JPH0480798B2 - - Google Patents
Info
- Publication number
- JPH0480798B2 JPH0480798B2 JP59241355A JP24135584A JPH0480798B2 JP H0480798 B2 JPH0480798 B2 JP H0480798B2 JP 59241355 A JP59241355 A JP 59241355A JP 24135584 A JP24135584 A JP 24135584A JP H0480798 B2 JPH0480798 B2 JP H0480798B2
- Authority
- JP
- Japan
- Prior art keywords
- members
- shaft
- intermediate member
- axis
- end member
- 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.)
- Expired - Lifetime
Links
- 230000007246 mechanism Effects 0.000 claims description 48
- 210000000707 wrist Anatomy 0.000 claims description 25
- 239000000428 dust Substances 0.000 description 3
- 241001416181 Axis axis Species 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
Landscapes
- Manipulator (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は工業用ロボツトのアームの先端等に取
り付けられる手首機構に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a wrist mechanism attached to the tip of an arm of an industrial robot.
従来、工業用ロボツトのアームには屈曲可能と
された手首機構が設けられている。この手首機構
の一例として実開昭56−160790号公報に開示され
たものが知られている。このものは、第5図に示
すように、ロボツト本体に取り付けられたベース
体1に自在継手2を介して多数のリンク(基本ア
ーム)3を連結し、先端に作業員4を設け、シリ
ンダ機構5を縮小作動させることにより第6図に
示すように手首機構を屈曲させることができるよ
うにしたものである。
Conventionally, the arm of an industrial robot is provided with a bendable wrist mechanism. As an example of this wrist mechanism, one disclosed in Japanese Utility Model Application Publication No. 56-160790 is known. As shown in Fig. 5, this robot has a base body 1 attached to the robot body, a large number of links (basic arms) 3 connected through universal joints 2, a worker 4 at the tip, and a cylinder mechanism. By contracting 5, the wrist mechanism can be bent as shown in FIG.
この従来の手首機構は、多数のリンク、自在継
手を用いるので、構造が複雑で大形となり、作業
範囲が狭く、粉塵等が侵入し易いためダストカバ
ーを要し、しかも剛性が不十分であるという問題
点を有している。
This conventional wrist mechanism uses a large number of links and universal joints, resulting in a complicated and large structure, a narrow working range, easy entry of dust, etc., which requires a dust cover, and furthermore, the rigidity is insufficient. There is a problem with this.
この発明は従来のものがもつ以上のような問題
点を解消した手首機構を提供することを目的とす
る。 The object of the present invention is to provide a wrist mechanism that solves the above-mentioned problems of the conventional wrist mechanism.
上記目的を達成するために、本発明の手首機構
は、両端部材間に複数の中間部材を介在させて配
列するとともに、一方の前記端部材および前記複
数の中間部材は、他方の前記端部材の軸線に対し
て、これら両端部材および中間部材を直線状に配
列した状態において順次逆方向に交差する軸線を
中心に、回転自在となつており、前記両端部材お
よび前記複数の中間部材は、一つおいて隣り合う
もの同士が交互に連結回転されるよう、二系統の
駆動系を有していて、前記各駆動系をそれぞれ駆
動する回転駆動機構を具備することを特徴として
いる。
In order to achieve the above object, the wrist mechanism of the present invention is arranged such that a plurality of intermediate members are interposed between both end members, and one of the end members and the plurality of intermediate members are connected to the other end member. With respect to the axis, the both end members and the plurality of intermediate members are arranged in a straight line and are rotatable around an axis that sequentially intersects in opposite directions, and the both end members and the plurality of intermediate members are one It is characterized in that it has two drive systems so that adjacent ones are alternately connected and rotated, and a rotation drive mechanism that drives each of the drive systems, respectively.
