JPH0475891A - Wrist mechanism for industrial robot - Google Patents
Wrist mechanism for industrial robotInfo
- Publication number
- JPH0475891A JPH0475891A JP18650090A JP18650090A JPH0475891A JP H0475891 A JPH0475891 A JP H0475891A JP 18650090 A JP18650090 A JP 18650090A JP 18650090 A JP18650090 A JP 18650090A JP H0475891 A JPH0475891 A JP H0475891A
- Authority
- JP
- Japan
- Prior art keywords
- wrist
- axis
- actuator
- output shaft
- axis actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 93
- 230000036544 posture Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、産業用ロボットにおいて３自由度の手首姿勢
がとれる手首機構に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a wrist mechanism that allows wrist postures with three degrees of freedom in an industrial robot.
［従来の技術］
従来、産業用ロボットのγ−ムの先端に設けた手首部が
３自由度の手首姿勢がとれるようにするため、手首部に
主減速機構を備え、アーム後方に固定した手首駆動モー
タに結合された中空の回転シャフトによりＩ軸を駆動し
、その他の軸を中空の回転軸の中に通して駆動し、でい
る。[Prior art] Conventionally, in order to enable the wrist part installed at the tip of the γ-arm of an industrial robot to take a wrist posture with three degrees of freedom, the wrist part was equipped with a main deceleration mechanism, and the wrist was fixed at the rear of the arm. The I-axis is driven by a hollow rotating shaft coupled to a drive motor, and the other axes are driven through the hollow rotating shaft.
また、手首部の最終出力フランジがアームの根元の方向
まで向くように手首部の主減速機構の回転軸をアームの
長手方向に対して垂直またはある角度になるように配置
している（例えば特開昭６１−１４６４９０号、特開昭
６２−１０７９９４号、特開昭６２−７４５９１号公報
）。In addition, the rotation axis of the main reduction mechanism in the wrist is arranged perpendicular to the longitudinal direction of the arm or at a certain angle so that the final output flange of the wrist faces toward the base of the arm (for example, JP-A-61-146490, JP-A-62-107994, JP-A-62-74591).
［発明が解決しようとする課題］
ところが、上記構成ではアーム後方に固定した手首駆動
モータから最終出力フランジまでの減速機構や回転軸等
の部品数が多く、アームの重量が大きくなるため、アー
ムを旋回させる駆動モータの容量が大きくなるどともに
、手首部の加工が複雑で高精度を要求されてコスト高に
なるなどの欠点があった。[Problems to be Solved by the Invention] However, in the above configuration, there are many parts such as a reduction mechanism and a rotating shaft from the wrist drive motor fixed at the rear of the arm to the final output flange, which increases the weight of the arm. In addition to the increased capacity of the drive motor for turning, the processing of the wrist part was complicated and required high precision, resulting in high costs.
また、手首部に３自由度を持たせる３個の回転軸の軸心
が１点に集まっていないため、ロボッ（・のアームおよ
び手首部の位置を制御するとき、軸心がずれている回転
軸のオフセット量だけ姿勢や位置を考慮する必要がある
ので、位置制御演算が複雑となり、多くの演算時間がか
かるなどの欠点があった。In addition, since the axes of the three rotation axes that give the wrist three degrees of freedom are not centered at one point, when controlling the position of the robot's arm and wrist, rotations whose axes are misaligned can be avoided. Since it is necessary to consider the attitude and position by the amount of offset of the axis, there are drawbacks such as the position control calculation being complicated and requiring a lot of calculation time.
本発明は、簡単な機構により３自由度の手首機構の出力
軸の中心線を１点に集中させて、制御演算が簡単になる
手首機構を櫂供することを目的とするものである。SUMMARY OF THE INVENTION An object of the present invention is to provide a wrist mechanism in which the center line of the output shaft of a three-degree-of-freedom wrist mechanism is concentrated at one point using a simple mechanism, thereby simplifying control calculations.
