JPH035954B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to an industrial robot equipped with a wrist portion having three degrees of freedom.

<Prior art> Conventionally, a wrist section provided at the tip of a robot arm is rotated around a plurality of possible axes, and a work head attached to the wrist section is operated over a substantially hemispherical operating area. be.

In such a device, a second rotating body is supported on a first rotating body rotatably supported at the tip of the arm, and a third rotating body is supported on the second rotating body. Therefore, the rotating shafts that transmit rotational power to the second and third rotating bodies must be overlapped and inserted into the first rotating body, and for this purpose, the rotating shafts of each shaft must be constructed in two or three layers. There are technical constraints that must be met.

However, in conventional assembly of this type of robot, each component is assembled one by one on the robot.
Since this method involves assembling the parts one after the other, when a double or triple structure like the one described above is installed over a long distance, the assembly work becomes extremely difficult and a large amount of work is required for assembly. There are problems that require time.

<Objective of the Invention> An object of the present invention is to unitize the operating section of the wrist portion, to facilitate the assembly work, and to shorten the time required for the assembly work.

<Structure of the Invention> In order to achieve the above-mentioned object, the present invention includes a rotating unit and a twisting unit that can be assembled independently in unit units, and two parallel rotating shafts supported by these rotating units and a twisting unit. The overlapping hollow shaft and the insertion shaft supported by the unit can be rotatably connected by mutually assembling the units.

<Examples> Examples of the present invention will be described below based on the drawings. FIG. 1 shows the entire robot. A swing base 11 is supported on a fixed base 10 so as to be able to swing around a vertical axis A1, and is driven to swing by a first shaft drive motor 12. There is.
The first arm 13 is attached to the rotating base 11 along the horizontal axis A.
A second arm 14 is supported at the tip of the first arm 13 so as to be pivotable about an axis A3 parallel to the horizontal axis A2. These first and second arms 13,
14 is a second
The shaft drive motor 15 and the third shaft drive motor (not shown) drive the shaft to rotate, respectively. A wrist portion 17 having three degrees of freedom is provided at the tip of the second arm 14. That is, the wrist part 17 includes a twist part 18 supported rotatably around an axis A4 perpendicular to the horizontal axis 3A at the tip of the second arm 14, and a twist part 18 supported rotatably around an axis A4 perpendicular to the horizontal axis 3A. It consists of a bend part 19 rotatably supported around an inclined axis A5, and a swivel part 20 rotatably supported around an axis A6 inclined with respect to the axis A5 of this bend part 19. . These three movable parts 18, 19, 20 are connected to the second arm 14.
It is configured to be rotationally driven by a fourth axis drive motor 21, a fifth axis drive motor 22, and a sixth axis drive motor (not shown) installed at the rear end. As a result, a multi-jointed robot having six axes of freedom is constructed.

Next, the configurations of the second arm 14 and wrist portion 17 will be explained based on FIGS. 2 and 3. 2
Reference numeral 5 indicates an arm body of the second arm 14, and this arm body 25 has a support shaft 2 rotatably supported at the tip of the first arm 13 around the axis A3.
It is fixed at 6. A support tube 28 is fixed to one end of the arm body 25 via a support ring 27.
A rotating body 31 is rotatably supported on the support ring 27 and the support cylinder 28 about an axis A4 perpendicular to the support shaft 26. The rotating body 31 includes a cylindrical body 29 extending along the axis A4 and a bearing housing 30 fixed to one end of the cylindrical body 29 on the arm body 25 side.
A gear 32 is provided at one end of this bearing housing 30, and this gear 32 is connected to the fourth shaft drive motor 21 via a required reduction gear mechanism 33. Further, a first rotating shaft 34 is rotatably supported on the bearing housing 30 on the same axis as the rotating body 31, and a second rotating shaft 34 is rotatably supported on the bearing housing 30 at an eccentric position offset by a predetermined amount ε1 with respect to the rotating shaft 34. A rotating shaft 35 is rotatably supported. A gear 36 is formed at one end of the first rotating shaft 34, and this gear 36 is connected to the required reduction gear mechanism 3.
7 to the fifth shaft drive motor 22. Similarly, a gear 38 is formed at one end of the second rotating shaft 35, and this gear 38 is connected to the first rotating shaft 3.
4, and is connected to the sixth shaft drive motor via an intermediate gear 39 rotatably supported on the sixth shaft drive motor and an unillustrated reduction gear mechanism.