本発明の手首機構によれば、例えば、他方の端
部材に連結する回転駆動部材に対して、この端部
材と違う駆動系を、対応する回転駆動機構を相対
回転するよう駆動すると、この駆動力は、この回
転駆動機構に連結する駆動系にある中間部材を回
転させることになる。ここで、一方の端部材およ
び複数の中間部材は、他方の端部材の軸線に対し
て、これら両端部材および中間部材を直線状に配
列した状態において順次逆方向に交差する軸線を
中心に、回転自在となつているため、上記のよう
にして一つおいて隣り合うもの同士を駆動するこ
とにより、駆動されない両端部材および中間部材
と駆動されるこれと隣り合う中間部材との軸線
が、これら軸線を連続させると、同方向に向けて
湾曲することになる。このようにして、手首機構
は湾曲されることになる。
According to the wrist mechanism of the present invention, for example, when a drive system different from the rotary drive member connected to the other end member is driven to relatively rotate the corresponding rotary drive mechanism, the drive force is generated. rotates an intermediate member in a drive system connected to this rotational drive mechanism. Here, one end member and the plurality of intermediate members rotate about an axis that sequentially intersects in the opposite direction with respect to the axis of the other end member when these end members and the intermediate members are arranged linearly. Because it is free to move, by driving the adjacent parts as described above, the axes of both end members and the intermediate member that are not driven and the intermediate member that is driven and the adjacent intermediate member are If they are made consecutive, they will curve in the same direction. In this way, the wrist mechanism will be curved.
本発明の第1実施例を、第1図及び第2図を参
照しながら説明する。第1図に示すように両端部
材11,12間に複数の中間部材13,14,1
5を介在させてこれら複数の中間部材13,1
4,15及び両端部材11,12が直列にかつ相
互に相対回転可能に配列されている。複数の中間
部材13,14,15は、両端部材11,12の
一方即ち端部材11の軸線16に対し順次ジグザ
グ状に交差する複数の軸17,18,19,20
のそれぞれを中心にそれぞれ回転自在とされ、、
これら複数の中間部材13,14,15及び両端
部材11,12は第1の連結手段(例えば歯車2
1,22,23,24等)25及び第2の連結手
段(例えば歯車26,27,28,29等)30
により連結されている。第1の連結手段25に
は、両端部材の一方(例えば端部材11)に設け
られた第1の回転駆動機構31が連結され、第2
の連結手段30には、両端部材の一方(例えば端
部材11)に設けられた第2の回転駆動機構32
が連結されており、これら第1,第2の回転駆動
機構31,32により両端部材11,12及び複
数の中間部材を相対回転可能としている。
A first embodiment of the present invention will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, a plurality of intermediate members 13, 14, 1 are provided between both end members 11, 12.
These plural intermediate members 13, 1 with 5 interposed
4, 15 and both end members 11, 12 are arranged in series and relatively rotatable with respect to each other. The plurality of intermediate members 13, 14, 15 have a plurality of axes 17, 18, 19, 20 that sequentially intersect in a zigzag manner with one of the end members 11, 12, that is, the axis 16 of the end member 11.
It is said that each can be rotated freely around each of them,
These plural intermediate members 13, 14, 15 and both end members 11, 12 are connected to a first connecting means (for example, a gear 2
1, 22, 23, 24, etc.) 25 and second coupling means (for example, gears 26, 27, 28, 29, etc.) 30
are connected by. A first rotational drive mechanism 31 provided on one of the end members (for example, the end member 11) is connected to the first connecting means 25, and a second rotation drive mechanism 31 is connected to the first connecting means 25.
The connecting means 30 includes a second rotational drive mechanism 32 provided on one of the end members (for example, the end member 11).
are connected to each other, and the first and second rotation drive mechanisms 31 and 32 enable relative rotation of both end members 11 and 12 and the plurality of intermediate members.
第1図に示した手首機構は次のようにして使用
する。両端部材の一方(端部材11)を例えば工
業用ロボツトのアーム33に固定して第1の回転
駆動機構31を軸線16を中心に回転させると、
この回転力は、歯車21,22を介して中間部材
13に伝わり、この中間部材13を回転させ、さ
らにこの回転力は歯車23,24を介して中間部
材15に伝わり、この中間部材15を回転させ
る。 The wrist mechanism shown in FIG. 1 is used as follows. When one of the end members (end member 11) is fixed to, for example, an arm 33 of an industrial robot and the first rotational drive mechanism 31 is rotated about the axis 16,
This rotational force is transmitted to the intermediate member 13 via the gears 21 and 22 to rotate the intermediate member 13, and further this rotational force is transmitted to the intermediate member 15 via the gears 23 and 24 to rotate the intermediate member 15. let
また、第1の回転駆動機構31を例えば工業用
ロボツトのアーム33に固定して第2の回転駆動
機構32を軸線16を中心に回転させると、この
回転力は、一方の端部材11に伝わり、この一方
の端部材11を回転させ、その回転力は歯車2
6,27を介して中間部材14に伝わりこの中心
部材14を回転させ、さらにこの回転力は歯歯車
28,29を介して両端部材の他方(端部材1
2)に伝わり、この端部材12を回転させる。 Further, when the first rotational drive mechanism 31 is fixed to, for example, an arm 33 of an industrial robot and the second rotational drive mechanism 32 is rotated about the axis 16, this rotational force is transmitted to one end member 11. , this one end member 11 is rotated, and the rotational force is applied to the gear 2
6, 27 to the intermediate member 14 to rotate the center member 14, and further, this rotational force is transmitted to the other end member (end member 1) via gears 28, 29.