［課題を解決するための手段］
本発明は、アームの先端に３自由度の手首姿勢がとれる
手首部を倫えた産業用ロボットの手首機構において、出
力軸の中心線が前記アームの長手方向に対して所定の取
付は角度で取り付けられた手首第１軸用アクチュエータ
と、前記手首第１軸用アクヂコエータの出力軸に前記手
首第１軸用アクチュエータの出力軸の中心線に対して所
定の取付は角度で取り付けられた手首第２軸用アクヂユ
エータと、前記手首第２軸用アクチュエータの出力軸に
前記手首第２軸用アクチュエータの出力軸の中心線に対
して所定の取付は角度で取り付りられた手首第３軸用ア
クチュエータとを脩え、前記手首第３軸用アクチュエー
タの出力軸の中心線が前記手首第１軸用アクヂユエータ
の出力軸の中心線と前記手首第２軸用アクヂコエータの
出力軸の中心線との交点を通るようにしたものである。[Means for Solving the Problems] The present invention provides a wrist mechanism for an industrial robot that has a wrist portion at the tip of the arm that can take a wrist posture with three degrees of freedom. On the other hand, a predetermined attachment is such that the actuator for the wrist first axis is attached at an angle, and the output shaft of the actuator for the wrist first axis is attached in a predetermined manner to the center line of the output shaft of the actuator for the wrist first axis. A wrist second axis actuator is attached at an angle, and the output shaft of the wrist second axis actuator is attached at a predetermined angle with respect to the center line of the output shaft of the wrist second axis actuator. and a wrist third axis actuator, such that the center line of the output shaft of the wrist third axis actuator is aligned with the center line of the output shaft of the wrist first axis actuator and the output shaft of the wrist second axis actuator. It passes through the intersection with the center line of
［作用］
手首第１軸用アクチュエータ、手首第２軸用アクチュエ
ータ、手首第３軸用アクチュエータの３個の出力軸の中
心線が１点に集中して交差しているので、手首部の座標
値をこの中心線の交点の座標値に設定することにより、
手首部の位置制御演算が簡単になる。[Operation] Since the center lines of the three output shafts of the wrist first axis actuator, wrist second axis actuator, and wrist third axis actuator intersect at one point, the coordinate values of the wrist By setting to the coordinates of the intersection of these center lines,
Wrist position control calculation becomes easy.
また、手首の各アクチュエータがそれぞれ減速機、モー
タおよび回転検出器を備えているので、アームの中を通
る複数の長い回転軸が必要なくなり、重量が軽くなる。Furthermore, since each actuator on the wrist is equipped with a speed reducer, a motor, and a rotation detector, multiple long rotation shafts passing through the arm are not required, and the weight is reduced.
［実施例］ 本発明を図に示す実施例について説明する。[Example] The present invention will be described with reference to embodiments shown in the drawings.
第１図は本発明の実施例を示す手首部の要部側面図で、
アーム１の先端には手首第１軸用アクチコエータ２の出
力軸２１がアームスの長手方向の中心線Ｃゆに対して取
付は角度θ、で取り（（けられるように取付は座１１が
設けられている。手首第１軸用アクチュエータ２の出力
軸２１には手首第２軸用アクチコエータ３の出力軸３１
が手首第１軸用アクチュエータ２の出力軸２１の中心線
らに対して取付は角度θ、で取り付けられるように取付
υ座２２が固定されている。手首第２軸用アクチコエー
タ３の出力軸３１には手首第３軸用アクチコ工−タ４の
出力軸４１が手首第２軸用アクチュエータ３の出力軸３
１の中心線らに対して取付は角度θ、で取り付けられる
ように取付は座３２が固定されている。そして、手首第
３軸用アクチュエータ４の出力軸４１の中心線ｅ８の延
長線が手首第１軸用アクヂコ−エータ２の出力軸２１の
中心線らと手首第２軸用アクチュエータ３の出力軸３１
の中心線らとの交点Ｐを通るようにｊ〕である。FIG. 1 is a side view of the main part of the wrist part showing an embodiment of the present invention.
At the tip of the arm 1, the output shaft 21 of the acticoator 2 for the first wrist axis is attached at an angle θ to the center line C in the longitudinal direction of the arm. The output shaft 21 of the actuator 2 for the first wrist axis is connected to the output shaft 31 of the actuator 3 for the second wrist axis.
The mounting υ seat 22 is fixed such that it is mounted at an angle θ with respect to the center line of the output shaft 21 of the wrist first axis actuator 2. The output shaft 41 of the actuator 4 for the third wrist axis is connected to the output shaft 31 of the actuator 3 for the second wrist axis.
The mounting seat 32 is fixed so that the mounting seat 32 can be mounted at an angle θ with respect to the center line of 1. The extension line of the center line e8 of the output shaft 41 of the actuator 4 for the third wrist axis is the center line of the output shaft 21 of the actuator 2 for the first wrist axis and the output shaft 31 of the actuator 3 for the second wrist axis.
j] so as to pass through the intersection P with the center line et al.
なお、手首第１軸用アクチコ。エータ２、手首第２軸用
アクチュエータ３、手首第３軸用アクチュエータ４はい
ずれも第２図に示すように、減速機ＡとモータＢと回転
検出器Ｃとが一体に内蔵されたアクチュエータで、減速
機ＡにはハーモニックギアＡ、が使用されて、それぞれ
出力軸２１．３１．４１を結合している。In addition, Actico for the first axis of the wrist. The actuator 2, the wrist second axis actuator 3, and the wrist third axis actuator 4 are all actuators in which a reducer A, a motor B, and a rotation detector C are integrated, as shown in FIG. Harmonic gears A are used in the reducer A and are coupled to output shafts 21, 31, and 41, respectively.
