JPS60108293A - Wrist mechanism of industrial robot - Google Patents

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 〔発明の技術分野〕 この発明は産業用ロボットに用いられる手首機構の改良
に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an improvement of a wrist mechanism used in an industrial robot.

（従来技術〕 この種の従来装置としては例えば特開昭５８−８８２６
５　号公報に開示されるものがある。この構成のものは
、同心状の８Ｍ軸を備えており、この８重軸の１つの軸
にこれと同心状で回転する第１の箱体が結合され、この
第１の箱体には第２の箱体が回転自在に支承されており
、この第２の箱体は８重軸の他の１つの軸に結合された
傘歯車により直接的に駆動される。つまり、第２の箱体
には上記傘歯車と噛合する歯車かＩＨ接的に形成されて
いるので、中間の伝達軸を介することなく、直接的に上
記傘歯車により回動される。ところで、産業用ロボット
（以下ロボットと記す）は周知のように組立作業や溶接
作業等に用いられるものであり。(Prior art) As a conventional device of this type, for example, Japanese Patent Application Laid-Open No. 58-8826
There is something disclosed in Publication No. 5. This configuration has 8M concentric axes, and one of the 8-fold axes is connected to a first box that rotates concentrically with the 8M axes. A second box body is rotatably supported, and this second box body is directly driven by a bevel gear coupled to the other one of the eight-fold shafts. That is, since a gear that meshes with the bevel gear is formed in contact with the IH on the second box, the gear is directly rotated by the bevel gear without going through an intermediate transmission shaft. By the way, as is well known, industrial robots (hereinafter referred to as robots) are used for assembly work, welding work, etc.

一般的に小スペースの中で操作されており、ロボットの
周囲には種々の設備や、製品が近接している。Generally, robots are operated in a small space, and various equipment and products are in close proximity to the robot.

従って、万一ロボットが周囲の設備や製品と衝突した場
合には、ロボットの駆動力伝達経路が急激に過負荷とな
る。特に手許機構は先端に配置されているため、第２の
箱体が周囲の設備と衝突して、その回転が拘束される事
故が散見される。Therefore, if the robot collides with surrounding equipment or products, the driving force transmission path of the robot will suddenly become overloaded. In particular, since the hand mechanism is located at the tip, there are occasional accidents in which the second box collides with surrounding equipment and its rotation is restricted.

このように、第２の箱体の回転が拘束されると。In this way, when the rotation of the second box is restricted.

第２の箱体への駆動力伝達系路の一部に破損が生じ、場
合によっては手Ｕ機構全体を取り替えなければならなく
なる等の欠点があった。There were drawbacks such as damage to a portion of the drive force transmission path to the second box, and in some cases, the entire hand U mechanism had to be replaced.

し発明の概要〕 この発明はかかる欠点を改善する目的でなされたもので
、第２の箱体と伝達軸との楔手段で結合し、伝達軸に過
負荷が伝達された時にのみ上記伝達軸に対して上記第２
の箱体をスリップさせるように構成することにより、第
２の箱体の回転が拘束された場合においても第２の箱体
への駆動力伝達系路の破損を確実に防止できる産業用ロ
ボットの手首機構を提案するものである。SUMMARY OF THE INVENTION The present invention has been made with the aim of improving such drawbacks.The second box and the transmission shaft are connected by a wedge means, and the transmission shaft is connected only when an overload is transmitted to the transmission shaft. For the above second
By configuring the box to slip, the industrial robot can reliably prevent damage to the drive force transmission path to the second box even if the rotation of the second box is restricted. We propose a wrist mechanism.

〔発明の実施例〕[Embodiments of the invention]

第１図はこの発明の一実施例を示す断面図であり、ｌは
中空の第１の駆動軸、２はこの第１の駆動軸１内に同軸
心上に配置された中空の第２の駆動軸、８はこの第２の
駆動軸２内に同軸心上に配置された第８の駆動軸、４は
第１の駆動軸１円に支持され゛Ｃ上記第２の駆動軸２を
回転目在に支承する軸受、５は上記第２の駆動軸２内に
支持されて上記第８の駆動軸８を回転自在に支承する軸
受。FIG. 1 is a sectional view showing an embodiment of the present invention, where l is a hollow first drive shaft, and 2 is a hollow second drive shaft disposed coaxially within the first drive shaft 1. A drive shaft 8 is an eighth drive shaft disposed coaxially within the second drive shaft 2, and 4 is supported by the first drive shaft 1 circle.C rotates the second drive shaft 2. A bearing 5 is supported in the second drive shaft 2 and rotatably supports the eighth drive shaft 8.

６は上記第１の駆動軸ｌに結合されて第１（７）駆動軸
ｌと同軸心上で回転する第１の箱体で、上記第１の駆動
軸ｌと斜交した開口部６ａを有している。Reference numeral 6 designates a first box body that is connected to the first drive shaft l and rotates coaxially with the first (7) drive shaft l, and has an opening 6a obliquely intersecting with the first drive shaft l. have.