2) and rotates this end member 12.
ここで、第1の回転駆動機構31を作動させて
端部材11に対して中間部材13を180゜回転させ
ると第2図に示す状態となる。このとき、端部材
12の先端部に設けられた手先の方向P0,P1−−−
−−→
は、第1の回転駆動機構31の回転に伴い、継続
的に変化する。 Here, when the first rotation drive mechanism 31 is operated to rotate the intermediate member 13 by 180 degrees with respect to the end member 11, the state shown in FIG. 2 is obtained. At this time, the directions of the hands provided at the tip of the end member 12 P 0 , P 1 ---
−−→
changes continuously as the first rotational drive mechanism 31 rotates.
また、第1,第2の回転駆動機構31,32を
独立して制御すれば、端部材の先端の手先
P0,P1−−−−−→の方向を任意の方向へ向けるこ
とがで
きる。 Furthermore, if the first and second rotation drive mechanisms 31 and 32 are controlled independently, the directions of the tips P 0 , P 1 -----→ of the end members can be directed in any direction. .
以下、本発明の第2実施例を第3図に基づいて
説明する。 A second embodiment of the present invention will be described below with reference to FIG.
第3図中41は手首機構の構成部材である一方
の端部材であり、42は他方の端部材である。両
端部材41,42は円筒部材からなつており、こ
れら両端部材41,42間には円筒部材からなる
複数の中間部材即ち第1中間部材43、第2中間
部材44、第3中間部材45が介在させられてい
る。これら両端部材41,42、第1中間部材4
3、第2中間部材44、第3中間部材45の各隣
接端面は一方の端部材41の軸線46に対し所定
角度傾斜させられかつ対向させられており、両端
部材41,42、第1中間部材43、第2中間部
材44、第3中間部材45は直列にかつ相互に回
転可能に配設されている。 In FIG. 3, 41 is one end member that is a component of the wrist mechanism, and 42 is the other end member. Both end members 41 and 42 are made of cylindrical members, and a plurality of intermediate members made of cylindrical members, that is, a first intermediate member 43, a second intermediate member 44, and a third intermediate member 45 are interposed between these end members 41 and 42. I'm forced to. These both end members 41, 42, the first intermediate member 4
3. Adjacent end surfaces of the second intermediate member 44 and the third intermediate member 45 are inclined at a predetermined angle with respect to the axis 46 of one end member 41 and are opposed to each other, and both end members 41 and 42 and the first intermediate member 43, the second intermediate member 44, and the third intermediate member 45 are arranged in series and mutually rotatable.
端部材41は、中段47を有しており、工業用
ロボツトアーム48の先端に同軸状にかつベアリ
ング49を介して回転自在に設けられた円筒軸
(回転駆動機構)50に、一体的に連結されてい
る。円筒軸50にはベアリング51を介して回転
軸(回転駆動機構)52が同軸状にかつ回転自在
に設けられている。回転軸52の先端は一方の端
部材41内に位置させられており、この先端には
かさ歯車53が固定して設けられている。一方の
端部材41の中段47には、一方の端部材41の
軸線46に対し所定の角度をもつて交差する第1
軸54が第1中間部材43内に延びて一体的に設
けられている。この第1軸54は一方の端部材4
1の傾斜面55の略中心を通りこの傾斜面55と
直交させられている。第1軸54にはかさ歯車5
6が固定して取り付けられている。 The end member 41 has a middle stage 47 and is integrally connected to a cylindrical shaft (rotation drive mechanism) 50 coaxially provided at the tip of an industrial robot arm 48 and rotatably provided via a bearing 49. has been done. A rotary shaft (rotary drive mechanism) 52 is coaxially and rotatably provided on the cylindrical shaft 50 via a bearing 51 . The tip of the rotating shaft 52 is located within one end member 41, and a bevel gear 53 is fixedly provided at this tip. In the middle stage 47 of one end member 41, a first
A shaft 54 extends and is integrally provided within the first intermediate member 43. This first shaft 54 is connected to one end member 4
It passes approximately through the center of the inclined surface 55 of No. 1 and is perpendicular to this inclined surface 55. The first shaft 54 has a bevel gear 5
6 is fixedly attached.
