JPS5917589Y2 - industrial robot wrist - Google Patents

Description

[Detailed description of the invention] This invention relates to the wrists of industrial robots that have several pairs of hands, and is particularly useful when one industrial robot performs tasks such as transporting, assembling, and processing several types of parts. It is effective.

Conventional industrial robots usually have one set of hands at the end of their arms and carry out tasks such as transporting, assembling, and processing one type of part.

Additionally, there are industrial robots that have two or more pairs of hands arranged in parallel and all of the hands are fixed to one pair of wrists. There is also a drawback that the parts interfere with the hand and cannot be grasped.

Furthermore, industrial robots have been proposed that have two or more pairs of hands and all hands are fixed to one wrist.
With such a device, it is not possible to rotate each hand relative to the wrist, so for example, loading parts,
In the case of unloading, the posture of the part must always be the same, and if the posture of the part shifts, loading and unloading cannot be performed. There is a problem in that when it is necessary to change the posture of the person, he or she is virtually unable to work.

In order to solve the above-mentioned drawbacks, the present invention has several pairs of hands arranged in different directions at the tip of the arm of a conventional industrial robot, and each pair of hands can rotate freely. By configuring the wrist of an industrial robot, when carrying out work such as transporting, assembling, and processing two or more types of parts with different shapes, sizes, and materials, etc., in one cycle, the hand can be used during one cycle. It is possible to process two or more types of parts without having to replace them and without being restricted by the orientation and orientation of the parts, thereby shortening the time for one cycle by the amount of time it takes to replace hands, and by allowing the parts to be placed in any direction. The purpose is to facilitate the transportation, assembly, and processing of parts.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an external view showing the arms, wrists, and two sets of hands attached.

A wrist support part 18 is attached to the tip of the arm 3 which can extend and contract, move up and down, and turn left and right.

A wrist shaft 19 is attached to the wrist support portion 18, a plate 44 is attached to the wrist shaft 19 so as to be rotatable, and a bracket 45 forming a hand support portion is attached to the plate 44.
is fixed.

In this embodiment, two sets of hands having different shapes are attached to the bracket 45 at an angle of 90 degrees.

FIG. 2 is a longitudinal sectional view taken along line AA' shown in FIG.
It shows the internal structure of the arm, wrist, and hand.

An arm 3 is telescopically assembled inside the arm support part 1 via a thrust bearing 2.

Drive shafts 4° 5.6 are rotatably installed inside the arms 3, and have needle bearings 7, 8. 9
is the driving shirt)4. 5. It is assembled to reduce the rotational resistance of 6.

A wrist support part 18 is fixed to the tip of the drive shaft 4, a gear 17 is attached to the tip of the drive shaft 5 via a parallel key 13, and a gear 17 is attached to the tip of the drive shaft 6 via a parallel key 14. Gear 16 is assembled.

In addition, the other end of the driving shirt (4,5°6) is connected to an actuator (not shown), and the driving shirt (t)
-4, 5, and 6 can be rotated independently.

Thrust needle bearings 10 and 11 support the ends of the arms 3, and thrust bearings 12 allow relative rotation between the gears 16 and 17.

A circlip 15 is attached to prevent the gear 16, gear 17, and wrist support part 18 from coming off.

In addition, 19 is a wrist shaft fixed to the wrist support part 18 by Nara) 20, and the plate 44, gear 24, outer adapter 29, inner adapter 30, and gear 25 are rotatable with respect to this wrist shirt I・19. It is assembled into.

Then, the gear 24 and the gear 16 mesh with each other, and the gear 25
and gear 17 also mesh with each other, gear 25 and play I.44
is fixed with bolts 28.

In addition, 21 is a collar arranged between the wrist shaft 19 and the wrist support part 18, and 26 is a collar arranged between the wrist shaft 19 and the gear 2.
This is a DU thrust washer that is disposed between the two and reduces the sliding frictional resistance between the two.

Further, 22.27 is a needle bearing that allows gears 24.25 to rotate freely relative to the wrist shaft 19, respectively;
23 is a needle bearing that allows the gear 24 to rotate freely relative to the plate 44.

Further, the plate 44 and the bracket 45 are fixed with positioning pins 46 and bolts 47, and the bracket 45
The socket 5 is connected to the inside of the socket via the needle bearing 48.
3 is rotatably assembled.

The gear portion 53a of the socket 53 and the gear 24 mesh with each other, and the piston 43 is inserted into the socket 53 to form a first cylinder.

Further, the ring 42 and the piston 43 form a second cylinder, and the ring 42 is fixed to the outer adapter 29 by bolts 41.