７はこの第１の箱体６の開口部６ａ近傍で軸受８を介し
て回転自在に支承された第２の箱体で、上記第１の箱体
６側にはｖＤロ部７ａが形成され、他側が閉塞されてい
る。７ｂは第２の箱体６の他側に形成された筒部、　７
ｃは第２の箱体７に設けられ、後述する伝達軸１３の軸
線に斜交して配置されたハウジング、９は第２の駆動軸
２の一端に結合された傘歯車、１０はこの傘歯車９と噛
合し上記第２の駆動軸２の４ＩＩＩＩ線と斜交する軸線
上で回動する傘歯車。A second box 7 is rotatably supported via a bearing 8 near the opening 6a of the first box 6, and a vD bottom portion 7a is formed on the first box 6 side. , the other side is occluded. 7b is a cylindrical portion formed on the other side of the second box body 6;
Reference numeral c denotes a housing provided in the second box body 7 and arranged obliquely to the axis of the transmission shaft 13, which will be described later. Reference numeral 9 denotes a bevel gear coupled to one end of the second drive shaft 2. Reference numeral 10 denotes the bevel gear. A bevel gear that meshes with the gear 9 and rotates on an axis obliquely intersecting line 4III of the second drive shaft 2.

１１はこの傘歯車ｌＯの回転を減速する調和減速機であ
り上記傘歯車１０と結合される中空の入力軸１１ａを有
している。ｌｌｂは調和減速機１１の出力部、１２はこ
の入力軸１１ａを回転自在に支承する軸受、１８は上記
調和減速機１１の出力部ｌ１ｌ）に一端が結合され、他
端が上記第２の箱体７の筒部７ｂに後述する楔手段を介
して結合された伝達軸で、上記調和減速機１１の入力軸
１１ａ内を同軸線とで貫通している。Reference numeral 11 denotes a harmonic reducer that reduces the rotation of the bevel gear IO, and has a hollow input shaft 11a that is coupled to the bevel gear 10. llb is the output part of the harmonic reducer 11, 12 is a bearing that rotatably supports this input shaft 11a, 18 is connected at one end to the output part l1l) of the harmonic reducer 11, and the other end is connected to the second box. The transmission shaft is connected to the cylindrical portion 7b of the body 7 via a wedge means, which will be described later, and passes through the input shaft 11a of the harmonic reducer 11 with a coaxial line.

なお、上記伝達軸１Ｂは上記第２の駆動軸２の軸線に対
し斜交している。また・傘歯車９．１０と調和減速機１
１で第１爾申群を構成している。１４は上記第８の駆動
軸８の一端に結合された傘歯車、１５はこの傘歯車１４
と噛合する傘歯車で上記第８の駆動軸８の軸線に対し斜
交した軸線上で回転する。１６は上記伝達軸１Ｂの外側
に配置された筒状軸で、一端には上記傘歯車１５が結ば
されている。１７は上記入力軸１１ａ内に嵌合され、−
上記筒状軸１６の一端を回転自在に支承する軸受、１８
は筒部７ｂに嵌合さ７ｊ１上記筒状軸１６を回転自在に
支承する軸受、　１９は上記筒部７ｂの他端に結合され
た傘歯車、　２０はこの傘歯車１９の軸線に対し斜交し
た軸線上に配置１イされた傘歯車、２１はこの傘歯車２
ｏの回転を減速する調和減速機、２１ａは上記傘歯車別
に結合された調和減速機２１の入力軸、２１ｂは調和減
速機２１の出方部。Note that the transmission shaft 1B is oblique to the axis of the second drive shaft 2. Also, bevel gear 9.10 and harmonic reducer 1
1 constitutes the first group. 14 is a bevel gear coupled to one end of the eighth drive shaft 8; 15 is this bevel gear 14;
The bevel gear meshes with the eighth drive shaft 8 and rotates on an axis oblique to the axis of the eighth drive shaft 8. Reference numeral 16 denotes a cylindrical shaft disposed outside the transmission shaft 1B, and the bevel gear 15 is connected to one end. 17 is fitted into the input shaft 11a, -
a bearing 18 rotatably supporting one end of the cylindrical shaft 16;
1 is a bearing that is fitted into the cylindrical portion 7b and rotatably supports the cylindrical shaft 16; 19 is a bevel gear connected to the other end of the cylindrical portion 7b; 20 is a bevel gear oblique to the axis of the bevel gear 19; The bevel gear 2 is placed on the axis line 1, and 21 is the bevel gear 2.
21a is an input shaft of the harmonic reducer 21 connected to each of the bevel gears, and 21b is the projecting portion of the harmonic reducer 21.

２２はこの出力部２１ｂに結合された出力軸で１図ノ１
りしないつかみ装置が装着される。２Ｂは上記ハウジン
グ７ｃにＩＮ　’Ｆｊされて上記入力軸２１ａを回転自
在に支承する一対の軸受・２４は同様にハウジング７ｃ
に嵌合されて上記出力軸２２を回転自在に支承する軸受
である。なお、傘歯車１４．１５．１９．２０と、調和
減速機２１で第２の歯車群を構成している。22 is an output shaft connected to this output part 21b, and is shown in Fig. 1, No. 1.
A gripping device is installed that will not cause any damage. 2B is a pair of bearings which are IN'Fj in the housing 7c and rotatably support the input shaft 21a. Similarly, 24 is connected to the housing 7c.
This is a bearing that is fitted into the output shaft 22 and rotatably supports the output shaft 22. Note that the bevel gears 14, 15, 19, and 20 and the harmonic reduction gear 21 constitute a second gear group.

