer (a _10).

A driven bevel gear A ₁₁ is arranged at the tip of the reducer A ₁₀ to be engaged with the bevel gear A ₁₂ of the rotary end A ₁₃ .

Therefore, their action is square motor (A ₁ ) → drive bell gear (A ₂ ) (A ₃ ) → drive shaft (A ₄ ) → driven bevel gear (A ₅ ) → pulley (A ₇ ) (A ₉ ) → Actuator (A ₁₀ ) → driven bevel gear (A ₁₁ ) (A ₁₂ ) → end (A ₁₃ ).

Cubic axis of Motor (B ₁₎ has been engaged with the driving bevel gear (B ₂₎ is a drive shaft bevel gear (B _3), is the front end of the drive shaft tube (B ₄₎ a driven bevel gear (B ₅₎ is in the driven shaft It is engaged with the bevel gear (B ₆ ) to rotate the pulley (B ₇ ) and the frame (B ₁₁ ) is formed at the tip of the reducer (B ₁₀ ) is operated in the mouth with the rotary end (A ₁₃ ).

In other words, cubic motor (B ₁ ) → drive bell gear (B ₂ ) (B ₃ ) → drive shaft pipe (B ₄ ) → driven bevel gear (B ₅ ) → pulley (B ₇ ) (B ₉ ) → reducer (B ₁₀ ) → frame (B ₁₁ ) → rotary end (B ₁₃ ).

Lateral Motor (C ₁₎ axis, the speed reducer (C ₂₎ are are installed directly in, the front end of the reducer (C ₂₎ a spur gear (C ₃₎ a driven gear meshed with the (C ₄₎ and the driven gear (C ₄₎ is It is composed of the same body as the shaft tube C ₅ and the frame C ₆ .

Therefore, when the lateral motor C ₁ is driven, the speed reducer C ₂ → spur gear C ₃ → driven gear C ₄ and shaft tube C ₅ , frame C ₆ , and all the above configurations It is rotated.

The present invention, which acts as a structure as described above, can move in all directions, allowing the wrist of the robot arm to move flexibly, and by adopting a heterogeneous driving method using a hollow shaft (shaft tube), its volume is reduced and light. Rather, the effect is much higher precision.

Claims (1)

As shown, square, cubic and lateral motors are built into the arm of a single robot, the square and cubic rotational drive is a motor (A ₁ ) (B ₁ ) → driven bevel gear (A ₂ ) (A ₃ ) (B ₂ ) (B ₃ ) → driven bevel gear (A ₄ ) (B ₄ ) → driven bevel gear (A ₅ ) (A ₆ ) (B ₅ ) (B ₆ ) → pulley (A ₇ ) (A ₉ ) _{(B 7) (B 9)} → the belt _{(a 8) (B 8)} → reducer (a ₁₀₎ (B _10), the frame (B ₁₁₎ reduction gear (B ₁₀₎ of the configuration cubic rotation but connected in the same configuration of the net and being integral, the side rotation drive is reducer (C ₂₎ a Motor is mounted directly to the (C ₁₎ is engaged with the spur gear (C ₃₎ on its front end a driven gear (C ₄₎ the driven gear (C ₄₎ The three-axis wrist drive device of the robot, characterized in that consisting of the same as the shaft tube (C ₅ ) and the frame (C ₆ ).