JPS6247673B2 - - Google Patents
Info
- Publication number
- JPS6247673B2 JPS6247673B2 JP21821883A JP21821883A JPS6247673B2 JP S6247673 B2 JPS6247673 B2 JP S6247673B2 JP 21821883 A JP21821883 A JP 21821883A JP 21821883 A JP21821883 A JP 21821883A JP S6247673 B2 JPS6247673 B2 JP S6247673B2
- Authority
- JP
- Japan
- Prior art keywords
- drive shaft
- transmission shaft
- shaft
- box
- box body
- 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
Links
- 230000005540 biological transmission Effects 0.000 claims description 69
- 230000007246 mechanism Effects 0.000 claims description 15
- 210000000707 wrist Anatomy 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 description 13
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
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ツ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.
この種の従来装置としては例えば特開昭53−
83265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３重軸を備えており、この３
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
３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が直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
用ロボツト（以下ロボツトと記す）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、一般的に小スペースの中で操作されており、
ロボツトの周囲には種々の設備や、製品が近接し
ている。
As a conventional device of this type, for example, JP-A-53-
There is one disclosed in Publication No. 83265. This configuration has three concentric axes;
A first box that rotates concentrically with one of the heavy shafts is coupled, a second box is rotatably supported by the first box, and the second box is rotatably supported by the first box. The body is driven directly by a bevel gear connected to the other shaft of the triple shaft. That is, since the gear that meshes with the bevel gear is directly formed on the second box, it 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., and are generally operated in small spaces.
Various equipment and products are located close to the robot.
従つて、万一ロボツトが周囲の設備や製品と衝
突した場合には、ロボツトの駆動力伝達経路が急
激に過負荷となる。特に手首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 wrist 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、第２の箱体への駆動力伝達系路の一部に破損
が生じ、場合によつては手首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つた。 If the rotation of the second box is restricted in this way, a portion of the drive power transmission path to the second box may be damaged, and in some cases, the entire wrist mechanism may have to be replaced. There were some drawbacks such as it disappearing.
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の箱体をスリツプさせるよ
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ツト
の手首機構を提案するものである。
This invention has been made with the aim of improving such drawbacks, and the second box and the transmission shaft are connected by a wedge means, and the second box is connected to the transmission shaft only when an overload is transmitted to the transmission shaft. An industrial robot capable of reliably preventing damage to the drive force transmission path to the second box even when rotation of the second box is restricted by configuring the second box to slip. We propose a wrist mechanism for this purpose.
第１図はこの発明の一実施例を示す断面図であ
り、１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、３はこの第２の駆動軸２内に同軸心上に配
置された第３の駆動軸、４は第１の駆動軸１内に
支持されて上記第２の駆動軸２を回転自在に支承
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３の駆動軸３を回転自在に支承する軸
受、６は上記第１の駆動軸１に結合されて第１の
駆動軸１と同軸心上で回転する第１の箱体で、上
記第１の駆動軸１と斜交した開口部６ａを有して
いる。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側には開口部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、７ｃ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の軸線と斜交する軸線上
で回動する傘歯車、１１は傘歯車１０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。１１ｂは
調和減速機１１の出力部、１２はこの入力軸１１
ａを回転自在に支承する軸受、１３は上記調和減
速機１１の出力部１１ｂ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１