Then, when fluid is supplied into the ring 42 of the second cylinder through the pipes 37.29a and 40 provided in the wrist shaft 19 and the outer adapter 29, the piston 43 moves to the right, and the wrist shaft 19, the outer adapter 29 and If fluid is supplied into the socket 53 of the first cylinder through the conduit 34.38.61 provided in the piston 43, the piston 4
The fluid supply conduit is configured such that 3 runs to the left.

Further, the pipe lines 32 and 33 provided in the wrist shaft 19 are also configured to operate the other piston via an inner adapter 30 (not shown).

31 is the X-ring groove and is not indicated by a number, but it is the outer adapter 2.
There are a total of 5 locations in 9, and an X-ring is assembled in each groove.

Similarly, 32 is an X-shaped groove, and although not shown by a number, there are a total of four grooves in the inner adapter 30, and an X-shaped groove is installed in each groove.

56, 57, 58, 59, and 60 are O-ring grooves, each of which is fitted with an O-ring so that the pistons can slide well while maintaining airtightness in the first and second cylinders, Sl, and S2. There is.

49 is a pin inserted into each hole of the piston 43 and socket 53, and this pin 49 allows the piston 43 to
It is designed to prevent rotation.

51a is a ring plate 1- that covers the socket 53 and the ends of the brackets 1 to 45, and is fixed to the bracket 45 with a bolt 52;
A thrust 21 dollar bear tongue 50 and a thrust I washer 78 are disposed between and the socket 53, allowing relative rotation.

Further, a hand adapter 54a is inserted into the inside of the tapered portion of the socket 53 via an O-ring 55, and is attached so that the adapter 54a can be gripped or released by the claw 43a of the piston 43. Each hand can be replaced with another shape.

That is, the fluid is passed through the socket 5 through the conduit 34.38.61.
3, the piston 43 moves to the left and the piston 4
The adapter 54a is held by the claw 43a of ring 4, and conversely, the fluid is passed through the pipes 37.29a and 40 to the ring 4.
2, the piston 43 moves to the right and connects to the adapter 5.
4a can be removed from the socket 53.

Similarly, through the conduits 32, 33, 35, the adapter 54b of the other hand can be held and removed, and the fingers 72b, 73b can be opened and closed.

Therefore, even if the shapes and functions of each hand are different, each hand can be easily replaced as long as the shape of the adapter 54a is the same.

In this example, two adapters 54a shown in FIG.
, 54b also have the same shape.

Next, this kind of structure will be explained.

68a is a cylinder whose one end is sealed with a lid 62, and one end of this cylinder 68H is fixed to the adapter 54a via the lid 62.

Reference numerals 63 and 64 indicate O-ring grooves cut into the lid 62, and the O-rings disposed in the grooves 63 and 64 prevent fluid from leaking from one end of the cylinder 68a.

Further, 66a is a piston that is slidably disposed within this cylinder 68a, and its tip protrudes from the other end side of the cylinder 68a.

76 and 77 are O-ring grooves, and the O-rings disposed in these grooves 76 and 77 keep the sliding portion of the piston 66a airtight.

Further, at the other end of the cylinder 683, L-shaped operating levers 72a and 73a are rotatably supported by support pins 69a and 71a while facing each other.

One end of the actuating levers 72a, 73a is rotatably connected to the tip of the piston 66a by a movable pin 70a, and the other end of the actuating lever 72a, 73a is connected to the tip of the piston 66a by a movable pin 70a. Claws 74a and 75a having corresponding shapes are fixed.

In a hand with this configuration, when fluid is supplied into the cylinder 68a through the pipe line 36, 39, 65 provided in the wrist shaft 19, the outer adapter 29, and the adapter 54a, the piston 66a Moving to the right, the operating levers 72a, 73a rotate around the support pins 69a, 71a in response to the movement of the piston 66a, and the claws 74a, 7
5a is opened.

Conversely, when no fluid pressure is introduced from the pipes 36, 39.65, the set load of the spring 67 causes the screw latch 66a to move to the left, thereby closing the pawls 74a, 75a.

The lower hand shown in FIG. 1 has basically the same configuration as the hand shown in FIG. Fluid is supplied through the tube.

In Fig. 1, 68 b is a cylinder, 66 b is a piston,
69b, 71b are fixed pins, 70b is a movable pin, 72
b and 73b are operating levers, and 74b and 75b are claws.

What is particularly different in shape between these two sets of hands is the shape of each claw 74a, 75a and 74b, 75b, each of which has a shape suitable for gripping parts of different shapes.

