JPS6351833B2 - - Google Patents
Info
- Publication number
- JPS6351833B2 JPS6351833B2 JP59215347A JP21534784A JPS6351833B2 JP S6351833 B2 JPS6351833 B2 JP S6351833B2 JP 59215347 A JP59215347 A JP 59215347A JP 21534784 A JP21534784 A JP 21534784A JP S6351833 B2 JPS6351833 B2 JP S6351833B2
- Authority
- JP
- Japan
- Prior art keywords
- end member
- axis
- central
- wrist mechanism
- shaft
- 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
- 210000000707 wrist Anatomy 0.000 claims description 28
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002093 peripheral effect Effects 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１２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、先端に作業具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１３
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. 12, 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 working tool 4 provided at the tip, and a cylinder mechanism. By operating 5 to reduce the 13th
As shown in the figure, the wrist mechanism can be bent.
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.
この発明の構成を第１図ないし第３図を参照し
て説明する。第１図に示すように、中央部材１１
とその両端側の第１、第２端部材１２，１３とか
らなる３部材を直列にかつ相互に回転可能に連結
し、前記第１端部材１２の軸線１４に対して所定
角度で交差する第１軸１５を中心に第１端部材１
２と中央部材１１とを相対回転可能とし、前記第
２端部材１３の軸線１４に対して所定角度で交差
する第２軸１６を中心に中央部材１１と第２端部
材１３とを相対回転可能とし、前記第１端部材１
２と第２端部材１３との間に、これらを相対角度
の変化にかかわらず互いに連結して連動回転させ
る連結手段１７（図示の場合ユニバーサルジヨイ
ントを想定して図示した）を中央部材１１に対し
て相対回転自在に設け、前記第１端部材１２内に
該第１端部材１２に対して相対回転自在に回転軸
（図示略）を設け、該回転軸と前記中央部材１１
との間にこれらの軸線がなす角度の変化にかかわ
らず連結して連動回転させる回転駆動機構（図示
略）を設け、前記第１端部材１２および回転軸を
それぞれ別個に駆動する駆動源（図示略）を第１
端部材１２と中央部材１１との連結部から第１端
部材１２の軸方向に離れた位置に設けた構成とし
てなるものである。
The structure of this invention will be explained with reference to FIGS. 1 to 3. As shown in FIG.
and a first and second end member 12 and 13 on both end sides thereof are connected in series and mutually rotatably, and the first end member 12 intersects with the axis 14 of the first end member 12 at a predetermined angle. The first end member 1 is centered around the first axis 15.
2 and the central member 11 are relatively rotatable, and the central member 11 and the second end member 13 are relatively rotatable around a second axis 16 that intersects the axis 14 of the second end member 13 at a predetermined angle. and the first end member 1
2 and the second end member 13, a connecting means 17 (in the illustrated case, a universal joint is assumed) is provided on the central member 11 to connect these to each other and rotate in conjunction with each other regardless of changes in relative angle. A rotary shaft (not shown) is provided in the first end member 12 so as to be rotatable relative to the first end member 12, and the rotary shaft and the central member
A rotational drive mechanism (not shown) is provided between the first end member 12 and the rotating shaft to rotate the first end member 12 and the rotating shaft separately, and a drive source (not shown) is provided between the first end member 12 and the rotating shaft. ) is the first
The first end member 12 is provided at a position away from the connecting portion between the end member 12 and the central member 11 in the axial direction of the first end member 12 .
第１図に示した手首機構は次のようにして作動
する。
The wrist mechanism shown in FIG. 1 operates as follows.
すなわち、第１図において第１端部材１２の回
転を規制した状態で回転軸（図示略）を回転させ
ると、この回転が回転駆動機構（図示略）により
中央部材１１に伝達され、中央部材１１と第１端
部材１２とが第１軸１５を中心に相対回転する。
また、第１端部材１２を回転させると、この回転
が連結手段１７により第２端部材１３に伝達され
て中央部材１１に対して相対回転する。そして、
前述の相対回転がそれぞれ180度づつ行われると、
第２図に示すように手首が屈曲する。また、第１
端部材１２を180度回転させた後、前述と同様の
動作をさせると、第３図に示すように手首が反対
方向に屈曲することができる。 That is, in FIG. 1, when the rotating shaft (not shown) is rotated while the rotation of the first end member 12 is restricted, this rotation is transmitted to the central member 11 by the rotational drive mechanism (not shown), and the first end member 12 rotate relative to each other about the first shaft 15.