１の入力軸１１ａ内を同軸線上で貫通している。
なお、上記伝達軸１３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１１で第１歯車群を構成している。１
４は上記第３の駆動軸３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３の駆動軸３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１３の外側に配置さ
れた筒状軸で、一端には上記傘歯車１５が結合さ
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に嵌合され上記筒状軸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１
９の軸線に対し斜交した軸線上に配置された傘歯
車、２１はこの傘歯車２０の回転を減速する調和
減速機、２１ａは上記傘歯車２０に結合された調
和減速機２１の入力軸、２１ｂは調和減速機２１
の出力部、２２はこの出力部２１ｂに結合された
出力軸で、図示しないつかみ装置が装着される。
２３は上記ハウジング７ｃに嵌合されて上記入力
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。
FIG. 1 is a cross-sectional view showing one embodiment of the present invention, in which 1 is a hollow first drive shaft, and 2 is a hollow second drive shaft coaxially arranged within the first drive shaft 1. A drive shaft 3 is a third drive shaft disposed coaxially within the second drive shaft 2, and 4 is supported within the first drive shaft 1 to freely rotate the second drive shaft 2. A bearing 5 is supported within the second drive shaft 2 and rotatably supports the third drive shaft 3. A bearing 6 is coupled to the first drive shaft 1 and supports the third drive shaft 3. It is a first box body that rotates on the same axis as the drive shaft 1, and has an opening 6a obliquely intersecting the first drive shaft 1. A second box 7 is rotatably supported via a bearing 8 near the opening 6a of the first box 6, and an opening 7a is formed on the first box 6 side. The other side is occluded. 7b is the second box body 6
A cylindrical portion 7c formed on the other side is provided in the second box body 7, and a housing 9 is disposed obliquely to the axis of the transmission shaft 13, which will be described later, at one end of the second drive shaft 2. The coupled bevel gear 10 meshes with the bevel gear 9 and rotates on an axis oblique to the axis of the second drive shaft 2; 11 is a harmonic reducer that reduces the rotation of the bevel gear 10; It has a hollow input shaft 11a that is coupled to the bevel gear 10. 11b is the output part of the harmonic reducer 11, and 12 is the input shaft 11.
A bearing 13 that rotatably supports the harmonic reducer 11 has one end connected to the output part 11b of the harmonic reducer 11, and the other end connected to the cylindrical part 7b of the second box body 7 via a wedge means to be described later. With the transmission shaft, the harmonic reducer 1
It passes through the input shaft 11a of No. 1 on a coaxial line.
Note that the transmission shaft 13 is oblique to the axis of the second drive shaft 2. Furthermore, the bevel gears 9 and 10 and the harmonic reducer 11 constitute a first gear group. 1
4 is a bevel gear coupled to one end of the third drive shaft 3; 15 is a bevel gear meshing with the bevel gear 14; the bevel gear rotates on an axis oblique to the axis of the third drive shaft 3; Reference numeral 16 denotes a cylindrical shaft disposed outside the transmission shaft 13, and the bevel gear 15 is coupled to one end. A bearing 17 is fitted into the input shaft 11a and rotatably supports one end of the cylindrical shaft 16. A bearing 18 is fitted into the cylindrical portion 7b and supports the cylindrical shaft 16.
A bearing 19 rotatably supports the cylindrical portion 7b.
A bevel gear 20 is connected to the other end of the bevel gear 1.
9 is a bevel gear disposed on an axis oblique to the axis of 9; 21 is a harmonic reducer that reduces the rotation of the bevel gear 20; 21a is an input shaft of the harmonic reducer 21 coupled to the bevel gear 20; 21b is a harmonic reducer 21
The output portion 22 is an output shaft coupled to the output portion 21b, and a gripping device (not shown) is attached to the output shaft.