このように、手首第１軸用アクチュエータ２、手首第２
軸用アクチュエータ３、手首第３軸用アクチュエータ４
の３個の出力軸の中心線ｆｆ、、 Ｒ２１、が一つの
交点Ｐに集中して交差しているので、相互のアクチュエ
ータのオフセットは存在せず、手首部の座標値をこの出
力軸の中心線の交点Ｐの座標値にすることにより、手首
部の位置制御演算が簡単になる。In this way, the wrist first axis actuator 2, the wrist second axis actuator 2,
Axis actuator 3, wrist third axis actuator 4
Since the center lines ff, R21, of the three output shafts intersect at one intersection point P, there is no mutual offset of the actuators, and the coordinate values of the wrist can be set to the center of this output shaft. By using the coordinate values of the intersection point P of the lines, the calculation for controlling the position of the wrist becomes simple.
また、手首の各アクチュエータがそれぞれ減速機、モー
タおよび回転検出器を備えているので、アームの中を通
る複数の長い回転軸が必要なくなり、重量が軽くなって
アームの動作を速くすることができるとともに、アーム
の加工も取付は座など僅かな部分を精密に加工すればよ
いので、加工工数を低減できる。In addition, each actuator on the wrist is equipped with its own reducer, motor, and rotation detector, eliminating the need for multiple long rotation axes running through the arm, reducing weight and allowing faster arm movement. At the same time, the number of man-hours required for machining the arm can be reduced because only a small part, such as the seat, needs to be precisely machined for installation.
また、各手首軸のアクチュエータの取付は角度θ１、θ
２、θ、を適宜設定することにより、手首部 ４がアー
ムに干渉することなく３６０°回転が可能になる。Also, the actuator of each wrist axis should be installed at angles θ1, θ
By appropriately setting 2 and θ, the wrist portion 4 can rotate 360° without interfering with the arm.
第３図は手首第１軸用アクチュエータ２の出力軸の中心
線１１をアーム１の長手方向の中心線１０に一致させ、
取付は角度θ、を０°にした場合の実施例である。In FIG. 3, the center line 11 of the output shaft of the wrist first axis actuator 2 is aligned with the longitudinal center line 10 of the arm 1,
This is an example in which the mounting angle θ is set to 0°.
第４図はアーム１の後部に手首第１軸用アクチュエータ
２を固定し、出力軸２１と取付は座２２との間を中空に
した軽量の伝達軸２３により連結して、アームｌの先端
部の重量を低減した場合の実施例である。Fig. 4 shows a wrist first axis actuator 2 fixed to the rear part of the arm 1, connected to the output shaft 21 and the mounting seat 22 by a hollow lightweight transmission shaft 23, and attached to the tip of the arm l. This is an example in which the weight of the vehicle is reduced.
［発明の効果］
以上述べたように、本発明によれば、３自由度の手首軸
を構成するアクチュエータの出力軸の中心線が１点に集
中して交差しているので、手首軸がオフセットされた場
合に比べて手首部の位置制御の演算時間が短くなるとと
もに、手首部を駆動する部品点数が減少し、加工工数の
少ない高性能のロボットの手首機構を提供できる効果が
ある。[Effects of the Invention] As described above, according to the present invention, since the center lines of the output shafts of the actuators constituting the wrist axis with three degrees of freedom intersect at one point, the wrist axis is offset. Compared to the case where the calculation time for controlling the position of the wrist is shortened, the number of parts for driving the wrist is reduced, and it is possible to provide a high-performance robot wrist mechanism with fewer processing steps.
第１図は本発明の実施例を示す要部側面図、第２図はア
クチュエータの構成図、第３図、第４図は他の実施例を
示す要部側面図である。
１・・・アーム、１１・・・取付は座、２・・・手首第
１軸用アクチュエータ、２１・・・出力軸、２２・・・
取付は座、２３・・・伝達軸、３・・・手首第２軸用ア
クチュエータ、３１・・・出力軸、３２・・・取付は座
、４・・・手首第３軸用アクチュエータ、４１・・・出
力軸第１図
特許出願人 株式会社 安川電機製作所第２図
第
図
第
図FIG. 1 is a side view of main parts showing an embodiment of the present invention, FIG. 2 is a configuration diagram of an actuator, and FIGS. 3 and 4 are side views of main parts showing other embodiments. DESCRIPTION OF SYMBOLS 1... Arm, 11... Mounting seat, 2... Wrist first axis actuator, 21... Output shaft, 22...