Further, when the first end member 12 is rotated, this rotation is transmitted to the second end member 13 by the connecting means 17, and the second end member 13 rotates relative to the central member 11. and,
When each of the above relative rotations is performed by 180 degrees,
The wrist is bent as shown in Figure 2. Also, the first
After rotating the end member 12 by 180 degrees, the wrist can be bent in the opposite direction as shown in FIG. 3 by performing the same operation as described above.
〔発明の効果〕
第１端部材および回転軸を所定角度ずつ回転
させることにより、第１・第２端部材および中
央部材の相対的な角度をそれぞれ調整して、第
２端部材を任意の方向に向け、第２端部材の先
端に設けられた作業具を所定の座標に所定の向
きで配置することができる。また、第１・第２
端部材と中央部材とがそれぞれ軸線に対して傾
斜した軸を中心に相対回転自在に連結されてい
るから手首の屈曲半径を小さくして、手首先端
の自由度を高めることができる。[Effect of the invention] By rotating the first end member and the rotating shaft by a predetermined angle, the relative angles of the first and second end members and the central member can be adjusted, and the second end member can be moved in any direction. The working tool provided at the tip of the second end member can be arranged at predetermined coordinates and in a predetermined direction. Also, the first and second
Since the end members and the central member are connected so as to be relatively rotatable about axes inclined with respect to the respective axes, the bending radius of the wrist can be reduced and the degree of freedom of the wrist tip can be increased.
連結手段および回転駆動機構を設けるだけで
所定の動作を行い得るから、リンク機構を利用
した従来方式に比して構成部材数が少なく、構
造が簡単になる。 Since a predetermined operation can be performed simply by providing a connecting means and a rotational drive mechanism, the number of constituent members is reduced compared to a conventional system using a link mechanism, and the structure is simplified.
第１端部材および回転軸から離れた位置に例
えばモータのような駆動源があるから、作業具
を取り付けるべき第２端部材に格別の防爆処理
を施すことなく、例えば、塗装作業場のような
防爆環境下に適応させることができる。また、
第１端部材および回転軸から離れた位置に設け
られる駆動源は、例えば、第１端部材、中央部
材等に内蔵しなければない場合に比して寸法的
な制約が小さく、十分な駆動トルクを持つた機
種を選定することができる。 Since there is a drive source, such as a motor, at a location away from the first end member and the rotating shaft, there is no need to apply special explosion-proof treatment to the second end member to which the work tool is attached, and it is possible to Can be adapted to the environment. Also,
A drive source provided at a position distant from the first end member and the rotation axis has fewer dimensional restrictions than a case where it must be built into the first end member, central member, etc., and has sufficient drive torque. You can select a model with
以下、本発明の一実施例を第４図及び第５図に
基づて説明する。図中３１は略円筒状の中央部材
であり、この中央部材３１の両端側には、中段３
２ａを有する円筒状の第１端部材３２、一端が閉
塞された円筒状の第２端部材３３が直列に配設さ
れている。これらの中央部材３１、第１、第２端
部材３２，３３の各隣接端面は第１端部材３２の
軸線３４に対し第４図に示すように傾斜させら
れ、中央部材３１の両端においてそれぞれ対向す
る回転平面３５，３６，３７，３８とされてい
る。また、中央部材３１、両端部材３２，３３は
これら３部材間に設けられたベアリング３９，４
０を介して回転可能とされている。中央部材３１
に対し第１端部材３２は軸線３４を通り、この軸
線３４に対し交差する第１軸４１を中心に回転可
能とされ、第２端部材３３は曲線３４を通り、こ
の軸線３４に対し、交差する第２軸４２を中心に
回転可能とされている。第１、第２軸４１，４２
間には、所定の角度が設けられている。また第
１、第２端部材３２，３３にはそれぞれ連結手段
（ユニバーサルジヨイント）４３，４４が中央部
材３１側へ突出して一体的に設けられている。ユ
ニバーサルジヨイント４３の連結部４５は第４図
に示す軸線３４と第１軸４１との交点に設けら
れ、ユニバーサルジヨイント４４の連結部４６は
同図に示す軸線３４と第２軸４２との交点に設け
られている。ユニバーサルジヨイント４３の連結
部４５とユニバーサルジヨイント４４の連結部４
６とは連結手段（ユニバーサルジヨイント）４７
により連結され、第１端部材３２と第２端部材３
３とは相対回転不可能とされている。
An embodiment of the present invention will be described below with reference to FIGS. 4 and 5. 31 in the figure is a substantially cylindrical central member, and on both ends of this central member 31 there are middle stages 3.