A pair of bearings 23 are fitted into the housing 7c and rotatably support the input shaft 21a; 24;
Similarly, a bearing is fitted into the housing 7c and rotatably supports the output shaft 22. In addition, the bevel gears 14, 15, 19, 20 and the harmonic reducer 21
This constitutes the 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１
３が嵌入され嵌合部２５ｂ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に固定するボル
ト、２７は上記筒部２５ａ内に配置され伝達軸１
３外周に接するリング状の第１の楔で、中央が大
径に構成され両端に向つてテーパ状に形成されて
いる。２８は上記筒部２８ａ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
つ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、上記第１の楔２７と第２の楔２８に対応して
テーパ状に形成されたリング状の一対の第３の
楔、３０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ボルトである。なお、上
記第１の楔２７、第２の楔２８、第３の楔２９、
ボルト３０とで楔手段を構成しており、ボルト３
０を締付けることにより、一対の第３の楔２９の
双方が接近し、第１の楔２７を伝達軸１３外周に
圧接させると共に第２の楔２８をハウジング２５
内周に圧接して、伝達軸１３と第２の箱体７の筒
部７ｂとを、第１の楔２７、第２の楔２８、第３
の楔２９、ボルト３０、ハウジング２５を介して
結合している。なお、ボルト３０の締付トルク
は、伝達軸１３に過負荷トルクがかわつた時にの
み、第１の楔２７と伝達軸１３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
でスリツプするように調整されている。 FIG. 2 is a detailed sectional view of the cylindrical portion 7b of the second box body 7, and 25 is a housing fitted to the inner periphery of the cylindrical portion 7b of the second box body 7. The cylindrical portion 25a and the transmission shaft 1
3 is fitted into the fitting portion 25b. 26
27 is a bolt that is screwed onto the housing 25 via the cylindrical portion 7b and fixes the housing 25 to the cylindrical portion 7b;
3. The ring-shaped first wedge is in contact with the outer periphery, and has a large diameter at the center and tapers toward both ends. A second ring-shaped wedge 28 is in contact with the inner periphery of the cylindrical portion 28a, and has a small diameter at the center and tapers toward both ends. 29 is the first above
A pair of third wedges in a ring shape are arranged on both sides between the wedge 27 and the second wedge 28, and are formed in a tapered shape corresponding to the first wedge 27 and the second wedge 28, A bolt 30 is inserted through one of the pair of third wedges 29 and screwed into the other. Note that the first wedge 27, the second wedge 28, the third wedge 29,
The bolt 30 constitutes a wedge means, and the bolt 3
0, both of the pair of third wedges 29 approach each other, causing the first wedge 27 to come into pressure contact with the outer periphery of the transmission shaft 13 and the second wedge 28 being brought into contact with the housing 25.
The first wedge 27, the second wedge 28, and the third wedge 27, 28, and 3
They are connected via a wedge 29, a bolt 30, and a housing 25. Note that the tightening torque of the bolt 30 is applied to the contact surface between the first wedge 27 and the transmission shaft 13, and the second
It is adjusted so that one or both of the contact surfaces between the wedge and the housing 25 slip.
上記のように構成されたものにおいて、第１の
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と同軸線上で回動し、手
首機構はまず１つの自由度で動作される。次に、
第２の駆動軸２が回転すると、傘歯車９，１０、
調和減速機１１の入力軸１１ａ、出力部１１ｂ、
伝達軸１３、第１の楔２７、第２の楔２８、第３
の楔２９、ハウジング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を開始第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が回転すると、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１
６の軸線に対して斜交した軸線上で出力軸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３つの自由度で動作する
ことになる。ところで、手首機構が駆動されてい
る時に、万一、第２の箱体７が周囲の設備や部品
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１３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３の楔２９はボルト３０の締付ト
ルクが、上記過負荷トルクにおいて、第１の楔２
７と伝達軸１３との接触面、第２の楔２８とハウ
ジング２５との接触面の一方又は双方でスリツプ
するように調整されているため、伝達軸１３に過
負荷トルクが加わると同時に、第１の楔２７，２
８に滑りが発生し、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、例えば、第１、第
２、第３の駆動軸１，２，３の駆動現をオフにす
ることにより、各伝達系路の破損を確実に防止で
きる。 In the device configured as described above, when the first drive shaft 1 rotates, the first box body 6 coupled thereto rotates on the same axis as the first drive shaft 1, and the wrist mechanism is first rotated. Operated in one degree of freedom. next,
When the second drive shaft 2 rotates, the bevel gears 9, 10,
The input shaft 11a of the harmonic reducer 11, the output part 11b,
Transmission shaft 13, first wedge 27, second wedge 28, third
the second box body 7 on an axis oblique to the axis of the second drive shaft 2 via the wedge 29 and the housing 25.
is rotated, and the second box 7 is moved in one degree of freedom relative to the first box 6 starting with the bearing 8 . Next, when the third drive shaft 3 rotates, the bevel gears 14, 15,
Cylindrical shaft 16, bevel gears 19, 20, harmonic reducer 21
The cylindrical shaft 1 is connected via the input shaft 21a and the output section 21b.