第２図は第２の箱体７の筒部７ｂの詳細断面図であり、
２５は第２の箱体７の筒部７ｂ内周に嵌合されたハウジ
ングで、筒部２５ａと、伝達軸１Ｂが嵌入され嵌合部２
５ｂとを有している。２６は筒部７ｂを介してハウジン
グ２５に螺着され上記ハウジング２５を上記筒部７ｂに
固定するポルｌ−，２７は上記筒部２５ａ内に配置ａさ
れ伝達軸１８外周に接するリング状の第１の楔で、中央
が大径に構成され■１ｊ端に向ってテーパ状に形成され
て゛いる。２８は上記筒部２８モ工内周に接するリング
状の第２の楔で、中央が小径に構成され両端に向ってテ
ーパ状に形成されている。２９は上記第１の楔２７と第
２の楔２８との間で両側に配置され、」二記第１Ｑ）（
契２７と第２の楔２８に対１＋＋Ｓ　してテーパ状に形
成されＩｊリング状の一メ」の市３の楔、８０はこの一
対の第３の楔２９の一方に貫挿されて他方に螺着された
−にルトでＣちる。なお、上記ＣｉＸ　１の楔２７．ｆ
ぢ２の楔２８．第８の楔２９．ポル１−８０とで楔手段
を構成し”Ｃおり、ボルト３０をｔｙｔｔ　ｉＮ；ける
ことヲ？二より、一対の第８の楔２９の双方か接近し、
第１の楔２７を伝達軸１Ｂ外周に圧接さぜると）、Ｉ−
に第２の楔２８をハウジング２５内周に圧接しで、伝達
軸１Ｂと第２の箱体７の筒部７１＞とを、第１の楔２７
．第２の楔２８、第８の楔２９．ボルト８０．ハウジン
グ２５ヲ介して結合している。なお、ボルト３０の締付
トルクは。FIG. 2 is a detailed sectional view of the cylindrical portion 7b of the second box body 7,
Reference numeral 25 denotes a housing fitted to the inner periphery of the cylindrical portion 7b of the second box body 7, into which the cylindrical portion 25a and the transmission shaft 1B are fitted, and the fitting portion 2
5b. 26 is screwed onto the housing 25 through the cylindrical portion 7b and fixes the housing 25 to the cylindrical portion 7b; 1. The wedge has a large diameter at the center and tapers toward the 1j end. A second ring-shaped wedge 28 is in contact with the inner periphery of the cylindrical portion 28, and has a small diameter at the center and tapers toward both ends. 29 are arranged on both sides between the first wedge 27 and the second wedge 28,
The wedge 80, which is formed in a tapered shape and has a ring shape, is inserted into one of the pair of third wedges 29 and inserted into the other. Screwed - is root and C is turned. In addition, the wedge 27. of the CiX 1 mentioned above. f
ぢ2 wedge 28. Eighth wedge 29. 1-80 constitute a wedge means, and by tightening the bolt 30, both of the pair of eighth wedges 29 approach each other,
When the first wedge 27 is pressed against the outer periphery of the transmission shaft 1B), I-
The second wedge 28 is pressed against the inner periphery of the housing 25 to connect the transmission shaft 1B and the cylindrical portion 71 of the second box 7 to the first wedge 27.
．． Second wedge 28, eighth wedge 29. Bolt 80. They are connected via a housing 25. Furthermore, the tightening torque of the bolt 30 is as follows.

伝達軸１８に過負荷トルクがかわった時にのみ、第１の
楔２７と伝達軸１８との接触面、第２の楔とハウジング
２５との接触面の一方又は双方でスリップするように調
整されている。It is adjusted so that one or both of the contact surface between the first wedge 27 and the transmission shaft 18 and the contact surface between the second wedge and the housing 25 slip only when an overload torque changes on the transmission shaft 18. There is.

上記のように構成されたものにおいて、第１　ＣＪ）駆
動軸１が回転すると、これに結合された第１の箱体６が
第１の駆動軸１と同軸線」二で回動し、手首機構はまず
１つの自由度で動作される。次に。In the device configured as described above, when the first CJ) drive shaft 1 rotates, the first box body 6 coupled thereto rotates on the same axis line ``2'' as the first drive shaft 1, and the wrist The mechanism is first operated in one degree of freedom. next.

