JPS6257475B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an industrial robot, and particularly to a wrist device thereof.

[Prior art]

FIG. 1 is a sectional view showing a conventional device disclosed in, for example, Japanese Patent Application Laid-open No. 52-105463. In the figure, 1 is a cylindrical link, and 2 is a first drive shaft disposed within this link 1. , 3 is a cylindrical second drive shaft concentrically surrounding this first drive shaft 2, 4 is this second drive shaft.
A cylindrical third drive shaft 5 is connected to one end of the third drive shaft 4 and rotates concentrically with the third drive shaft 4. A side plate 5b is formed at one end of the box body, and a side plate 5b is provided at the center with a support portion 5a on an axis oblique to the rotation axis of the first box body 5. Reference numeral 6 denotes a second box body having a cylindrical portion 6a that is rotatably supported on the support portion 5a, and one end has a cylindrical portion 6a on an axis oblique to the rotation axis of the second box body 6. A supporting portion 6b is formed. 7 is a gear connected to the second drive shaft 3; 8 is a gear shaft supported by the first box 5 and meshes with the gear 7; 9 is a gear shaft that meshes with the gear shaft 8 and is connected to the second box 6; A gear coupled to the cylindrical portion 6a, 10 a gear coupled to the first drive shaft 2, 11 a gear meshing with the gear 10 and concentric with the cylindrical portion 6a, 12 a gear with one end connected to the gear 11; A transmission shaft 13 is connected to the transmission shaft 1 and is arranged concentrically within the cylindrical portion 6a.
A gear 14 is connected to one end of the gear 2, an output gear 14 is arranged on an axis oblique to the transmission shaft 12 and meshes with the gear 13, and an output gear 15 is connected to the output gear 14 and is rotatable on the support part 6b. An output member such as a gripping device supported on the

In the structure configured as described above, first, when the third drive shaft 4 rotates, the first box 5 rotates on the rotation axis A of the third drive shaft 4. Next, when the second drive shaft 3 rotates, the second box body 6 rotates on the rotation axis B via the gear 7→gear shaft 8→gear 9→cylindrical portion 6a. Next, the first drive shaft 2
When rotates, gear 10 → gear 11 → transmission shaft 12
→ Gear 13 → Output member 15 via output gear 14
rotates. In this way, the output member 15, ie the gripping device, performs a three-dimensional movement. Incidentally, when the second box body 6 is rotated, a larger rotational force is generally required than that of the output member 15. Therefore, the output member 15 is rotated by the first drive shaft 2 having a small diameter shaft and the transmission shaft 12, and the second box body 6 is rotated by the second drive shaft 3 having a large diameter shaft and the cylindrical portion 6a. .

However, since gear 9 is located on the side of the intersection of axis A and axis B with respect to gear 11, gear 7 and gear 9 are connected by gear shaft 8, which constitutes an intermediate gear that does not contribute to deceleration. Therefore, a large increase in torque cannot be expected with the reduction ratio of gear 7 and gear 9. Therefore, it is necessary to set the input side of the second drive shaft 3 to a high torque in advance, and this high torque is applied to the second drive shaft 3, the gear 7, the gear shaft 8, and the gear 9 in the cylindrical portion 6a, that is, the The transmission will be transmitted to the box body 6 of No. 2, and the strength of these transmission systems must be set to be large, which not only increases the diameter of each shaft and the tooth thickness of the gears, but also increases the backlash of each gear. Due to the accumulation of , the backlash in the rotational direction of the second gear 6 with respect to the first box 5 becomes large, which also has the disadvantage that the operational accuracy of the output member 15 is reduced.

[Summary of the invention]