A cylindrical first end member 32 having a diameter 2a and a cylindrical second end member 33 with one end closed are arranged in series. Adjacent end surfaces of the central member 31, first and second end members 32, 33 are inclined with respect to the axis 34 of the first end member 32 as shown in FIG. Rotation planes 35, 36, 37, and 38 are used. In addition, the central member 31 and both end members 32 and 33 have bearings 39 and 4 provided between these three members.
It is possible to rotate through 0. Central member 31
On the other hand, the first end member 32 passes through an axis 34 and is rotatable about a first axis 41 that intersects with this axis 34, and the second end member 33 passes through a curve 34 and is rotatable about a first axis 41 that intersects with this axis 34. It is possible to rotate around a second shaft 42 that rotates. First and second axes 41, 42
A predetermined angle is provided in between. Furthermore, connecting means (universal joints) 43 and 44 are integrally provided on the first and second end members 32 and 33, respectively, and project toward the central member 31 side. The connecting portion 45 of the universal joint 43 is provided at the intersection of the axis 34 and the first shaft 41 shown in FIG. 4, and the connecting portion 46 of the universal joint 44 is provided at the intersection of the axis 34 and the second shaft 42 shown in FIG. It is located at the intersection. Connecting portion 45 of universal joint 43 and connecting portion 4 of universal joint 44
6 means connection means (universal joint) 47
The first end member 32 and the second end member 3 are connected by
3, it is said that relative rotation is not possible.
また、第１端部材３２の中段３２ａには第１軸
４１上に連結部４８を設定されて、回転駆動機構
（ユニバーサルジヨイント）４９がベアリング５
０を介し回転軸５１を中心に回転自在に設けられ
ている。一方、中央部材３１には回転平面３５，
３６が接近した側に位置し、かつ第１端部材３２
側へ突出して、第１の回転駆動機構（ユニバーサ
ルジヨイント）５２が一体的に設けられている。
このユニバーサルジヨイント５２は連結部４８に
おいてユニバーサルジヨイント４９と連結されて
いる。なお、第２端部材３３の端面中心には作業
具取付部５３が設けられている。 Further, a connecting portion 48 is set on the first shaft 41 at the middle stage 32a of the first end member 32, and a rotational drive mechanism (universal joint) 49 is connected to the bearing 5.
0 and is rotatably provided around a rotating shaft 51. On the other hand, the central member 31 has a rotating plane 35,
36 is located on the side closer to the first end member 32 .
A first rotational drive mechanism (universal joint) 52 is integrally provided so as to protrude to the side.
This universal joint 52 is connected to a universal joint 49 at a connecting portion 48 . Note that a work tool attachment portion 53 is provided at the center of the end surface of the second end member 33.
しかして、前記のように構成された手首機構を
使用する場合には、第１端部材３２を例えば工業
用ロボツトのアームの先端に設けられた駆動源
（モータ）M1に取り付け、回転軸５１を同アーム
に設けられた駆動源（モータ）M2に連結する。 Therefore, when using the wrist mechanism configured as described above, the first end member 32 is attached to a drive source (motor) M 1 provided at the tip of an arm of an industrial robot, for example, and the rotating shaft 51 is connected to the drive source (motor) M2 provided on the same arm.