A bearing case 41 is fitted and fixed to one end of the cylindrical body 29, that is, the tip of the rotating body 31, and a third rotating shaft 42 is mounted on the bearing case 41 on the same axis as the first rotating shaft 34. It is rotatably supported on a shaft, and a connecting gear 51 is provided at its end.
A bearing case 43 is fitted and fixed to the tip of the rotating body 31, and a fourth rotating shaft 44 is rotatably supported on the bearing case 43 on the same axis as the second rotating shaft 35. A shaft coupling portion 52 having a coupling hole 52a formed at the end thereof is provided. These axially spaced concentric first and third rotating shafts 34 and 42 are connected to both ends of a connecting shaft 45 by coupling rings 46 and 47, respectively, and are connected to each other. rotating shaft 35,
Coupling 44 is provided at both ends of the connecting shaft 48.
9 and 50, respectively, and are interconnected.

A twist body 55 is fixed to the distal end surface of the rotary body 31, and the twist body 55 is provided with an eccentric cylindrical portion 56 substantially concentric with the fourth rotation shaft 44. A bearing case 57 is fitted and fixed in the eccentric cylinder portion 56, and a hollow shaft 58 is rotatably supported on the bearing case 57 on substantially the same axis as the fourth rotating shaft 44. A hollow gear 59 that meshes with the connecting gear 51 on the second rotating shaft 35 is attached to the shaft, and a bevel gear 60 is provided at the tip. A bearing portion 61 is provided at the tip of the bearing case 57 and extends in the diametrical direction in front of the bevel gear 60.
An insertion shaft 62 passing through the hollow shaft 58 and the hollow gear 59 is superimposed on the hollow shaft 58 and rotatably supported. The rear end of the insertion shaft 62 has the fourth
A coupling shaft portion 64 is formed which is fitted into the coupling hole 52a on the rotating shaft 44 and is integrally coupled to the shaft coupling portion 52, and a bevel gear 63 is formed at the tip.

At the tip of the twist body 55, there is a rotating body 3.
A bend body 65 is supported rotatably around an axis A5 inclined at a predetermined angle with respect to the rotation axis A4 of the rotary body 31 on the side opposite to the eccentric cylinder portion 56 with respect to the axial center of the rotary body 31. The hollow shaft 5
A bevel gear 66 is attached that meshes with the bevel gear 60 on the upper part. A tilting shaft 6 is rotatably supported between the twisting body 55 and the bending body 65 about the tilting axis A5, and a bevel gear 68 that meshes with the bevel gear 63 on the insertion shaft 62 is mounted on the tilting shaft 67. is fixed, and the bevel gear 69 is also fixed. The bend body 65 has a rotation axis A4 of the rotating body 31 at a certain angular position of the bend body 65.
A swivel shaft 70 is rotatably supported around an axis A6 that coincides with the axis A6, and a bevel gear 7 that meshes with the bevel gear 69 on the inclined shaft 67 is mounted on the swivel shaft 70.
1 is formed. Accordingly, various work heads such as handling devices can be attached to the tip flange portion 72 of the swivel shaft 70 depending on the purpose of the robot's work.

Next, the point of assembling the operating section of the wrist section 17 into a plurality of units will be explained. This unit is roughly divided into a rotating unit 100 shown by a solid line in FIG. 4, and a twisting unit 110 shown by a solid line in FIG.
110 can be assembled independently and with each other.

First, the assembly of the rotating unit 100 will be explained based on FIG. a bearing case 41 fixed to the other end of the rotating body 31;
43, third and fourth rotating shafts 42, 44 are rotatably assembled. Next, the bearing housing 30
A support ring 27 is rotatably assembled on the outer periphery of the bearing housing 30, and coupling rings 46 and 49 are supported on each shaft end of the first and second rotating shafts 34 and 35, and a bearing housing 30 is fixed to one end of the rotating body 31. .
Further, coupling shafts 45, 48 are coupled to the respective shaft ends of the third and fourth rotating shafts 42, 44 by couplings 47, 5.
These connecting shafts 45,
48 is inserted from the distal end side of the rotating body 31 and its shaft ends are fitted into the coupling rings 46 and 49, thereby fixing the bearing cases 41 and 43 to the rotating body 31. After that, screw the coupling rings 46 and 49 and
and second rotating shafts 34, 35 and connecting shafts 4, 48
and integrally combine them. In this way, the assembly of the rotating unit 100 is completed.

Next, the assembly of the twist unit 110 will be explained based on FIG. 5. A hollow shaft 58 is rotatably assembled to the bearing case 57, and a hollow gear 59 is fixed to the rear end of the hollow shaft 58. Subsequently, the insertion shaft 62 is rotatably assembled to the front bearing portion 61 of the bearing case 57 by passing through the hollow shaft 58 and the hollow gear 59 . On the other hand, the inclined shaft 67 to which the bevel gear 68 is fixed is rotatably assembled to the twist body 55, and in this state, the bearing case 57 to which the hollow shaft 59 and the insertion shaft 62 are assembled as described above is fitted from the rear of the twist body 55. The bevel gear 63 on the insertion shaft 62 is connected to the inclined shaft 6.
Bearing case 57 at the position where it meshes with bevel gear 68 on top of 7.
is fixed to the twist body 55. In this way, the assembly of the twist unit 110 is completed.