The output shaft 22 rotates on an axis oblique to the axis of the box 6, and the output shaft 22 is operated with one degree of freedom relative to the second box 7 via bearings 23 and 24.
In this way, the output shaft will operate in three degrees of freedom. By the way, if the second box body 7 collides with surrounding equipment or parts while the wrist mechanism is being driven, the transmission shaft 13 that transmits rotational force to the second box body 7 may be severely damaged. A large overload torque will be applied. However, in the first wedge 27, second wedge 28, and third wedge 29, the tightening torque of the bolt 30 is lower than that of the first wedge 29 at the above-mentioned overload torque.
7 and the transmission shaft 13, and the contact surface between the second wedge 28 and the housing 25, or both of them are adjusted to slip, so that when an overload torque is applied to the transmission shaft 13, the 1 wedge 27, 2
8 will slip, absorbing the impact force caused by the overload torque. Thereafter, for example, by turning off the driving of the first, second, and third drive shafts 1, 2, and 3, damage to each transmission line can be reliably prevented.
また、組立に際しては、伝達軸１３とハウジン
グ２５とは、一対の第３の楔２９をボルト３０で
互いに接近させることにより、第１の楔２７は伝
達軸１３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１３
とハウジング２５とは全く微小間〓がない状態で
確実に結合される。つまり、伝達軸１３と第２の
箱体７の回転方向のバツクラツシユを確実に抑え
ることになる。手首機構においては、各部品のバ
ツクラツシユが大となると、動作誤作が大とな
り、バツクラツシユを抑制することは重要な要素
であるが、例えば、伝達軸１３と第２の箱体７と
を従来周知の手段、つまり、キーやピン等で結合
させる場合には、伝達軸１３と第２の箱体７とに
現物合わせでキー穴やピン穴を形成する必要があ
るばかりでなく、キーやピンは夫々キー穴やピン
穴に挿入されるため、キーとキー穴、ピンとピン
穴との間に微小間〓が発生することになり、伝達
軸１３と第２の箱体７とのバツクラツシユが増大
し、動作誤差が大となつていた、ところが第１、
第２、第３の楔２７，２８，２９によつて、伝達
軸１３と第２の箱体７との回転方向のバツクラツ
シユを抑えることにより、手首機構の動作精度が
極めて向上することになる。 In addition, when assembling the transmission shaft 13 and the housing 25, the pair of third wedges 29 are brought close to each other with the bolts 30, so that the first wedge 27 is pressed against the outer periphery of the transmission shaft 13, and the second Since the wedge 28 is pressed against the inner circumference of the housing 25, the transmission shaft 13
and the housing 25 are reliably connected without any slight gaps. In other words, backlash in the rotational direction between the transmission shaft 13 and the second box 7 is reliably suppressed. In the wrist mechanism, when the buckle of each part becomes large, the possibility of malfunction increases, and it is an important element to suppress the buckle. In other words, in the case of coupling with keys, pins, etc., it is not only necessary to form key holes and pin holes in the transmission shaft 13 and second box body 7 to match the actual objects, but also to connect the keys and pins. Since they are inserted into keyholes and pinholes, minute gaps are generated between the key and the keyhole and between the pins and the pinholes, which increases the backlash between the transmission shaft 13 and the second box body 7. , the operation error was large, but the first
By suppressing backlash in the rotational direction between the transmission shaft 13 and the second box body 7 by the second and third wedges 27, 28, and 29, the operational accuracy of the wrist mechanism is greatly improved.