そして、まず第１端部材３２を回転しないよう
に固定し、回転軸５１を第４図における矢印Ａ方
向に回転させる。すると、ユニバーサルジヨイン
ト４９，５２を介して中央部材３１が第４図にお
ける矢印Ｂ方向に回転する。このとき、第１、第
２端部材３２，３３はユニバーサルジヨイント４
３，４４，４７により相対回転不可能とされてい
るので、回転せずに中央部材３１の回転平面３６
の変位に倣つて第５図に示すように軸線３４の左
横方向へ変位する。 First, the first end member 32 is fixed so as not to rotate, and the rotating shaft 51 is rotated in the direction of arrow A in FIG. 4. Then, the central member 31 rotates in the direction of arrow B in FIG. 4 via the universal joints 49 and 52. At this time, the first and second end members 32 and 33 are connected to the universal joint 4.
3, 44, and 47, the rotation plane 36 of the central member 31 does not rotate.
It is displaced laterally to the left of the axis 34, as shown in FIG.
また、第５図における軸線３４の右横方向へ第
２端部材３３を変位させたい場合には、第５図に
示す状態において、回転軸５１を固定し、第１端
部材３２を軸線３４を中心に第５図に示す矢印Ｃ
方向に回転させればよい。 In addition, if it is desired to displace the second end member 33 in the right-lateral direction of the axis 34 in FIG. 5, the rotating shaft 51 is fixed in the state shown in FIG. Arrow C shown in Figure 5 in the center
Just rotate it in the direction.
次に、本発明の第２実施例について第６図及び
第７図に基づいて説明する。なお、この実施例に
おいて前記実施例と同一名称部分には同一符号を
付してその説明を省略する。この実施例において
は、前記実施例のユニバーサルジヨイント４９，
５２を用いず、これらの代りに歯車機構が用いら
れている。即ち、第１端部材３２内に軸線３４を
中心に回転自在に平歯車６１が設けられている。
この平歯車６１の回転軸６２は例えば工業用ロボ
ツトのアームに設けられた駆動源（モータ）M3
に連結される。また、第１端部材３２の外周側に
は軸受部６３と凹部６４とが設けられている。軸
受部６３には、両端に平歯車６５、かさ歯車６６
が取り付けられた回転軸６７が回転自在に嵌挿さ
れている。平歯車６５は前記平歯車６１に噛み合
せられ、かさ歯車６６は中央部材３１の回転平面
３５にこの回転平面３５より第１端部材３２側に
突出して設けられたかさ歯車６８に噛み合せられ
ている。 Next, a second embodiment of the present invention will be described based on FIGS. 6 and 7. In this embodiment, the same reference numerals are given to the same parts as in the previous embodiment, and the explanation thereof will be omitted. In this embodiment, the universal joint 49 of the previous embodiment,
52 and a gear mechanism is used in their place. That is, a spur gear 61 is provided within the first end member 32 so as to be rotatable about the axis 34 .
The rotation shaft 62 of this spur gear 61 is, for example, a drive source (motor) M 3 provided on the arm of an industrial robot.
connected to. Furthermore, a bearing portion 63 and a recessed portion 64 are provided on the outer peripheral side of the first end member 32 . The bearing portion 63 has a spur gear 65 and a bevel gear 66 at both ends.
A rotating shaft 67 to which is attached is rotatably inserted. The spur gear 65 is meshed with the spur gear 61, and the bevel gear 66 is meshed with a bevel gear 68 provided on the rotation plane 35 of the central member 31 so as to protrude from the rotation plane 35 toward the first end member 32.
そして、回転軸６２を第６図において矢印Ｄ方
向に回転させると平歯車６１，６５、かさ歯車６
６，６８を介して中央部材３１が同図における第
１軸４１を中心に矢印Ｆ方向に回転し第７図に示
す状態となり、さらに回転し360゜回転する。 When the rotating shaft 62 is rotated in the direction of arrow D in FIG. 6, the spur gears 61, 65 and the bevel gear 6
6 and 68, the central member 31 rotates in the direction of the arrow F about the first shaft 41 in the same figure, reaches the state shown in FIG. 7, and further rotates through 360 degrees.
次に、本発明の第３実施例を第８図乃至第１０
図に基づいて説明する。例えば工業用ロボツトの
アーム７１の先端に第１端部材７２の軸線７３と
同心に円筒軸７４，７５がそれぞれベアリング７
６，７７を介して回転自在に取り付けられてい
る。第１端部材７２は円筒軸７４と一体的に設け
られている。円筒軸７５の先端には第１端部材７
２内に位置して歯車７８が固定して取り付られて
いる。 Next, a third embodiment of the present invention will be described in FIGS. 8 to 10.