また、第1中間部材43には、ベアリング58
aを介して1軸54に回転自在に嵌合された歯車
57が一体的に取り付けられ、この歯車57はベ
アリング58bを介して一方の端部材41に回転
自在に取り付けられている。歯車57は前記かさ
歯車53に噛み合せられている。第1中間部材4
3は第1軸54を中心に回回転自在とされてい
る。 The first intermediate member 43 also includes a bearing 58.
A gear 57 rotatably fitted to the single shaft 54 is integrally attached via a, and this gear 57 is rotatably attached to one end member 41 via a bearing 58b. The gear 57 is meshed with the bevel gear 53. First intermediate member 4
3 is rotatable around a first shaft 54.
また、第2中間部材44には、その側壁の内面
より内部に突出してブラケツト59が設けられて
いる。ブラケツト59には、一方の端部材41の
軸線46に対し所定の角度をもつて交差する第2
軸60が第1中間部材43内に延びて一体的に設
けられている。第2軸60は第2中間部材44の
第1中間部材側傾斜面61の略中心を通りこの傾
斜面61と直交させられている。第2軸60には
かさ歯車62が固定して取り付けられている。か
さ歯車62は前記かさ歯車56と噛み合せられて
いる。また、第1中間部材43には、ベアリング
64aを介して第2軸60に回転自在に嵌合され
た歯車63が一体的に取り付けられ、この歯車6
3はベアリング64bを介して第2中間部材44
に回転自在に取り付けられている。また、ブラケ
ツト59には、一方の端部材41の軸線46に対
し所定の角度をもつて交差する第3軸65が第3
中間部材45内に延びて一体的に設けられてい
る。第3軸65は第2中間部材44の第3中間部
材側傾斜面66の略中心を通りこの傾斜面66と
直交させられている。第3軸65にはかさ歯車6
7が固定して取り付けられている。第2中間部材
44は第2軸60を中心に第2軸60と共に回転
自在とされている。 Further, the second intermediate member 44 is provided with a bracket 59 that protrudes inward from the inner surface of the side wall thereof. The bracket 59 has a second plate that intersects the axis 46 of the one end member 41 at a predetermined angle.
A shaft 60 extends and is integrally provided within the first intermediate member 43 . The second axis 60 passes approximately through the center of the first intermediate member side inclined surface 61 of the second intermediate member 44 and is perpendicular to this inclined surface 61 . A bevel gear 62 is fixedly attached to the second shaft 60. The bevel gear 62 is meshed with the bevel gear 56. Further, a gear 63 rotatably fitted to the second shaft 60 via a bearing 64a is integrally attached to the first intermediate member 43.
3 is the second intermediate member 44 via the bearing 64b.
is rotatably attached to. The bracket 59 also has a third axis 65 that intersects the axis 46 of one end member 41 at a predetermined angle.
It extends and is integrally provided within the intermediate member 45. The third axis 65 passes approximately through the center of the third intermediate member side inclined surface 66 of the second intermediate member 44 and is perpendicular to this inclined surface 66 . The third shaft 65 has a bevel gear 6
7 is fixedly attached. The second intermediate member 44 is rotatable about the second shaft 60 together with the second shaft 60.
また、第3中間部材45には、ベアリング69
aを介して第3軸65に回転自在に嵌合された歯
車68が一体的に取り付けられ、この歯車68は
ベアリング69bを介して第2中間部材44に回
転自在に取り付けられている。歯車68は前記歯
車63と噛み合せられている。 Further, the third intermediate member 45 includes a bearing 69.
A gear 68 rotatably fitted to the third shaft 65 is integrally attached via a, and this gear 68 is rotatably attached to the second intermediate member 44 via a bearing 69b. The gear 68 is meshed with the gear 63.