The present invention was made with the aim of improving such drawbacks, and includes a first drive shaft, a cylindrical second drive shaft concentrically surrounding the first drive shaft, and a second drive shaft that is concentric with and surrounds the first drive shaft.
a cylindrical third drive shaft concentrically surrounding the drive shaft; coupled to the third drive shaft, having an opening at one end and a second opening at the other end; a first box body that can rotate concentrically with the drive shaft of No. 3;
A second box supported in the first opening and rotatable about an axis perpendicular or oblique to the rotation axis of the first box.
a box body, a transmission shaft having one end connected to the bottom of the second box body and arranged concentrically with the second box body, a cylindrical shaft concentrically surrounding the transmission shaft, and a cylindrical shaft concentrically surrounding the second box body; an output member supported by the box and capable of rotating about an axis perpendicular or oblique to the rotation axis of the second box; a first bevel gear coupled to the first drive shaft; 1
a second bevel gear meshing with the bevel gear and coupled to one end of the cylindrical shaft; centered at the intersection of the rotational axis of the first box and the rotational axis of the second box; , a third bevel gear located outside the position of the first bevel gear and coupled to the second drive shaft, and a fourth bevel gear meshing with the third bevel gear outside the cylindrical shaft. a fifth bevel gear coupled to the other end of the cylindrical shaft, a sixth bevel gear meshing with the fifth bevel gear and coupled to the output member, and the fourth bevel gear. A harmonic reducer is provided, the input side of which is coupled to the transmission shaft, and the output side is coupled to the other end of the transmission shaft, and the harmonic reducer is removably attached to the second opening. To provide a wrist device for an industrial robot that can reduce the shaft diameter of a transmission system and the gingiva of each gear, reduce backlash in the rotational direction of a second box body, and significantly improve the operational accuracy of an output member. be.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 2 and 3. In the figure, 5c is an opening of the first box body 5, 5d is an inward flange formed in this opening 5c, 5e is a fitting part formed on the inner periphery of this flange 5d, 16, 17, 18, 19 are bearings that rotatably support the first drive shaft 2, second drive shaft 3, first box 5, and second box 6, respectively; 20 is a gear 10;
21 is a cylindrical shaft to which the gear 20 is connected at one end and is oblique to the rotation axis of the first box 5; 22 is a cylindrical shaft supported by the second box 6; A bearing 23 rotatably supports the other end of the cylindrical shaft 21, and a gear 23 is connected to the other end of the cylindrical shaft 21.
It meshes with 4. 24 is a gear that meshes with gear 7; 25 is a harmonic reducer in which an input shaft 25a is coupled to gear 24, and has an output section 25b. 26
is a transmission shaft having one end connected to this output portion 25b and the other end connected to the bottom portion 6c of the second box body 6, and is arranged within the cylindrical shaft 21 concentrically therewith. 2
7 is a bearing that supports the input shaft 25a of the harmonic reducer 25; 28 is a bearing that is supported by the gear 24 and rotatably supports the cylindrical shaft 21; and 29 is supported by the support portion 6b of the second box body 6. a pair of bearings rotatably supporting the output member 15; 30 a bearing rotatably supporting the other end of the transmission shaft 26; 31 a first box 5;
a bracket 3 that is removably connected to the opening 5c of the bearing 30 via a bolt 32 and supports the bearing 30;
3 is a bolt that connects the gear 24 and the input shaft 25a, and 34 is a bearing box that is fitted into the fitting part 5e of the collar 5d and supports the bearing 27, and has a fitting part 34a. 35 is a bolt that connects the bearing box 34 to the flange 5d; 25c is a pair of oval bearings of the harmonic reducer 25; 25d is fitted into the fitting part 34a of the bearing box 34; The coupled fixed-side circular spline 25e is a drive-side circular spline installed in parallel with this circular spline 25d, and is connected to the output portion 25b with a bolt 37.
is combined with 25f is a flex spline that meshes with both circular splines 25d and 25e, and 38 is an adjustment washer for adjusting the backlash of the gear 24.

In the configuration as described above, the third
The rotation of the drive shaft 4 is transferred to the first box 5, and the rotation of the second drive shaft 3 is transferred from the gear 7 to the gear 24 to the harmonic reducer 2.
5 → to the second box body 6 via the transmission shaft 26 , and the rotation of the first drive shaft 2 is transmitted to the output member 15 via the gear 10 → gear 20 → cylindrical shaft 21 → gear 23 → output gear 14 is communicated. As a result, the output member 15
is operated in three dimensions. Here, in the gears 7, 24 of the transmission system of the second box 6, the gears 6, 20
On the other hand, the axes of the transmission shaft 26 and the cylindrical shaft 21,
It is located on the opposite side of the intersection with the rotation axis of the first box 5, and the input shaft 25a of the harmonic reducer 25 is coupled to the gear 24, so that the harmonic reducer 25 with a high reduction ratio A desired reduction ratio and torque are transmitted to the second box body 6 via the transmission shaft 26. Therefore, the harmonic reducer 25
The gears and shafts of the transmission system leading to the input shaft 25a can transmit data in a low torque state.

Further, the output member 15, which has a relatively low torque, is driven by the first drive shaft 2 having a small diameter, and each of the drive shafts 2, 3, and 4 transmits a torque that matches the respective shaft strengths.

Furthermore, the transmission shaft 26 is connected to the second box 6 and the bearing 1.
One end is supported by the first box body 5 via a bearing 9, and the other end is supported by a bracket 31 via a bearing 30, and the second box body 6 coupled to the transmission shaft 26 This will prevent runout from occurring.

Here, as is well known, the driving state of the harmonic reducer 25 is such that the input shaft 25a rotates, the shaft 25c rotates in an ellipse, and the flexspline 25f meshes with the fixed side circular spline 25d. 25f rotates. This rotation of the flex spline 25f causes the drive side circular spline 25e to rotate, and the output section 25b
rotates. By the way, in adjusting the backlash between the gear 24 and the gear 7, since the fixed side circular spline 25d can be attached and detached integrally with the bearing box 34, the gear 24 is also attached and detached together with the input shaft 25a, and the adjustment washer 38 By changing the number of gears, the backlash of the gears 24 and 7 is adjusted.