第２の駆動軸２が回転すると、傘歯車９．ｌＯ１調和減
速機１１の入力軸１１ａ　ｌ出力部ｌ１ｌ）　、伝達軸
１３゜第１の楔２７．第２の楔２８．第３の楔２９．／
”ｉウジフグ２５を介して第２の駆動軸２の軸線に対し
て斜交した軸線上で第２の箱体７が回動し、第２の箱体
７は軸受８を開始法１の箱体６に対し１つの自由度で動
作される。次に、第３の駆動軸３か回転すると、傘歯車
１４．１５．筒状軸１６．傘歯車１９．２０、調和減速
機２１の入力軸２１ａ　＋出力部２１ｂを介して筒状軸
１６の軸線に対して斜交しｔこ軸線］二で出力軸２２が
回転し、出力軸２２は軸受２３，２４を介して第２の箱
体７に対して１つの自由度で動作される。このようにし
て出力軸は８つの自由度で動作することになる。ところ
で１手首機構が駆動されている時に、万一１第２の箱体
７が周囲の設尚や部品に衝突した場合には、第２の箱体
７に回転力を伝達する伝達軸１８に極めて大きな過負荷
トルクが加わることになる。ところが、第１の楔２７．
第２の楔２８、第８の楔２９はボルト８０の締付トルク
が、上記過負荷トルクにおいて、第１の楔２７と伝達１
ＰＩ１１１８との接触面、第２の楔２８とハウジング２
５との接触面の一万又は双方でスリップするように調整
されているため６伝達軸１８に過負荷トルクが加わると
同時に、第１の楔２７．２８に渭りか発生し、過負荷ト
ルクによる衝撃力を吸収することになる。その後。When the second drive shaft 2 rotates, the bevel gear 9. lO1 harmonic reducer 11 input shaft 11a l output part l1l), transmission shaft 13° first wedge 27. Second wedge 28. Third wedge 29. /
"i The second box 7 rotates on an axis oblique to the axis of the second drive shaft 2 via the Ujifugu 25, and the second box 7 rotates the bearing 8 as shown in the box of the starting method 1. Next, when the third drive shaft 3 rotates, the bevel gears 14, 15, the cylindrical shaft 16, the bevel gears 19, 20, and the input shaft of the harmonic reducer 21 are rotated. 21a + an axis obliquely intersecting the axis of the cylindrical shaft 16 via the output portion 21b] The output shaft 22 rotates at In this way, the output shaft operates with eight degrees of freedom.By the way, when the first wrist mechanism is being driven, in the unlikely event that the second box 7 If the first wedge 27. collides with surrounding structures or parts, an extremely large overload torque will be applied to the transmission shaft 18 that transmits the rotational force to the second box body 7. However, if the first wedge 27.
The second wedge 28 and the eighth wedge 29 are connected to the first wedge 27 and the transmission 1 when the tightening torque of the bolt 80 is the above-mentioned overload torque.
Contact surface with PI1118, second wedge 28 and housing 2
Since the contact surface with 5 is adjusted to slip at 10,000 or both, at the same time overload torque is applied to the 6 transmission shaft 18, a slip is generated in the first wedge 27, 28, and the overload torque causes It will absorb the impact force. after that.

例えば、第１．第２．第８の駆動軸１，２．８の駆動用
をオフにすることにより、各伝達系路の破損を確実に防
止できる。For example, 1st. Second. By turning off the drive of the eighth drive shaft 1, 2.8, damage to each transmission line can be reliably prevented.

また、紹αに際しては、伝達軸１８とハウジング２５と
は、一対の第８の楔２９をボルト８ｏで互いに接近させ
ることにより、第１の楔２７は伝達軸１８の外周に圧接
され、第２の楔２８はハウジング２５の内周に圧接され
るため、伝達軸１８とハウジング２５とは全く微小間隙
が、１ｆい状態で確実に結合される。つまり、伝達軸１
８と第２の箱体７との回転方間のバックラッシュを確実
に抑えることになる。手首機構においては、蚤部品のバ
ックラッシュが大トすると、Ｍ作誤差が大となり、バラ
クララシュラ抑制することは重要な要素であるが１例え
ば、伝達軸１８と第２の箱体７とを従来周知の）ｊＬつ
より。In addition, at the time of introduction α, the transmission shaft 18 and the housing 25 are brought into close contact with each other by the pair of eighth wedges 29 with the bolts 8o, so that the first wedge 27 is pressed against the outer periphery of the transmission shaft 18, and the second Since the wedge 28 is pressed against the inner periphery of the housing 25, the transmission shaft 18 and the housing 25 are reliably connected with a very small gap of 1f. In other words, transmission shaft 1
8 and the second box 7 in the rotational direction can be reliably suppressed. In the wrist mechanism, if the backlash of the flea parts becomes large, the M manufacturing error becomes large, and it is an important element to suppress the looseness. Conventionally well-known) jL Tsuyori.

キーやビン等で結合さゼる場合には、伝達軸１８とＢｉ
’ｒ　２の箱体７とに現物合わせてキー穴やピノ穴を形
成する必要があるばかりでなく、キーやビンは夫々キー
穴やビン穴に挿入されるため、キーとキー穴・ビンとビ
ン穴との間に微小間隙か発生ずることになり、伝達軸１
８と第２の箱体７とのバックラッシュが増大し、動作誤
差が人と１．〔つでいた。When combined with a key, bottle, etc., the transmission shaft 18 and Bi
Not only is it necessary to form a key hole and pinot hole to match the actual box body 7 of 'r2, but also the key and bottle are inserted into the key hole and bottle hole, respectively, so the key and the key hole/bottle are not connected. A small gap will be generated between the bottle hole and the transmission shaft 1.
The backlash between 8 and the second box body 7 increases, and the movement error increases. [I was there.