Mounted on seat, 23...Transmission shaft, 3...Actuator for wrist 2nd axis, 31...Output shaft, 32...Mounted on seat, 4...Actuator for wrist 3rd axis, 41. ...Output shaft Figure 1 Patent applicant Yaskawa Electric Co., Ltd. Figure 2 Figure 2
Claims (1)
を備えた産業用ロボットの手首機構において、 出力軸の中心線が前記アームの長手方向に対して所定の
取付け角度で取り付けられた手首第１軸用アクチュエー
タと、 前記手首第１軸用アクチュエータの出力軸に前記手首第
１軸用アクチュエータの出力軸の中心線に対して所定の
取付け角度で取り付けられた手首第２軸用アクチュエー
タと、 前記手首第２軸用アクチュエータの出力軸に前記手首第
２軸用アクチュエータの出力軸の中心線に対して所定の
取付け角度で取り付けられた手首第３軸用アクチュエー
タとを備え、 前記手首第３軸用アクチュエータの出力軸の中心線が前
記手首第１軸用アクチュエータの出力軸の中心線と前記
手首第２軸用アクチュエータの出力軸の中心線との交点
を通るようにしたことを特徴とする産業用ロボットの手
首機構。 ２、前記手首第１軸用アクチュエータの前記アームの長
手方向に対する所定の取付け角度が０゜である請求項１
記載の産業用ロボットの手首機構。 ３、前記手首第１軸用アクチュエータ、手首第２軸用ア
クチュエータおよび手首第３軸用アクチュエータが減速
機、モータおよび回転検出器を内蔵した請求項１または
２記載の産業用ロボットの手首機構。[Scope of Claims] 1. In a wrist mechanism for an industrial robot having a wrist portion at the tip of the arm that allows wrist postures with three degrees of freedom, the center line of the output shaft is mounted in a predetermined manner with respect to the longitudinal direction of the arm. a wrist first axis actuator attached at an angle; and a wrist first axis attached to the output shaft of the wrist first axis actuator at a predetermined mounting angle with respect to the center line of the output shaft of the wrist first axis actuator. a two-axis actuator; and a wrist third axis actuator attached to the output shaft of the wrist second axis actuator at a predetermined mounting angle with respect to the center line of the output shaft of the wrist second axis actuator. The center line of the output shaft of the third wrist axis actuator passes through the intersection of the center line of the output shaft of the first wrist axis actuator and the center line of the output shaft of the second wrist axis actuator. An industrial robot wrist mechanism characterized by: 2. Claim 1, wherein a predetermined mounting angle of the wrist first axis actuator with respect to the longitudinal direction of the arm is 0°.
Wrist mechanism of the industrial robot described. 3. The wrist mechanism for an industrial robot according to claim 1 or 2, wherein the first wrist axis actuator, the second wrist axis actuator, and the third wrist axis actuator incorporate a reduction gear, a motor, and a rotation detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18650090A JPH0475891A (en) | 1990-07-13 | 1990-07-13 | Wrist mechanism for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18650090A JPH0475891A (en) | 1990-07-13 | 1990-07-13 | Wrist mechanism for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0475891A true JPH0475891A (en) | 1992-03-10 |
Family
ID=16189581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18650090A Pending JPH0475891A (en) | 1990-07-13 | 1990-07-13 | Wrist mechanism for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0475891A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014097A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Industrial robot arm |
| JP2005014098A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| JP2005014102A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist device for industrial robot |
| JP2005014099A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| JP2005014100A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| JP2005014104A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | End effector for industrial robot |
| JP2005014101A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| JP2005014103A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Industrial robot |
| JP2005014105A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Industrial robot |
| JP2011520633A (en) * | 2008-05-15 | 2011-07-21 | ザ・ボーイング・カンパニー | Robot system with folding robot arm |
| JP2014083653A (en) * | 2012-10-25 | 2014-05-12 | Kobe Univ | Shoulder joint mechanism and robot with the same |
| JP2021048229A (en) * | 2019-09-18 | 2021-03-25 | 株式会社ダイヘン | Transfer robot and work-piece transfer system comprising the same |
-
1990
- 1990-07-13 JP JP18650090A patent/JPH0475891A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014097A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Industrial robot arm |
| JP2005014098A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| JP2005014102A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist device for industrial robot |
| JP2005014099A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| JP2005014100A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| JP2005014104A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | End effector for industrial robot |
| JP2005014101A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| JP2005014103A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Industrial robot |
| JP2005014105A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Industrial robot |
| JP2011520633A (en) * | 2008-05-15 | 2011-07-21 | ザ・ボーイング・カンパニー | Robot system with folding robot arm |
| JP2014083653A (en) * | 2012-10-25 | 2014-05-12 | Kobe Univ | Shoulder joint mechanism and robot with the same |
| JP2021048229A (en) * | 2019-09-18 | 2021-03-25 | 株式会社ダイヘン | Transfer robot and work-piece transfer system comprising the same |
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