第３図は他の実施例を示す要部断面図であり、
７ｄは第２の箱体７に形成され外側が開口した筒
部、３１はこの筒部７ｄ内周に嵌合され外側が開
口した筒部３１ａと、筒部７ｄの端部に当接する
鍔部３１ｂと、伝達軸１３が貫挿される貫通孔３
１ｃと、一端開口部３１ｄに形成された凹部３１
ｅとが構成されたハウジング、３２はハウジング
３１を筒部７ｄの端部に結合する複数のボルト、
３３は凹部３１ｅに配置され筒部３１ａの開口部
を覆うカバー、３４はこのカバー３３をハウジン
グ３１の凹部３１ｅに結合するボルトである。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。 FIG. 3 is a sectional view of main parts showing another embodiment,
Reference numeral 7d denotes a cylindrical portion formed in the second box body 7 and open on the outside; 31 denotes a cylindrical portion 31a that fits into the inner periphery of this cylindrical portion 7d and is open on the outside; and a flange portion that abuts against the end of the cylindrical portion 7d. 31b and the through hole 3 into which the transmission shaft 13 is inserted.
1c, and a recess 31 formed at one end opening 31d.
32 is a plurality of bolts that connect the housing 31 to the end of the cylindrical portion 7d;
33 is a cover disposed in the recess 31e and covers the opening of the cylindrical portion 31a, and 34 is a bolt that connects the cover 33 to the recess 31e of the housing 31. 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おいて、ハウジ
ング３１は外側が開口されており、筒軸受部３１
ａ内に第１、第２、第３の楔２７，２８，２９を
挿入し、その後、ボルト３０で仮締付けし、ハウ
ジング３１は第２の箱体７の筒部７ｄに嵌合され
ると共に伝達軸１３が貫通孔３１ｃに嵌挿され、
ハウジング３１はボルト３２により筒部７ｄに固
定される。次に、ボルト３０を本締めし、ハウジ
ング３１と伝達軸１３との結合力を調整する。こ
の結合力は、伝達軸１３に過負荷が加わつた時に
ハウジング３１と伝達軸１３との間でスリツプで
きる値に調整される。その后、ハウジング３１の
凹部３１ｅにカバー３３を配置し、ハウジング３
１の筒部３１ａの開口部を閉塞する。つまり、こ
の構成では、ハウジング３１の筒部３１ａが外側
に開口しており、しかも、第２の箱体７の筒部７
ｄ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、組立作業が容易と
なるばかりでなく、伝達軸１３とハウジング３１
との間にスリツプが発生した後において、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、外方から容易に実施できる効果を有す
る。 In the structure configured as described above, the housing 31 is open on the outside, and the cylindrical bearing portion 31
The first, second, and third wedges 27, 28, and 29 are inserted into the inside of the box a, and then temporarily tightened with bolts 30, and the housing 31 is fitted into the cylindrical portion 7d of the second box body 7. The transmission shaft 13 is inserted into the through hole 31c,
The housing 31 is fixed to the cylindrical portion 7d with bolts 32. Next, the bolt 30 is fully tightened and the coupling force between the housing 31 and the transmission shaft 13 is adjusted. This coupling force is adjusted to a value that allows slippage between the housing 31 and the transmission shaft 13 when an overload is applied to the transmission shaft 13. After that, the cover 33 is placed in the recess 31e of the housing 31, and the housing 3
The opening of the first cylindrical portion 31a is closed. That is, in this configuration, the cylindrical portion 31a of the housing 31 is open to the outside, and the cylindrical portion 7 of the second box body 7
Since the configuration is to fit from the outside of d, sequentially,
It is possible to assemble from the outside, which not only makes the assembly work easier, but also allows the transmission shaft 13 and housing 31 to be assembled from the outside.
This has the advantage that when readjusting the origin position of the wrist mechanism after a slip occurs between the two, it can be easily carried out from the outside without disassembling the device.
次に第４図ないし第５図により更の他の実施例
を説明する。図において、３１ｆは上記ハウジン
グ３１の鍔部３１ｂ外周に形成され、上記伝達軸
１３の軸方向と略一値したキー溝、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３１ｆとは上記伝達軸１３の軸方向と略一値
して対向したキー溝、３５は上記キー溝３１ｆ，
７ｅにまたがつて嵌着されたキー、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, 31f is a key groove formed on the outer periphery of the flange 31b of the housing 31 and is substantially aligned with the axial direction of the transmission shaft 13, and 7e is a key groove formed on the outer periphery of the cylindrical portion 7d of the second box body 7. , the key groove 31f is a key groove that faces substantially in the axial direction of the transmission shaft 13, and 35 is the key groove 31f,
The key 36 fitted across the cylinder 7e is a pair of bolts that are screwed onto the cylinder part 7d and fix the key to the cylinder part 7d.