とＣろが第１．第２．第８の楔２７．２８．２９によっ
て、伝達軸１８と第２の箱体７との回転方間のバックラ
ッシュを抑えることにより１手首機構の動作精度が極め
て同上することになる。and C Roga 1st. Second. The eighth wedges 27, 28, and 29 suppress the backlash between the rotation directions of the transmission shaft 18 and the second box body 7, so that the operating accuracy of the one-wrist mechanism is extremely improved.

第８因は曲の実施例を示す要部断面図であり。The eighth factor is a sectional view of a main part showing an example of a song.

７ｄは第２の箱ｌ／ｉ−７に形成されヅ［側が開口した
局部。7d is a private part formed in the second box l/i-7 and having an open side.

８１はこの筒部７（ｌ内周に嵌合され外側が開口した筒
部８１ａと、筒部７ｄの端部に当接する鍔部８１ｂと。Reference numeral 81 denotes a cylindrical portion 81a that fits into the inner periphery of the cylindrical portion 7 and is open on the outside, and a flange portion 81b that abuts against the end of the cylindrical portion 7d.

伝達軸１Ｂが貫挿される貫通孔８１ｃと、一端開口部８
１ｄに形成された四部３１ｅとが構成されたハウジング
　３２（，２ハウジング８１を筒部７ｄの端部に結合す
る複・歌のボルト、８３は凹部８１ｅに配置８れ筒部８
１ａの開１」部を覆うカバー、３４はこのカバー３８を
ハウジング８１の凹部８１ｅに結合するボルトである。A through hole 81c into which the transmission shaft 1B is inserted, and an opening 8 at one end.
The housing 32 (, 2) is composed of four parts 31e formed in the cylindrical part 8, and a double bolt 83 is arranged in the recess 81e to connect the housing 81 to the end of the cylindrical part 7d.
A cover 34 covering the opening 1'' of 1a is a bolt that connects this cover 38 to the recess 81e of the housing 81.

その他の符号の説明は第２図の説明と同様につき省略す
る。Descriptions of other symbols are omitted as they are the same as the description of FIG. 2.

上記のように構、成されたものにわいて、ハウジング８
１は外側が開１」されており、筒軸受部８１ａ内に第１
．第２．第８の楔２７．２８．２９を挿入し、その後、
ボルト８０で仮締付けし、ハウジング８１は第２の箱体
７の筒部７ｄに嵌合されると共に伝達軸１８が貫通孔８
１ｃに嵌挿され、ハウジング８１はボルト８２により筒
部７ｄに固定される。次に、ボルト８０を本締めし、ハ
ウジング８１と伝達軸１８との結合力を調整する。この
結合力は、伝達軸１３に過負荷が加わっり時にハウジン
グ８１と伝達軸１３との間でスリップできる値に調整さ
れる。その后、ハウジング８１の凹部８１ｅにカバー８
８を配置し、ハウジング３１の筒部８１ａの開口部を閉
塞する。つまり、この構感では、ハウジング８１の筒部
８１ａが外側に開Ｉ」しており、しかも、第２の箱体７
の筒部７ｄの外方から嵌合させる構成であるため、順次
、外方からの組立が可能となり６組立作業が容易となる
はかりでなく、伝達軸１８とハウジング８１との間にス
リップが発生した後において１手首機構の原点位置の再
調整する場合に装置を分解することなく、り１万から容
易に実施できる効果を有する。In the case configured as described above, the housing 8
1 is open on the outside, and a first
．． Second. Insert the eighth wedge 27.28.29 and then
After temporarily tightening the bolts 80, the housing 81 is fitted into the cylindrical portion 7d of the second box body 7, and the transmission shaft 18 is inserted into the through hole 8.
1c, and the housing 81 is fixed to the cylindrical portion 7d with bolts 82. Next, the bolt 80 is fully tightened to adjust the coupling force between the housing 81 and the transmission shaft 18. This coupling force is adjusted to a value that allows slippage between the housing 81 and the transmission shaft 13 when an overload is applied to the transmission shaft 13. After that, the cover 8 is inserted into the recess 81e of the housing 81.
8 and closes the opening of the cylindrical portion 81a of the housing 31. That is, in this structure, the cylindrical portion 81a of the housing 81 is opened outward, and the second box body 7
Because it is configured to fit from the outside of the cylindrical portion 7d, it is possible to assemble from the outside sequentially, and the scale does not make the assembly work easy, and slipping occurs between the transmission shaft 18 and the housing 81. This has the effect that when readjusting the origin position of the one-wrist mechanism after the adjustment, it can be easily carried out from 10,000 yen without disassembling the device.