また、他方の端部材42には中段70が設けら
れ、この中段70には、一方の端部材41の軸線
46に対し所定の角度をもつて交差する第4軸7
1が第3中間部材45内に延びて一体的に設けら
れている。第4軸71は他方の端部材42の第3
中間部材側傾斜面72の略中心を通りこの傾斜面
72と直交させられている。第4軸71にはかさ
歯車73が固定して取り付けられており、このか
さ歯車73は前記かさ歯車67と噛み合せられて
いる。第4軸71はベアリング74を介して第3
中間部材45に回転自在に連結されている。な
お、第1軸54,第2軸60,第3軸65,第4
軸71は第3図に示すようにジグザグ状に軸線4
6と交差して設けられている。また、他方の端部
材42の外端面には手先75が設けられている。
また、円筒軸50にはモータ(第2回転駆動機
構)76が連結され、回転軸52にはモータ(第
1回転駆動機構)77が連結されている。なお、
円筒軸50とモータ76とにより第2回転駆動機
構が構成され、回転軸52とモータ77とにより
第1回転駆動機構が構成されている。 Further, the other end member 42 is provided with a middle stage 70, and this middle stage 70 has a fourth axis 7 that intersects with the axis 46 of the one end member 41 at a predetermined angle.
1 extends and is integrally provided within the third intermediate member 45. The fourth shaft 71 is the third shaft of the other end member 42.
It passes approximately through the center of the intermediate member side inclined surface 72 and is perpendicular to this inclined surface 72 . A bevel gear 73 is fixedly attached to the fourth shaft 71, and this bevel gear 73 is meshed with the bevel gear 67. The fourth shaft 71 is connected to the third shaft through a bearing 74.
It is rotatably connected to the intermediate member 45. In addition, the first axis 54, the second axis 60, the third axis 65, the fourth axis
The shaft 71 is connected to the axis 4 in a zigzag pattern as shown in FIG.
It is provided to intersect with 6. Furthermore, a finger end 75 is provided on the outer end surface of the other end member 42 .
Further, a motor (second rotational drive mechanism) 76 is connected to the cylindrical shaft 50, and a motor (first rotational drive mechanism) 77 is connected to the rotational shaft 52. In addition,
The cylindrical shaft 50 and the motor 76 constitute a second rotational drive mechanism, and the rotational shaft 52 and the motor 77 constitute a first rotational drive mechanism.
次に、前記のように構成された手首機構の作用
について説明する。一方の端部材41を回転しな
いようにアーム48に固定した状態で回転軸52
を第3図において矢印A方向に所定角度回転させ
る。すると、かさ歯車53、歯車57を介して第
1中間部材43が第1軸54を中心に第4図に示
す状態に回転する。また、このとき、歯車63,
68を介して第3中間部材45が第3軸65を中
心に第4図に示す状態に回転し、全体として第4
図に示す状態となる。即ち、回転軸52を所定回
転角度回転させると、一方の端部材41(一方の
端部材41自体は回転しない。)を含み、この端
部材41から偶数番目の端部材、中間部材は回転
軸52の回転角度に対し一定比の回転角度回転す
る。 Next, the operation of the wrist mechanism configured as described above will be explained. The rotating shaft 52 is fixed to the arm 48 so that one end member 41 does not rotate.
is rotated by a predetermined angle in the direction of arrow A in FIG. Then, the first intermediate member 43 rotates about the first shaft 54 via the bevel gear 53 and the gear 57 to the state shown in FIG. 4. Also, at this time, the gear 63,
68, the third intermediate member 45 rotates about the third shaft 65 to the state shown in FIG.
The state shown in the figure will be reached. That is, when the rotating shaft 52 is rotated by a predetermined rotation angle, the rotating shaft 52 includes one end member 41 (the one end member 41 itself does not rotate), and even-numbered end members and intermediate members from this end member 41 rotate. The rotation angle is a constant ratio to the rotation angle of .