This will be explained based on the diagram. For example, at the tip of an arm 71 of an industrial robot, cylindrical shafts 74 and 75 are provided with bearings 7 concentrically with the axis 73 of the first end member 72.
It is rotatably attached via 6 and 77. The first end member 72 is provided integrally with the cylindrical shaft 74. A first end member 7 is provided at the tip of the cylindrical shaft 75.
2 and a gear 78 is fixedly attached thereto.
また、中央部材７９には歯車８０が一体的に取
り付けられ、ベアリング８１を介して第１端部材
７２に回転自在に取り付けられている。歯車８０
は歯車７８に噛み合せられている。 Further, a gear 80 is integrally attached to the central member 79 and is rotatably attached to the first end member 72 via a bearing 81. gear 80
is meshed with gear 78.
第１端部材７２には、軸線７３を通り、この軸
線７３と交差する第１軸８２が中央部材７９内に
延びて一体的に設けられている。軸８２には歯車
８３が固定して取り付けられている。 A first shaft 82 that passes through the axis 73 and intersects with the axis 73 extends into the central member 79 and is integrally provided with the first end member 72 . A gear 83 is fixedly attached to the shaft 82.
また、第２端部材８４には歯車８５が一体的に
取り付けられ、ベアリング８６を介して中央部材
７９に回転自在に取り付けられている。歯車８５
の第２軸８７は軸線７３を通り、この軸線７３と
交差させられている。第１、第２軸８２，８７間
には所定角度θが設けられている。歯車８５は歯
車８３と噛み合せられている。 Further, a gear 85 is integrally attached to the second end member 84, and is rotatably attached to the central member 79 via a bearing 86. gear 85
A second axis 87 passes through the axis 73 and intersects with this axis 73. A predetermined angle θ is provided between the first and second axes 82 and 87. Gear 85 is meshed with gear 83.
なお、円筒軸７５には駆動源（モータ）M4が
連結され、円筒軸７４には第２の回転駆動機構
（モータ）M5が連結されている。 Note that a drive source (motor) M 4 is connected to the cylindrical shaft 75, and a second rotational drive mechanism (motor) M 5 is connected to the cylindrical shaft 74.
前記のように構成された手首機構によれば、円
筒軸７５を回転させることにより、中央部材７９
を所定の回転角度β回転させることができる。ま
た、歯車８３と歯車８５との歯数比を１：１とす
れば円筒軸７４の回転角度αをそのまま第２端部
材８４に回転角度αとして伝達することができ
る。ここで、第１軸８２と第２軸８７との間に角
度θが設けられているので、円筒軸７４，７５を
回転させ前記回転角度αと回転角度βとをそれぞ
れ独立して制御すれば第１端部材７２に対し第２
端部材８４を任意の方向に第９図及び第１０図に
示すように十分に屈曲させて向けることができ
る。なお、第８図に示す姿勢のとき、回転角度α
＝0゜、回転角度β＝0゜とすれば、回転角度α＝0゜、
回転角度β＝180゜のとき第９図に示す運動時状態
となり、回転角度β＝180゜、回転角度β＝0゜のと
き第１０図に示す運動時状態となる。なお、第１
軸８２と第２軸８７とのなす角θをさらに小さく
設定すれば、さらに手首機構の動作範囲を拡大す
ることができる。 According to the wrist mechanism configured as described above, by rotating the cylindrical shaft 75, the central member 79
can be rotated by a predetermined rotation angle β. Further, if the ratio of the number of teeth between the gear 83 and the gear 85 is set to 1:1, the rotation angle α of the cylindrical shaft 74 can be directly transmitted to the second end member 84 as the rotation angle α. Here, since the angle θ is provided between the first shaft 82 and the second shaft 87, if the cylindrical shafts 74 and 75 are rotated and the rotation angle α and the rotation angle β are independently controlled, The second end member 72
The end member 84 can be fully bent and oriented in any direction as shown in FIGS. 9 and 10. In addition, in the posture shown in Fig. 8, the rotation angle α
= 0°, rotation angle β = 0°, rotation angle α = 0°,
When the rotation angle β=180°, the operating state shown in FIG. 9 is achieved, and when the rotation angle β=180° and the rotation angle β=0°, the operating state shown in FIG. 10 occurs. In addition, the first
If the angle θ between the shaft 82 and the second shaft 87 is set smaller, the operating range of the wrist mechanism can be further expanded.