次に第４図ないし第５図により更に他の実施例を説明す
る。図において、　８１ｆは上記ハウジング８１の鍔部
８１ｂ外周に形成され、上記伝達軸１３の軸方向と略−
値したキー溝、７ｅは上記第２の箱体７の筒部７ｄの外
周に形成され、上記キー溝ｄｌｆとは上記伝達軸１Ｂの
軸方向と略−値して対向したキ−溝、８５は上記キー溝
８１ｆ　、　７ｅにまたがって嵌着されたキー、３６は
上記筒部７ｄに螺着され、上記キーを上記筒部７ｄに固
定する一対のボルトである。Next, still another embodiment will be explained with reference to FIGS. 4 and 5. In the figure, 81f is formed on the outer periphery of the flange 81b of the housing 81, and is approximately -
A keyway 7e formed on the outer periphery of the cylindrical portion 7d of the second box body 7, and the keyway dlf is a keyway 85 that faces approximately in the axial direction of the transmission shaft 1B. A key is fitted across the key grooves 81f and 7e, and a pair of bolts 36 are screwed into the cylindrical portion 7d to fix the key to the cylindrical portion 7d.

上記のように構成されたものにおいては、ハウジング８
１を第２の箱体７の筒部７ｄに嵌合させ、ボルト８２で
ハウジング８１を筒部７ｄに固定し、キー溝８１ｆ　、
　７ｅにキー８５を嵌着し１次にキー３５をボルト８６
にて筒部７ｄに固定する。これにより、ハウジング８１
は筒部７ｄに対して確実に回動が阻止される。In the structure configured as described above, the housing 8
1 into the cylindrical part 7d of the second box body 7, fix the housing 81 to the cylindrical part 7d with bolts 82, and insert the key groove 81f,
Fit the key 85 to 7e and attach the key 35 to the primary bolt 86
to fix it to the cylindrical portion 7d. As a result, the housing 81
is reliably prevented from rotating relative to the cylindrical portion 7d.

なお１組立時には、キー溝８１ｆ　、　７ｅが双方とも
夫々ハウジング８１．筒部７ｄの外周に露出しているた
め、キー８５の嵌着作業が容易となる。Note that during one assembly, both keyways 81f and 7e are connected to the housing 81. Since the key 85 is exposed on the outer periphery of the cylindrical portion 7d, the fitting operation of the key 85 is facilitated.

し発明の効果〕 この発明は以上のように、同軸線上に配置された第１の
駆動軸と第２の駆動軸と第３の駆動軸。[Effects of the Invention] As described above, the present invention provides a first drive shaft, a second drive shaft, and a third drive shaft arranged coaxially.

上記第１の駆動軸に結合され上記第１の駆動軸と同軸線
」二で回動する第１の箱体、この第１の箱体に一端が支
承され上記第１の駆動軸と直交又は斜交する伝達軸１こ
の伝達軸にＬ記Ｐ６２の駆動軸の回転力を伝達する第１
の歯車群、上記伝達軸の他端外周に配置された楔手段、
上記第１の箱体に回転自在に支承され、上記楔手段を介
して上記伝達軸に滑り得るように結合された第２の箱体
、この第２の箱体に回転自在に支承され上記伝達軸の軸
線に対して直交又は斜交した出力部材、上記伝達軸の外
側にこれと同軸線上に配置され第２の歯車群を介して上
記第８の駆動軸の回転を上記出力部材に伝達する中空軸
を備え、上記楔手段は上記伝達軸に過負荷が伝達された
時にのみ上記伝達軸に対して上記第２の箱体をスリップ
させるように上記伝達軸と上記第２の箱体とを結合した
ので、第２の箱体が周囲の設備等により、その動作が拘
束された場合には、楔手段によって伝達軸と第２の箱体
との間でスリップできることになり、各部品の破損を確
実に防止でき、しかも、伝達軸と第２の箱体の回転方向
のバックラッシュを確実に抑制でき、バックラッシュに
基づく、手首機構の動作誤差を極めて小さくできる効果
がある。a first box that is coupled to the first drive shaft and rotates about the same axis as the first drive shaft; one end is supported by the first box and is orthogonal to the first drive shaft; Oblique transmission shaft 1 A first transmission shaft that transmits the rotational force of the drive shaft of P62 in L.
a gear group, a wedge means arranged on the outer periphery of the other end of the transmission shaft,
a second box rotatably supported by the first box and slidably coupled to the transmission shaft via the wedge means; a second box rotatably supported by the second box for the transmission; an output member perpendicular or oblique to the axis of the shaft, disposed outside the transmission shaft coaxially therewith and transmitting rotation of the eighth drive shaft to the output member via a second gear group; The wedge means includes a hollow shaft, and the wedge means connects the transmission shaft and the second box so that the second box slips with respect to the transmission shaft only when an overload is transmitted to the transmission shaft. Because they are connected, if the movement of the second box is restricted by surrounding equipment, the wedge means will allow it to slip between the transmission shaft and the second box, preventing damage to each part. This has the effect of reliably preventing backlash in the rotational direction of the transmission shaft and the second box, and minimizing operational errors of the wrist mechanism due to backlash.

また、ハウジングの外側を開口させ、このハウジングを
第２の箱体７の外方から嵌合させる構成とした場合には
、ハウジノグ、楔手段を順次外方から組立でき１組立作
業が用意となる効果があるばかりでなく、一旦、スリッ
プが発生した後において１手首機構の例えば原点位−を
再調整する際において、千訂機構を分解することなく、
外方から容易に実施できる効果がある。In addition, if the outside of the housing is opened and the housing is fitted into the second box 7 from the outside, the housing nog and the wedge means can be assembled from the outside in order, resulting in one assembly operation. Not only is it effective, but once a slip has occurred, when readjusting the origin position of the wrist mechanism, for example, it is possible to do so without disassembling the mechanism.
It has an effect that can be easily implemented from the outside.