また、回転軸52を回転しないようにアーム4
8に固定した状態で円筒軸50を第3図において
矢印A方向に所定回転角度回転させると、円筒軸
50と共に一方の端部材41が軸線46を中心に
回転する。またこのとき、かさ歯車56,62を
介して第2中間部材44が第2軸60を中心に第
2軸60と共に回転し、さらにこのとき歯車6
7,73を介して他方の端部材42が第4軸71
を中心に回転する。これにより手先75は所望の
方向に向けられる。即ち、回転軸52を固定して
円筒軸50を所定回転角度回転させられると、一
朋の端部材41(一方の端部材4自体が回転す
る。)を含み、この端部材41から奇数番目の端
部材、中間部材は円筒軸50の回転角度に対し一
定比の回転角度回転する。従つて、円筒軸50、
回転軸52を適宜回転させることにより、手先7
5の方向を連続的に変化させることが可能であ
り、手首機構構成部材の作動範囲を広くすること
ができ、この作動範囲内において手先75を任意
の方向に向けることができる。 In addition, the arm 4 is
When the cylindrical shaft 50 is rotated by a predetermined rotation angle in the direction of arrow A in FIG. Further, at this time, the second intermediate member 44 rotates together with the second shaft 60 through the bevel gears 56 and 62, and
The other end member 42 connects to the fourth shaft 71 via 7 and 73.
Rotate around. This directs the hand 75 in the desired direction. That is, when the rotation shaft 52 is fixed and the cylindrical shaft 50 is rotated by a predetermined rotation angle, one end member 41 (one end member 4 itself rotates) is rotated, and an odd numbered end member 41 is rotated from this end member 41. The end members and the intermediate member rotate by a rotation angle that is a constant ratio to the rotation angle of the cylindrical shaft 50. Therefore, the cylindrical shaft 50,
By appropriately rotating the rotating shaft 52, the hand 7
5 can be changed continuously, the operating range of the wrist mechanism constituent members can be widened, and the hand 75 can be directed in any direction within this operating range.
本発明の手首機構によれば、手首の先端を手首
の根元側へ巻き込む状態にまで向けることができ
る。また、中間部材を複数設けたので、手首の柔
軟性が高く、作業範囲が広くなり、しかし、両端
部材および中間部材は二つの駆動系により駆動さ
れ、中間部材が複数あつても駆動系を増やす必要
がない。さらに、回転により手首を湾曲させるた
め、両端部材および中間部材を円筒状にすること
ができ剛性を大とすることができ、しかも駆動系
を内部に設けることが可能となるため防塵構造と
しダストカバーを不要とすることが可能となる。
According to the wrist mechanism of the present invention, it is possible to turn the tip of the wrist to a state where it is wrapped around the base of the wrist. In addition, since multiple intermediate members are provided, the flexibility of the wrist is high and the working range is wide. However, both end members and the intermediate member are driven by two drive systems, so even if there are multiple intermediate members, the number of drive systems increases. There's no need. Furthermore, since the wrist is curved by rotation, both end members and the intermediate member can be made cylindrical, increasing rigidity. Furthermore, since the drive system can be installed inside, a dust-proof structure is used and a dust cover is provided. It becomes possible to make it unnecessary.
第1図は本発明に係わる手首機構を示す側面
図、第2図はその手首機構が屈曲した状態を示す
一部省略側面図、第3図は本発明の一実施例を示
す一部省略縦断側面図、第4図はその手首機構が
屈曲した状態を示す一部省略概略側面図、第5図
は従来の手首機構の概略側面図、第6図はその手
首機構が屈曲した状態を示す概略側面図である。
11,12…端部材、13,14,15…中間
部材、16,17,18,19,20…軸線、2
5…第1の連結手段、30…第2の連結手段、3
1…第1の回転駆動機構、32…第2の回転駆動
機構、41,42…端部材、43…第1中間部
材、44…第2中間部材、45…第3中間部材、
46…軸線、50…円筒軸(第2回転駆動機構)、
52…回転軸(第1回転駆動機構)、54…第1
軸、60…第2軸、65…第3軸、71…第4
軸、75…手先、76…モータ(第2回転駆動機
構)、77…モータ(第1回転駆動機構)。
Fig. 1 is a side view showing a wrist mechanism according to the present invention, Fig. 2 is a partially omitted side view showing the wrist mechanism in a bent state, and Fig. 3 is a partially omitted longitudinal section showing an embodiment of the present invention. 4 is a partially omitted schematic side view showing the wrist mechanism in a bent state; FIG. 5 is a schematic side view of a conventional wrist mechanism; FIG. 6 is a schematic side view showing the wrist mechanism in a bent state. FIG. 11, 12... End member, 13, 14, 15... Intermediate member, 16, 17, 18, 19, 20... Axis line, 2
5...first connection means, 30...second connection means, 3
1... First rotational drive mechanism, 32... Second rotational drive mechanism, 41, 42... End member, 43... First intermediate member, 44... Second intermediate member, 45... Third intermediate member,
46... Axis line, 50... Cylindrical shaft (second rotational drive mechanism),
52... Rotating shaft (first rotational drive mechanism), 54... First
axis, 60...second axis, 65...third axis, 71...fourth axis
Axis, 75...hand, 76...motor (second rotational drive mechanism), 77...motor (first rotational drive mechanism).