なお、第１１図に示すように第１端部材９１に
対し中央部材９２を回転させるには円筒軸９３の
回転を歯車９４，９５，９６を介して歯車９７に
伝達することにより達成することもできる。な
お、第２端部材の先端に回転アクチユエータを取
り付けることにより手首機構の機能をさらに向上
させることもできる。 Note that, as shown in FIG. 11, rotating the central member 92 with respect to the first end member 91 can also be achieved by transmitting the rotation of the cylindrical shaft 93 to the gear 97 via the gears 94, 95, and 96. can. Note that the function of the wrist mechanism can be further improved by attaching a rotary actuator to the tip of the second end member.
第１図は本発明に係わる手首機構を示す側面
図、第２図及び第３図はその手首機構が屈曲した
状態を示す側面図、第４図は本発明の一実施例を
示す一部省略縦断側面図、第５図はその手首機構
が屈曲した状態を示す一部省略縦断側面図、第６
図は本発明の第２実施例を示す一部省略縦断側面
図、第７図はその手首機構が屈曲した状態を示す
一部省略縦断側面図、第８図は本発明の第３実施
例を示す一部省略縦断側面図、第９図及び第１０
図はその手首機構が屈曲した状態を示す一部省略
縦断側面図、第１１図は本発明の第４実施例を示
す一部省略縦断側面図、第１２図は従来の手首機
構の概略側面図、第１３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。
３１，７９，９２……中央部材、３２，７２，
９１……第１端部材、３３，８４……第２端部
材、４１，８２……第１軸、４２，８７……第２
軸、４３，４４，４７……連結手段（ユニバーサ
ルジヨイント）、４９，５２……回転駆動機構
（ユニバーサルジヨイント）、M1，M5……駆動源
（モータ）、M2，M3，M4……駆動源（モータ）、
６１，６５……平歯車、６６，６８……かさ歯
車、７８，８０，８３，９４，９５，９６，９７
……歯車。
FIG. 1 is a side view showing a wrist mechanism according to the present invention, FIGS. 2 and 3 are side views showing the wrist mechanism in a bent state, and FIG. 4 is a partially omitted view showing an embodiment of the present invention. FIG. 5 is a partially omitted longitudinal side view showing the wrist mechanism in a bent state; FIG.
The figure is a partially omitted longitudinal side view showing the second embodiment of the present invention, Fig. 7 is a partially omitted longitudinal side view showing the wrist mechanism in a bent state, and Fig. 8 is a partially omitted longitudinal side view showing the third embodiment of the present invention. Partially omitted vertical sectional side views shown in Figures 9 and 10.
11 is a partially omitted vertical side view showing the fourth embodiment of the present invention, and FIG. 12 is a schematic side view of the conventional wrist mechanism. , FIG. 13 is a schematic side view showing the wrist mechanism in a bent state. 31, 79, 92... central member, 32, 72,
91...first end member, 33,84...second end member, 41,82...first shaft, 42,87...second
Shaft, 43, 44, 47...Connection means (universal joint), 49, 52...Rotation drive mechanism (universal joint), M1 , M5 ...Drive source (motor), M2 , M3 , M 4 ...Drive source (motor),
61, 65... Spur gear, 66, 68... Bevel gear, 78, 80, 83, 94, 95, 96, 97
……gear.
