Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/08—Program-controlled manipulators characterised by modular constructions
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J17/00—Joints
  • B25J17/02—Wrist joints

Definitions

• the present invention relates to an industrial robot, and more particularly, to an improved structure of a wrist mechanism inserted between a lot hand, a mouthpiece, and a hat.
• a conventional rotor wrist has only a single port pot hand and a mounting surface, and the port pot hand mounting surface has a motor at most at the center line. It is formed in a one-degree-of-freedom structure that can be rotated by driving.
• a structure in which the robot hand is pivotally positioned at the above-mentioned center axis direction by rotating the robot / bottom hand mounting surface. It is. Therefore, in the conventional industrial mouth, various wrists such as a wrist in which the above-mentioned robot hand mounting surface is formed in five faces and a wrist formed in a horizontal plane are individually prepared in advance. In response to the port and cut action performed by the bot hand, one of these wrists is selected and attached to the tip of the robot arm, and A method of attaching the rope to the rod mounting surface of the attached wrist is adopted.
• the wrists can be replaced as necessary to avoid the increase in the price of the industrial lot itself. Each time the wrist is replaced, it is necessary to correct the teaching contents of the mouth control unit and the replacement work becomes complicated.
• the wrist structure of an industrial bot is provided in which the robot hand mounting surface is rotatable and positioned by a single drive motor around its central axis. It is in.
• FIG. 1 is an exploded perspective view showing one example of a wrist mechanism of an industrial robot according to the present invention
• Fig. 2 shows a configuration of a gear mechanism provided inside the wrist mechanism
• FIG. 3 is a perspective view showing a state in which the mounting direction is changed when the wrist structure is mounted on the robot arm
• FIG. 4 is an actual view shown in FIGS. 1 to 3.
• FIG. 4 is a perspective view showing a state in which a mouth hand is attached to the wrist mechanism of Jeongjong.
• FIG. 1 is an exploded perspective view showing an embodiment in which a wrist mechanism for an industrial lot according to the present invention is provided with two port pot hand mounting surfaces
• FIG. 2 is an embodiment of the same.
• FIG. 1 is an enlarged vertical cross-sectional view.
• the wrist mechanism of the industrial robot according to the present invention is a mounting flange provided at the tip of the robot arm 10. It is formed so that it can be attached to the mounting screw hole 14 formed in the mounting surface 12 a of the die 12 by the mounting root 16.
• the wrist machine «2 '0 has a housing 22 and two robot hand mounting surfaces 24, 26 formed on the outer end side of the housing 22.
• the robot hand mounting surface 24 is formed on a vertical surface having a horizontal rotating bridle, and the robot hand mounting surface 26 is ⁇ It is formed on a horizontal plane with a direct rotation axis.
• a mounting flange 28 is formed on the rear part of the housing 22.]
• a robot arm 10 is mounted on the mounting flange 28.
• An insertion hole 30 of the mounting root 16 is formed at a position corresponding to the mounting screw hole 14 formed on the mounting surface 12 a of the mounting flange 12 of the mounting flange 12. 3 ⁇ 4 If the mounting screw holes 14 on the mounting surface 12a and the mounting holes 30 on the mounting fin 28 are formed at the apexes of a regular polygon, the wrist mechanism 20 can be connected to the robot.
• the rod-hand mounting surface 26 is formed in a vertical plane having a horizontal axis in the same manner as the robot-mounting surface 24. It can also be mounted on the mounting flange ⁇ 12 of the bottom arm 10.
• a positioning drive motor 32 which will be described later, is attached to the rear surface of the mounting flange 12 of the robot arm 10. Protruding forward from the mounting flange 12 of the robot arm 10 so that it can be connected to the input shaft of the gear mechanism contained in the wrist mechanism 20 described below. I have.
• a gear mechanism 40 is provided inside the housing 22 of the wrist mechanisms 2 and 0.
• the gear 40 has a first bevel gear 42 and a second bevel gear 4, and the shaft 46 of the first bevel gear 42 is an input shaft of the gear structure 40.
• the rotation input of the drive motor 32 causes the first bevel gear 42 to extend over a certain rotation angle.
• the first tip in bevel axis 4 6 gears 4 2 JL kites are formed on the square shaft, the robot Ha nd mounting surface 2 4 ⁇ A corner formed at the rear end of short 50 that is fixedly attached to the end or formed by integral formation
• the rotation input input from a single positioning drive motor 32 is applied to each ⁇ ' Since the hand mounting surfaces 24 and 26 can be rotated over a predetermined angle, the front surface of the mouth and the hand mounting surfaces 24 and 26 can be rotated.
• these robots, tongues, and the handle are turned at a fixed angle to the center rotation D of the mounting surfaces 24, 26. : You can do it.
• the rotation angle of the output shaft of the drive motor 32 can be adjusted by a feedback control method. It can be controlled from the ⁇ -port and socket control device.] 3 Therefore, ultimately, the wrist mechanism 20's nrf foot-hand mounting surface 24, 26
• the robot hands mounted on the robot hand mounting surfaces 24 and 26 can be rotationally positioned.
• the wrist mechanism 20 itself has two physical strengths and a two-hand mounting surface 2. 4 and 26 are provided in advance, so that a conventional industrial lot can be replaced and selected from various wrists according to the desired robot action of the ⁇ -bot hand.
• the single wrist structure has the advantage that it can be adapted to various robot and bot action.
• the embodiment shown in FIGS. 1 to 3 has a structure in which two rod hand mounting surfaces are provided as described above.
• a mounting surface similar to the mounting surface 26 is additionally provided around the axis of the first bevel gear 42, two or more robot hands and mounting surfaces are provided, and It is also possible to configure such that the ⁇ -bottom mounting surface is rotated and positioned by the positioning driving motor 32.
• the wrist mechanism 20 is mounted on the mounting flange 12 of the rod arm 10 with the lo-po and the hand mounting surface 26 facing downward.
• the figure shows a case where the robot hand 60 is attached to the robot hand mounting surface 26, and the robot hand 60 is used for positioning.
• a single wrist mechanism can be used to open the mouth in various directions.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=13537512

Family Applications (1)

Country Status (4)

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Citations (1)

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• 1981
  • 1981-05-19 JP JP7410381A patent/JPS57189794A/ja active Granted
• 1982
  • 1982-05-18 WO PCT/JP1982/000175 patent/WO1982004007A1/ja not_active Ceased
  • 1982-05-18 EP EP19820901438 patent/EP0079387A4/en not_active Withdrawn
  • 1982-05-19 KR KR1019820002175A patent/KR830009908A/ko not_active Ceased

Patent Citations (1)

Non-Patent Citations (1)

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