Claims (1)
列するとともに、 一方の前記端部材および前記複数の中間部材
は、他方の前記端部材の軸線に対して、これら両
端部材および中間部材を直鎖状に配列した状態に
おいて順次逆方向に交差する軸線を中心に、回転
自在となつており、 前記両端部材および前記複数の中間部材は、一
つおいて隣り合うもの同士が交互に連結回転され
るよう、二系統の駆動系を有していて、 前記各駆動系をそれぞれ駆動する回転駆動機構
を具備することを特徴とする手首機構。[Scope of Claims] 1. A plurality of intermediate members are interposed and arranged between both end members, and one of the end members and the plurality of intermediate members are arranged with respect to the axis of the other end member. and the intermediate members arranged in a linear chain are rotatable about axes that intersect in opposite directions one after another, and the both end members and the plurality of intermediate members are arranged so that adjacent ones except one are rotatable. A wrist mechanism characterized by having two systems of drive systems so as to be alternately connected and rotated, and comprising a rotational drive mechanism that drives each of the drive systems, respectively.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP24135584A JPS61121894A (en) | 1984-11-15 | 1984-11-15 | Wrist mechanism |
DE19853536747 DE3536747A1 (en) | 1984-10-15 | 1985-10-15 | Joint mechanism |
US07/336,607 US4990050A (en) | 1984-10-15 | 1989-04-10 | Wrist mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP24135584A JPS61121894A (en) | 1984-11-15 | 1984-11-15 | Wrist mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS61121894A JPS61121894A (en) | 1986-06-09 |
JPH0480798B2 true JPH0480798B2 (en) | 1992-12-21 |
Family
ID=17073058
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP24135584A Granted JPS61121894A (en) | 1984-10-15 | 1984-11-15 | Wrist mechanism |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61121894A (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5965128B2 (en) * | 2011-10-28 | 2016-08-03 | 川崎重工業株式会社 | Industrial robot wrist structure and assembly method thereof |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE454659B (en) * | 1983-09-01 | 1988-05-24 | Asea Ab | ROBOT WRIST |
-
1984
- 1984-11-15 JP JP24135584A patent/JPS61121894A/en active Granted
Also Published As
Publication number | Publication date |
---|---|
JPS61121894A (en) | 1986-06-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7325895B2 (en) | surgical robotic arm | |
JPS6116599B2 (en) | ||
JPH0367839B2 (en) | ||
JP2577410B2 (en) | Manipulator joint mechanism | |
EP0166001A1 (en) | Mechanism for driving wrist of industrial robot | |
EP0128544B1 (en) | A joint structure between link members primarily of an industrial robot arm | |
JP2722345B2 (en) | 2-DOF drive mechanism for industrial robot wrist | |
EP0200202A2 (en) | Wrist mechanism for industrial robot | |
JPH0480798B2 (en) | ||
JPH0429991Y2 (en) | ||
JPS632315Y2 (en) | ||
JPH0512119B2 (en) | ||
JPH0429990Y2 (en) | ||
JPS5973299A (en) | Wrist mechanism of industrial robot, etc. | |
JPH028713Y2 (en) | ||
JPH064230B2 (en) | Non-interfering biaxial joint in wire drive arm | |
KR860000927Y1 (en) | Joint structure of industrial robot | |
JPS6351833B2 (en) | ||
JPS6254692A (en) | Wrist mechanism of industrial robot | |
EP1338388A2 (en) | Rotatable-and-swingable type of rotary joint device | |
JPS6044291A (en) | Wrist device for industrial robot | |
JPS6039092A (en) | Wrist device for robot | |
JPS632752B2 (en) | ||
JPH041397Y2 (en) | ||
JPS6374590A (en) | Three freedom-degree wrist mechanism |