Claims (1)
からなる３部材を直列にかつ相互に回転可能に連
結し、前記第１端部材の軸線に対して所定角度で
交差する第１軸を中心に第１端部材と中心部材と
を相対回転可能とし、前記第２端部材の軸線に対
して所定角度で交差する第２軸を中心に中央部材
と第２端部材とを相対回転可能とし、前記第１端
部材と第２端部材との間に、両部材を軸線のなす
角度の変化にかかわらず連結して連動回転させる
連結手段を中央部材に対して相対回転自在に設
け、前記第１端部材内に該第１端部材に対して相
対回転自在に回転軸を設け、該回転軸と前記中央
部材との間にこれらの軸線のなす角度の変化にか
かわらず連結して連動回転させる回転駆動機構を
設け、前記第１端部材および回転軸をそれぞれ別
個に駆動する駆動源を第１端部材と中央部材との
連結部から第１端部材の軸方向の前記第２端部材
と反対側の位置に設けたことを特徴とする手首機
構。 ２ 前記第１端部材と第２端部材とを連結する連
結手段は、これらの部材に両端が連結されたユニ
バーサルジヨイントであることを特徴とする特許
請求の範囲第１項記載の手首機構。 ３ 前記回転軸と中央部材とを連結する回転駆動
機構は、これらの部材に両端が連結されたユニバ
ーサルジヨイントであることを特徴とする特許請
求の範囲第１項または第２項記載の手首機構。 ４ 前記回転軸と中央部材とを連結する回転駆動
機構は、回転軸および中央部材の端部にそれぞれ
設けられて互いに噛み合うベベルギアであること
を特徴とする特許請求の範囲第１項または第２項
記載の手首機構。 ５ 前記第１端部材と第２端部材とを連結する連
結手段は、第１端部材の端部および第２端部材の
端部にそれぞれ設けられて前記中央部材の内側で
互いに噛み合うベベルギアであることを特徴とす
る特許請求の範囲第１項記載の手首機構。 ６ 互いに噛み合うベベルギアの歯数を１：１に
設定したことを特徴とする特許請求の範囲第４項
または第５項記載の手首機構。[Claims] 1. Three members consisting of a central member and first and second end members on both ends thereof are connected in series and mutually rotatable, and are arranged at a predetermined angle with respect to the axis of the first end member. The first end member and the center member are relatively rotatable about a first axis that intersects at a predetermined angle with respect to the axis of the second end member, and the center member and the second end A connecting means is provided between the first end member and the second end member to connect and rotate the members in conjunction with each other regardless of changes in the angle formed by the axis. A rotary shaft is provided in the first end member so as to be rotatable relative to the first end member, and a rotary shaft is provided in the first end member so as to be rotatable relative to the first end member, regardless of a change in the angle between these axes between the rotary shaft and the central member. A rotational drive mechanism that connects and rotates in conjunction is provided, and a drive source that separately drives the first end member and the rotation shaft is connected in the axial direction of the first end member from the connection portion between the first end member and the central member. A wrist mechanism characterized in that it is provided at a position opposite to the second end member. 2. The wrist mechanism according to claim 1, wherein the connecting means for connecting the first end member and the second end member is a universal joint whose both ends are connected to these members. 3. The wrist mechanism according to claim 1 or 2, wherein the rotational drive mechanism that connects the rotating shaft and the central member is a universal joint whose both ends are connected to these members. . 4. Claims 1 or 2, characterized in that the rotational drive mechanism that connects the rotating shaft and the central member is a bevel gear that is provided at the end of the rotating shaft and the central member and meshes with each other. Wrist mechanism as described. 5. The connecting means for connecting the first end member and the second end member is a bevel gear provided at an end of the first end member and an end of the second end member, respectively, and meshing with each other inside the central member. The wrist mechanism according to claim 1, characterized in that: 6. The wrist mechanism according to claim 4 or 5, wherein the number of teeth of the bevel gears that mesh with each other is set at 1:1.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21534784A JPS6195893A (en) | 1984-10-15 | 1984-10-15 | 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 |
|---|---|---|---|
| JP21534784A JPS6195893A (en) | 1984-10-15 | 1984-10-15 | Wrist mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6195893A JPS6195893A (en) | 1986-05-14 |
| JPS6351833B2 true JPS6351833B2 (en) | 1988-10-17 |
Family
ID=16670793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21534784A Granted JPS6195893A (en) | 1984-10-15 | 1984-10-15 | Wrist mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6195893A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59152093A (en) * | 1983-02-07 | 1984-08-30 | 株式会社東芝 | Joint device |
-
1984
- 1984-10-15 JP JP21534784A patent/JPS6195893A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59152093A (en) * | 1983-02-07 | 1984-08-30 | 株式会社東芝 | Joint device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6195893A (en) | 1986-05-14 |
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|---|---|---|---|
| EXPY | Cancellation because of completion of term |