上記のように構成されたものにおいては、ハウ
ジング３１を第２の箱体７の筒部７ｄに嵌合さ
せ、ボルト３２でハウジング３１を筒部７ｄに固
定し、キー溝３１ｆ，７ｅにキー３５を嵌着し、
次にキー３５をボルト３６にて筒部７ｄに固定す
る。これにより、ハウジング３１は筒部７ｄに対
して確実に回動が阻止される。なお、組立時に
は、キー溝３１ｆ，７ｅが双方とも夫々ハウジン
グ３１、筒部７ｄの外周に露出しているため、キ
ー３５の嵌着作業が容易となる。 In the structure configured as described above, the housing 31 is fitted into the cylindrical portion 7d of the second box 7, the housing 31 is fixed to the cylindrical portion 7d with bolts 32, and the keys 35 are inserted into the key grooves 31f and 7e. Fit the
Next, the key 35 is fixed to the cylindrical portion 7d with a bolt 36. Thereby, the housing 31 is reliably prevented from rotating relative to the cylindrical portion 7d. It should be noted that during assembly, both key grooves 31f and 7e are exposed on the outer periphery of the housing 31 and the cylindrical portion 7d, respectively, so that the work of fitting the key 35 is facilitated.
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、
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３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の箱体をスリツプさせるように上
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、楔手段によつて伝達軸と第２の
箱体との間でスリツ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ツクラツシユを確実に抑制
でき、バツクラツシユに基づく、手首機構の動作
誤差を極めて小さくできる効果がある。
As described above, the present invention includes a first drive shaft, a second drive shaft, and a third drive shaft arranged on a coaxial line,
a first box body coupled to the first drive shaft and rotating coaxially with the first drive shaft; one end supported by the first box body and perpendicular or oblique to the first drive shaft; a transmission shaft, a first gear group for transmitting the rotational force of the second drive shaft to the transmission shaft, a wedge means disposed on the outer periphery of the other end of the transmission shaft, and a wedge means rotatably attached to the first box. a second box supported and slidably coupled to the transmission shaft via the wedge means; a second box rotatably supported by the second box and perpendicular or oblique to the axis of the transmission shaft; a hollow shaft disposed on the outside of the transmission shaft coaxially with the transmission shaft for transmitting the rotation of the third drive shaft to the output member via a second gear group; The transmission shaft and the second box body are coupled so that the second box body slips with respect to the transmission shaft only when an overload is transmitted to the transmission shaft, so that the second box body If the movement of the transmission shaft is restricted by surrounding equipment, etc., the transmission shaft can slip between the transmission shaft and the second box body by means of the wedge means, and damage to each component can be reliably prevented. transmission shaft and second
This has the effect of reliably suppressing backlash in the rotational direction of the box body, and minimizing operational errors of the wrist mechanism based on 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、ハウジング、楔手段を順次外方
から組立でき、組立作業が用意となる効果がある
ばかりでなく、一旦、スリツプが発生した後にお
いて、手首機構の例えば原点位置を再調整する際
において、手首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。 Furthermore, if the outside of the housing is opened and the housing is fitted into the second box 7 from the outside, the housing and the wedge means can be assembled sequentially from the outside, which simplifies the assembly process. Not only is this effective, but once a slip has occurred, when readjusting, for example, the origin position of the wrist mechanism, it can be easily carried out from the outside without disassembling the wrist mechanism.
更に、第２の箱体の開口部外周というハウジン
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つて結合された結合部
材を設けたので、第２の箱体とハウジングとの結
合を外方から実施でき、キーの結合作業が容易と
なる効果がある。 Further, a pair of engaging portions are provided on the outer periphery of the housing, which is the outer periphery of the opening of the second box body, and that are opposed to each other in the approximate axial direction of the transmission shaft. Since the connecting member is provided, the second box body and the housing can be connected from the outside, which has the effect of facilitating the key connecting operation.