In the above description, the rotation axis of the second box 6 is oblique to the rotation axis of the first box 5, and the output shaft 15 is oblique to the rotation axis of the second box 6. Although the explanation has been made regarding the oblique configuration, the same effect can be obtained even if the configuration is such that both of the configurations are perpendicular to each other.

〔Effect of the invention〕

As described above, the present invention includes a first drive shaft, a cylindrical second drive shaft concentrically surrounding the second drive shaft, and a cylindrical second drive shaft concentrically surrounding the second drive shaft. 3 drive shaft, coupled to this third drive shaft;
a first box body having a first opening at one end and a second opening at the other end and capable of rotating concentrically with the third drive shaft; supported by the first opening; a second box that is rotatable about an axis perpendicular or oblique to the rotation axis of the first box; one end of the second box is connected to the bottom of the second box and is concentric with the second box; a transmission shaft disposed above; a cylindrical shaft concentric with and surrounding the transmission shaft; an axis supported by the second box and perpendicular or oblique to the rotation axis of the second box; a first output member coupled to the first drive shaft;
a second bevel gear meshing with the first bevel gear and coupled to one end of the cylindrical shaft; a rotational axis of the first box and a rotational axis of the second box; a third bevel gear located outside the position of the first bevel gear and coupled to the second drive shaft with the intersection with the center as the center; a fourth bevel gear meshing with the bevel gear; a fifth bevel gear coupled to the other end of the cylindrical shaft; a sixth bevel gear meshing with the fifth bevel gear and coupled to the output member; and a harmonic reducer whose input side is coupled to the fourth bevel gear and whose output side is coupled to the other end of the transmission shaft, and the harmonic reducer is removably attached to the second opening. Each drive shaft can transmit torque that matches the shaft strength based on its shaft diameter, making it not only extremely efficient, but also because the harmonic reducer serves as the final reduction part in the transmission system of the second box. The shaft and gears can transmit low torque, making it possible to downsize them.
Furthermore, since the harmonic reducer serves as the final stage reduction section as mentioned above, by utilizing the characteristics of the harmonic reducer's high reduction ratio and the characteristic of configuring an extremely small backlash, the input of the harmonic reducer can be reduced. Even if the backlash of gears, etc. leading to the shaft is large, the harmonic reducer can suppress the backlash, and the backlash in the rotational direction of the second box can be made extremely small, greatly improving the operating precision of the output member. There is an effect that can be achieved.

Furthermore, the fourth bevel gear can be removably attached to the opening of the first box together with the harmonic reducer, and an adjustment washer for adjusting the backlash of the fourth bevel gear can be arranged. It is also possible to suppress bumps in the previous stage, and from this point of view, it is possible to significantly improve the operational accuracy.

[Brief explanation of the drawing]

Figure 1 is a sectional view showing a conventional device, Figures 2 and 3.
The figure is a sectional view showing an embodiment of the present invention. In the figure, 2 is the first drive shaft, 3 is the second drive shaft, 4 is the third drive shaft, 5 is the first box, 5c is the opening,
6 is a second box body, 7, 10, 20, 24, 23 are gears, 14 is an output gear, 15 is an output member, 19,
30 is a bearing, 21 is a cylindrical shaft, 25 is a harmonic reducer,
26 is a transmission shaft, 34 is a bearing box, and 35 is a bolt. Note that the same reference numerals in each figure indicate the same or corresponding parts.

Claims (1)

[Claims] 1 A first drive shaft, a cylindrical second drive shaft concentrically surrounding this drive shaft, a cylindrical third drive shaft concentrically surrounding this second drive shaft, this third drive shaft 3
a first box body coupled to the drive shaft of the third drive shaft, having an opening at one end and a second opening at the other end, and capable of rotating concentrically with the third drive shaft; a second box supported in the opening and capable of rotating around an axis perpendicular or oblique to the rotation axis of the first box; one end connected to the bottom of the second box; A transmission shaft arranged concentrically with the box, a cylindrical shaft concentric with and surrounding the transmission shaft, supported by the second box, and perpendicular or oblique to the rotation axis of the second box. an output member rotatable about intersecting axes; a first bevel gear coupled to the first drive shaft; a second bevel gear meshing with the first bevel gear and coupled to one end of the cylindrical shaft; The bevel gear is centered at the intersection of the rotational axis of the first box and the rotational axis of the second box, and the second bevel gear is located outside the position of the first bevel gear. a third bevel gear coupled to the drive shaft; a fourth bevel gear meshing with the third bevel gear on the outside of the cylindrical shaft; and a fifth bevel gear coupled to the other end of the cylindrical shaft. a gear, a sixth bevel gear meshing with the fifth bevel gear and coupled to the output member; an input side coupled to the fourth bevel gear and an output side coupled to the other end of the transmission shaft; 1. A wrist device for an industrial robot, comprising a harmonic reducer, the harmonic reducer being removably attached to the second opening.