Then, the bend body 65 with the swivel shaft 70 rotatably assembled to the twist unit 110 is rotatably assembled around the tilt axis, and then the tilt shaft 67 is fitted with a bevel gear 71 on the swivel shaft 70. Attach gear 69.

As described above, the rotation unit 100 and the twist unit 110 including the bend body 65 are assembled independently. Thus, the support ring 27 mounted on the rotating unit 100 is fixed to the arm body 25 of the second arm 14, whereby the rotating body 31 is rotatably supported by the arm body 25. After that, the support tube 2 is attached so as to cover the rotating body 31.
8 is fixed to the arm body 25, and the tip of the rotary body 31 is supported on the tip of the support cylinder 25. Subsequently, the twist unit 110 is rotated into the rotation unit 1.
00 in parallel from the tip side, first mesh the hollow gear 59 with the connecting gear 51 on the third rotating shaft 42, and then connect the connecting shaft part 64 of the insertion shaft 62 to the shaft end of the fourth rotating shaft 44. In this state, the twist body 55 is fixed to the tip of the rotating body 31, and the shaft coupling part 52 is screwed to connect the fourth rotating shaft 44 and the insertion shaft 62. join together as one.

In the above embodiment, in order to facilitate assembly of the individual units of the rotating unit 100 and the twisting unit 110, each shaft is not directly supported on the unit main body, but is instead provided with a bearing housing or case in which the shaft is supported. Although each unit is assembled to the main body or the shaft is divided, it goes without saying that the specific configuration is not particularly limited.

<Effects of the Invention> As described above, the present invention includes a rotating unit in which two rotating shafts are rotationally supported in parallel to each other on a rotating body that is rotatably supported by an arm portion, and a twisting body that is fixed to the rotating body. Since it has a structure in which the hollow shaft and the insertion shaft are overlapped with each other and the twist unit is rotatably supported as a unit, each unit can be assembled independently, and after the assembly, the twist unit can be assembled into the rotating unit. The rotational connection between the rotation unit and the twist unit can be achieved by using only a single screw, which makes the assembly work much easier than in the past, and has the effect of greatly shortening the assembly time.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is an external view showing the entire industrial robot, FIG. 2 is a partial sectional view of FIG. 1, and FIG. 3 is a partial sectional view of FIG. 1. FIG. 4 is a sectional view showing the rotating unit, and FIG. 5 is a sectional view showing the twisting unit. 13, 14...Arm, 17...Wrist part, 18
...Twist part, 19...Bend part, 20...Swivel part, 25...Arm body, 27...Support ring, 28...Support cylinder, 31...Rotating body, 32,
36, 38...gear, 34, 35, 42, 44...
... Rotating shaft, 51 ... Connecting gear, 52 ... Shaft coupling part, 55 ... Twisted body, 58 ... Hollow shaft, 59
... Hollow gear, 60, 63, 66, 68 ... Bevel gear, 62 ... Insertion shaft, 64 ... Connection shaft part, 65 ...
...Bend body, 67...Tilt axis, 70...Swivel axis, 100...Rotation unit, 110...Twist unit.

Claims (1)

[Claims] 1. A twist part that is rotatably supported by the arm part of the robot, a bend part that is rotatably supported by this twist part around an axis that is inclined with respect to the rotation axis of the twist part, and a bend part that is rotatably supported by this bend part. The industrial robot includes a rotating unit and a twisting unit that can be assembled independently of each other, and the rotating unit has a rotating body that can be rotatably supported by the arm. and a gear in which two rotating shafts are rotatably supported on the rotating body around mutually parallel axes, and rotation from a drive motor is input to each rear end of these two rotating shafts and the rotating body. are established respectively,
Further, a connecting gear and a shaft coupling portion are provided at each tip of the two rotating shafts, and the twist unit has a twist body that can be fixed to the tip of the rotary body, and the twist unit has a twist body that can be fixed to the tip of the rotary body. A hollow shaft having a hollow gear that can mesh with the connecting gear at the end thereof is rotatably supported, and a shaft coupling part that penetrates through the hollow shaft and can be coupled to the shaft coupling part is provided at the rear end. An inclined shaft that rotatably supports an insertion shaft, a bevel gear is provided at each tip of the hollow shaft and the insertion shaft, and a bevel gear is provided at the tip of the twist body to mesh with the bevel gear on the insertion shaft. is rotatably supported around an axis inclined at a predetermined angle with respect to the insertion shaft, and these rotating units and twist units are assembled unit by unit, and the two rotating shafts on the rotating unit side and the twist unit are connected to each other. An industrial robot characterized in that the robot is rotatably connected to a side hollow shaft and an insertion shaft.