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３図はこの
発明の他の実施例を示す要部断面図、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図の側面図である。図中、１は第１の駆
動軸、２は第２の駆動軸、３は第３の駆動軸、６
は第１の箱体、７は第２の箱体、９，１０，１
４，１５，１９，１９，２０は傘歯車、１１，２
１は調和減速機、１３は伝達軸、１６は筒状軸、
２２は出力軸、２５，３１はハウジング、２７は
第１の楔、２８は第２の楔、２９は第３の楔、３
５はキーである。なお、図中同一符号は同一また
は相当部分を示す。
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. 3 is a sectional view of the main part showing another embodiment of the invention, and Fig. 4 5 is a cross-sectional view of main parts showing still another embodiment of the present invention.
The figure is a side view of FIG. 4. In the figure, 1 is the first drive shaft, 2 is the second drive shaft, 3 is the third drive shaft, and 6
is the first box, 7 is the second box, 9, 10, 1
4, 15, 19, 19, 20 are bevel gears, 11, 2
1 is a harmonic reducer, 13 is a transmission shaft, 16 is a cylindrical shaft,
22 is an output shaft, 25 and 31 are housings, 27 is a first wedge, 28 is a second wedge, 29 is a third wedge, 3
5 is a key. Note that the same reference numerals in the figures indicate the same or corresponding parts.
Claims (1)
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３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
スリツ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ツト
の手首機構。 ２ 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のスリツプさせる楔手段、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３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
ロボツトの手首機構。 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のスリツプさせる楔手段、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３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つ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ツトの手首
機構。[Claims] 1. A first drive shaft, a second drive shaft, and a third drive shaft arranged on a coaxial line, coupled to the first drive shaft and coaxial with the first drive shaft; The first rotating
a box body, a transmission shaft whose one end is supported by the first box body and which is perpendicular or oblique to the first drive shaft, and a first gear that transmits the rotational force of the second drive shaft to the transmission shaft. a wedge means disposed on the outer periphery of the other end of the transmission shaft; a second box rotatably supported by the first box body and slidably coupled to the transmission shaft via the wedge means; an output member which is rotatably supported by the second box and is orthogonal or oblique to the axis of the transmission shaft; and a hollow shaft for transmitting the rotation of the third drive shaft to the output member, and the wedge means rotates the second box body relative to the transmission shaft only when an overload is transmitted to the transmission shaft. A wrist mechanism for an industrial robot, characterized in that the transmission shaft and the second box are coupled so as to slip. 2 A first drive shaft, a second drive shaft, and a third drive shaft arranged on a coaxial line; a first drive shaft coupled to the first drive shaft and rotating on the same axis as the first drive shaft;
a box body, a transmission shaft whose one end is supported by the first box body and which is perpendicular or oblique to the first drive shaft, and a first gear that transmits the rotational force of the second drive shaft to the transmission shaft. a second box that is rotatably supported by the first box and has both ends open; the second box is fitted into an opening on the opposite side of the first box and is open on the outside; a housing, a wedge means disposed between an inner periphery of the housing and an outer periphery of the drive shaft and causing the second wedge to slip relative to the transmission shaft only when an overload is transmitted to the transmission shaft; a cover that is coupled and covers the opening of the housing; an output member that is rotatably supported by the second box body and is perpendicular or oblique to the axis of the transmission shaft; A wrist mechanism for an industrial robot, comprising a hollow shaft arranged to transmit rotation of the third drive shaft to the output member via a second gear group. 3 A first drive shaft, a second drive shaft, and a third drive shaft arranged on a coaxial line; a first drive shaft coupled to the first drive shaft and rotating on the same axis as the first drive shaft;