更に、第２の箱体の開口部外周という／％ウジングの外
周部には夫々互いに伝達軸の略軸方向に対向した一対の
係合部を設けると共に、この一対の係合部にはこれらに
またがって結合された結合部材を設けたので、第２の箱
体と／）ウジングとの結合を外方から実施でき、キーの
結８作業が容易となる効果がある。Furthermore, a pair of engaging portions are provided on the outer periphery of the opening of the second box body, which are opposed to each other in the approximate axial direction of the transmission shaft, and each of the pair of engaging portions has a Since the connecting members are provided to span and connect, the second box body and/or housing can be connected from the outside, which has the effect of facilitating the key tying operation.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図はこの発明の一実施例を示す概略断面図。 第２図は第１図の要部断面図、第８図はこの発明の他の
実施例をボす要部断面図、第４図はこの発明の更に他の
実施例を示す要部断面図、第５図は第４図の側面図１あ
る。図中、ｌは第１の駆動軸。 ２は第２の駆動軸、８は第８の駆動軸、６は第１の箱体
、７は第２の箱体、９　、１．０．１４．１５．１９．
１９．２０は傘歯卓、］、１．２１は調和減迭桟、】３
は伝達軸、　１６は筒状軸、２２は出力軸、　２５．８
１は・′へウジング、２７は第１の楔、２８は第２の楔
、２９は第３の楔、８５はキーである。 なお１図中同一行号は同一または相当部分を示す。 代理人　大岩増雄 第１図 第２図 第３図 第・１図 第５図 １・旨′［庁長信１股 １　、１Ｇ　ｆ’ｌの表示　ｆｉ１°願昭　５８−２１
８２１８号２、発明の名称 部業用ロボットの手許機構 ：３．神正をする者 代表者片由仁へ部 明細肖全文 ７、＠正の内容FIG. 1 is a schematic sectional view showing one embodiment of the present invention. Fig. 2 is a sectional view of the main part of Fig. 1, Fig. 8 is a sectional view of the main part showing another embodiment of the invention, and Fig. 4 is a sectional view of the main part showing still another embodiment of the invention. , FIG. 5 is a side view 1 of FIG. 4. In the figure, l is the first drive shaft. 2 is a second drive shaft, 8 is an eighth drive shaft, 6 is a first box, 7 is a second box, 9, 1.0.14.15.19.
19.20 is the bevel tooth table, ], 1.21 is the harmonic reduction, ]3
is a transmission shaft, 16 is a cylindrical shaft, 22 is an output shaft, 25.8
1 is a housing, 27 is a first wedge, 28 is a second wedge, 29 is a third wedge, and 85 is a key. Note that the same line numbers in each figure indicate the same or corresponding parts. Agent Masuo Oiwa Fig. 1 Fig. 2 Fig. 3 Fig. 1 Fig. 5 Fig. 1, effect'
8218 No. 2, Title of invention: Hand mechanism of industrial robot: 3. Full details of the detailed description to Katayuni, the representative of the person who performs divine correction 7, @Masashi contents

Claims (1)