a box body, a transmission shaft whose one end is supported by the first box body and which is perpendicular or oblique to the first drive shaft, and a first gear that transmits the rotational force of the second drive shaft to the transmission shaft. a second box that is rotatably supported by the first box and has both ends open; the second box is fitted into an opening on the opposite side of the first box and is open on the outside; a housing, a wedge means disposed between an inner periphery of the housing and an outer periphery of the drive shaft and causing the second wedge to slip relative to the transmission shaft only when an overload is transmitted to the transmission shaft; a cover that is coupled and covers the opening of the housing; an output member that is rotatably supported by the second box body and is perpendicular or oblique to the axis of the transmission shaft; a hollow shaft that is arranged and transmits the rotation of the third drive shaft to the output member via a second gear group; An industrial robot, characterized in that a pair of engaging parts are provided that are opposed to each other in a substantially axial direction of the transmission shaft, and a coupling member that is coupled to span the pair of engaging parts is provided. Wrist mechanism.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21821883A JPS60108293A (en) | 1983-11-18 | 1983-11-18 | Wrist mechanism of industrial robot |
| GB08406048A GB2139593B (en) | 1983-03-10 | 1984-03-08 | Industrial robot |
| DE19843408713 DE3408713A1 (en) | 1983-03-10 | 1984-03-09 | INDUSTRIAL ROBOT |
| US06/587,785 US4627786A (en) | 1983-03-10 | 1984-03-09 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21821883A JPS60108293A (en) | 1983-11-18 | 1983-11-18 | Wrist mechanism of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60108293A JPS60108293A (en) | 1985-06-13 |
| JPS6247673B2 true JPS6247673B2 (en) | 1987-10-08 |
Family
ID=16716460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21821883A Granted JPS60108293A (en) | 1983-03-10 | 1983-11-18 | Wrist mechanism of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60108293A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04110872U (en) * | 1991-03-11 | 1992-09-25 | タキゲン製造株式会社 | Built-in locking device for sliding doors |
| JPH04114954U (en) * | 1991-03-27 | 1992-10-12 | タキゲン製造株式会社 | Lock device for sliding doors |
| JPH04114955U (en) * | 1991-03-27 | 1992-10-12 | タキゲン製造株式会社 | Latch lock device for sliding doors |
-
1983
- 1983-11-18 JP JP21821883A patent/JPS60108293A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04110872U (en) * | 1991-03-11 | 1992-09-25 | タキゲン製造株式会社 | Built-in locking device for sliding doors |
| JPH04114954U (en) * | 1991-03-27 | 1992-10-12 | タキゲン製造株式会社 | Lock device for sliding doors |
| JPH04114955U (en) * | 1991-03-27 | 1992-10-12 | タキゲン製造株式会社 | Latch lock device for sliding doors |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60108293A (en) | 1985-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4627786A (en) | Industrial robot | |
| EP1563966A1 (en) | Joint structure with splined motor shaft for industrial robot | |
| US5934148A (en) | Wrist mechanism of industrial robot | |
| US4684313A (en) | Wrist device of industrial robot | |
| JPS5976798A (en) | Robot-manipulator-wrist | |
| EP3270003B1 (en) | Gear device | |
| US4976655A (en) | Connecting rod assembly for downhole drilling | |
| JPS6247673B2 (en) | ||
| JP2007303561A (en) | Internal meshing planetary gear device | |
| KR100392697B1 (en) | A shaft coupling with transmission | |
| JP2017087374A (en) | Hand connection structure of robot | |
| JP2009275837A (en) | Fixing structure for bearing | |
| KR200250371Y1 (en) | Coupling unit | |
| KR101985891B1 (en) | Connecting shaft and lift device having the same | |
| US4750858A (en) | Wrist assembly for an industrial robot | |
| JPS60155393A (en) | Wrist device for industrial robot | |
| JPH06221339A (en) | Shaft coupling for rotary transmission shaft | |
| JP7414992B2 (en) | robot equipment | |
| JP2553843Y2 (en) | Cable fixing device for industrial robots | |
| JP5125841B2 (en) | Key fitting | |
| TWI739356B (en) | Transmissoin device | |
| JPS60155395A (en) | Wrist mechanism of industrial robot | |
| JPH07279987A (en) | Double link type shaft joint | |
| WO2021212338A1 (en) | Power assembly and vehicle | |
| JPS62159831A (en) | Shaft coupling having speed changing function |