【特許請求の範囲】 （υ同軸線上に配置された第１の駆動軸と第２の駆動軸
と第３の駆動軸、上記第１の駆動軸に結合され上記第１
の駆動軸と同軸線上で回動する第１の箱体、この第１の
箱体に一端が支承され上記第１の駆動軸と直交又は斜交
する伝達軸、この伝達軸に上記第２の駆動軸の回転力を
伝達する第１の歯車群、上記伝達軸の他端外周に配置さ
れた楔手段、上記第１の箱体に回転自在に支承され、上
記楔手段を介して上記伝達軸に滑り得るように結合され
た第２の箱体、この第２の箱体に回転自在に支承され上
記伝達軸の軸線に対して直交又は斜交した出力部材、上
記伝達軸の外側にこれと同軸線上に配置され第２の歯車
群を介して上記第８の駆動軸の回転を上記出力部材に伝
達する中空軸を備え、上記楔手段は１把伝達軸に過負荷
が伝達された時にのみ上記伝達軸に対して上記第２の箱
体をスリップさせるように上記伝達軸と上記第２の箱体
とを結合したことを特徴とする産業用ロボットの手許機
構。 （２〕同軸線」二に配置された第１の駆動軸と第２の駆
動軸と第８の駆動軸、上記＠ｌの駆動軸に結合され上記
第１の駆動軸と同軸線上で回動する第１の箱体、この第
１の箱体に一端が支承され上記第１の駆動軸と直交又は
斜交する伝達軸、この伝達軸に」二記第２の駆動軸の回
転力を伝達する第１０）歯車群、上記第１の箱体に回転
自在に支承され両端が開口した第２の箱体、この第２の
箱体における上記第１の箱体とは反対側開口部に嵌合さ
れ外側が開口したハウジング、このハウジングの内周と
上記駆動軸の外周との間に配置され」二記伝達軸に過負
荷が伝達された時にのみ上記伝達軸に対して上記第２の
スリップさせる楔手段、上記ハウジングに結合され上記
ハウジングの開口部を覆うカバー、上記第２の箱体に回
転自在に支承され上記伝達軸の軸線に対して直交又は斜
交した出方部材。 上記伝達軸の外側にこれと同軸線上に配置され第２の歯
車群を介して上記第８の駆動軸の回転を上記出力部材に
伝達する中空軸を備えた産業用ロボットの手首機構。 （３）同軸線上に配置された第１の駆動軸と第２の駆動
軸と第８の駆動軸、上記第１の駆動軸に結合され上記第
１の駆動軸と同軸線上で回動する第１の箱体、この第１
の箱体に一端が支承され上記第１の駆動軸と直交又は斜
交する伝達軸、この伝達軸に上記第２の駆動軸の回転力
を伝達する第１の歯車群、上記第１の箱体に回転自在に
支承され両端が開口した第２の箱体、この第２の箱体に
おける上記第１の箱体とは反対側開口部に嵌合され外側
が開口したハウジング、このハウジングの内周と上記駆
動軸の外周との間に配置され上記伝達軸に過負荷が伝達
された時にのみ上記伝達軸に対して上記第２のスリップ
させる楔手段、上記ハツシングに結合され上記ハウジン
グの関口部を覆うカバー、上記第２の箱体に回転自在に
支承され上記伝達軸の軸線に対して直交又は斜交した出
力部材。 上記伝達軸の外側にこれと同軸線上に配置され第２の歯
車群を介して上記第８の駆動軸の回転を上記出力部祠に
伝達する中空軸を備え、、ｆＺ記第２の箱体の上記開口
部外周と上記ハウジングの外周部には夫々互いに上記伝
達軸の略軸方向に対向した一対の係合部を設けると共に
、この一対の係合部にはこれらにまたがって結合された
結合部材を設けたことを特徴とする産業用ロボットの手
首機成[Claims] (υ A first drive shaft, a second drive shaft, and a third drive shaft arranged on a coaxial line;
a first box that rotates coaxially with the drive shaft; a transmission shaft that is supported at one end by the first box and is orthogonal or oblique to the first drive shaft; a first gear group for transmitting the rotational force of the drive shaft; a wedge means disposed on the outer periphery of the other end of the transmission shaft; rotatably supported by the first box; a second box body slidably coupled to the second box body, an output member rotatably supported by the second box body and perpendicular or oblique to the axis of the transmission shaft; A hollow shaft is arranged on a coaxial line and transmits the rotation of the eighth drive shaft to the output member via a second gear group, and the wedge means is activated only when an overload is transmitted to one clutch transmission shaft. A hand mechanism for an industrial robot, characterized in that the transmission shaft and the second box body are coupled to each other so that the second box body slips with respect to the transmission shaft. (2) A first drive shaft, a second drive shaft, and an eighth drive shaft arranged on the second coaxial line, which are coupled to the drive shaft @l and rotate on the same axis as the first drive shaft. a transmission shaft that is supported at one end by the first box and is orthogonal or oblique to the first drive shaft, and transmits the rotational force of the second drive shaft to the transmission shaft; 10) gear group, a second box rotatably supported by the first box and open at both ends, and fitted into the opening on the opposite side of the second box from the first box; a housing with an open outer side; and a housing disposed between an inner circumference of the housing and an outer circumference of the drive shaft; a cover coupled to the housing and covering the opening of the housing; a protruding member rotatably supported by the second box and extending perpendicularly or obliquely to the axis of the transmission shaft. A wrist mechanism for an industrial robot, comprising a hollow shaft disposed coaxially with the transmission shaft outside the transmission shaft and transmitting the rotation of the eighth drive shaft to the output member via a second gear group. (3) a first drive shaft, a second drive shaft, and an eighth drive shaft arranged on the same axis; a third drive shaft coupled to the first drive shaft and rotating on the same axis as the first drive shaft; 1 box, this first
a transmission shaft that is supported at one end by the box and is perpendicular or oblique to the first drive shaft; a first gear group that transmits the rotational force of the second drive shaft to the transmission shaft; and the first box. a second box that is rotatably supported on the body and has both ends open; a housing that is fitted into an opening on the opposite side of the first box in the second box and that is open on the outside; the second wedge means disposed between the periphery of the drive shaft and the outer periphery of the drive shaft and causing the transmission shaft to slip only when an overload is transmitted to the transmission shaft; the wedge means being coupled to the hashing and a closing portion of the housing; an output member that is rotatably supported by the second box and is perpendicular or oblique to the axis of the transmission shaft. a hollow shaft disposed on the outside of the transmission shaft coaxially therewith for transmitting the rotation of the eighth drive shaft to the output shaft via a second gear group; A pair of engaging portions are provided on the outer periphery of the opening and on the outer periphery of the housing, respectively, and are opposed to each other in a substantially axial direction of the transmission shaft. Industrial robot wrist mechanism characterized by the provision of parts