Furthermore, compressed air, for example, is used as the fluid for operating each piston.

Next, the operation of the apparatus configured as described above will be explained.

First, the case of hand rotation will be explained. In this case, the drive shaft 6 is rotated by an actuator such as a pulse motor (not shown) whose stop position and rotation speed can be freely set, and the gears 16 and 24 are rotated. The socket 53 is rotated through the adapter 54 .
Rotate the hand fixed to the adapter 54a through the adapter 54a.

Similarly, the other hand, which is fixed to the adapter 54b through the adapter 54b, also rotates.

In addition, when rotating the bracket 45, the drive shaft 5 is rotated by an actuator such as a pulse motor (not shown), and the plate 44 and the bracket 45 are rotated around the wrist shaft 19 via the gear 17 and the gear 25. and rotate it (swing motion of the wrist).

Further, when the drive shaft 4 is rotated by an actuator such as a pulse motor (not shown), the wrist support section 18 is rotated (rotating motion of the wrist).

In this embodiment, a pulse motor whose stop position and rotational speed can be freely set is used, but other actuators that function similarly to this motor may be used.

Further, as described above, when fluid is supplied to the cylinder 68H through the pipe line 36, 39, 65, the piston 66a operates to open the pawls 74a and 75a, and conversely, the pipe line 36.39.
, 65, the set load of the spring 67 causes the pawl 74 to be released.
a, 75a is designed to close.

Next, a case will be described in which two types of parts with different shapes that are supplied to the same position are gripped by two hands with different shapes from different gripping directions.

First, when gripping two types of parts placed below with different shapes and gripping directions in the state shown in FIG. , then rotate the drive shaft 4 to rotate the wrist support 18 by 18080 degrees, and further rotate the drive shirt l-5 to move the hand on the lower side to the right side and the hand on the right side to the lower position.

Then, the drive shaft 6 is rotated to open the claw 74a. 75a
After rotating the other part in the gripping direction, the claws 74a and 75a grip the other part at the same position.

In addition, when gripping a component on the right side in the state shown in FIG. 5 to move the hand on the right side upward and the hand on the bottom side to the right side, and further rotate the drive shaft 6.

Next, after changing the grasping direction of the claws 74b, 75b to a predetermined position corresponding to the other part, the claws 74b, 75 are
b is used to grip the other part.

Note that in the above explanation, in order to make it easier to understand the operations, the hand rotation movement, wrist swing movement, and wrist rotation movement were described as separate things, but in reality, these movements are performed simultaneously. It is now possible to

The parts gripped by the above operations are then transported to a predetermined position by extending and contracting the arm, moving up and down, turning left and right, swinging the wrist, and rotating. The parts are assembled in a predetermined direction.

In this example, the rotation of the wrist, the swinging motion, and the rotation of the hand are performed by a pulse motor, so the wrist and hand can be stopped at any position, and the parts can be assembled in a wide range of directions. It can be set freely within the range.

Of course, the actuator does not have to be able to freely set the stop position and rotation speed like a pulse motor, and other actuators may be used as necessary.

Furthermore, by using a reciprocating actuator,
The reciprocating motion may be transmitted to the wrist or the hand via a drive shaft, gears, etc., and the vibrating motion and rotational motion of the wrist and the rotating motion of the hand may be performed.

As another example, the wrists of an industrial robot having three sets of hands will be explained with reference to FIG.

FIG. 3 is an external view of the arm, wrist, and three pairs of hands.

A wrist support part 18 is attached to the tip of the arm 3 which can extend and contract, turn left and right, and move up and down. A wrist shaft 19 is attached to the wrist support part 18, and a plate 44 is attached to the wrist shaft 19 so as to be rotatable with respect to the wrist shaft 19. A bracket 45 serving as a hand support is fixed to the plate 44.

The bracket 45 has three pairs of hands 80, 81. with different shapes.
82 are each mounted at a 45 degree angle.

The internal structure of this embodiment is almost the same as that shown in FIG. 2, so it is omitted here, but when the drive shaft 4 is rotated, the wrist support 18 is rotated (rotating motion of the wrist), and the drive shirt l- 5 rotates the plate 44 and the bracket 45 around the wrist shaft 19 (wrist swinging motion), and when the driving shirt 1-6 is rotated, the hand 80.81°82 rotates. There is.

Next, to explain the case of gripping three types of parts with different shapes and gripping directions, grasp the first part on the right side with the hand 80 in the state shown in FIG. 3, and then rotate the drive shaft 5. Rotate the bracket 45 upwards by 45 degrees,
After rotating the drive shaft 6 to change the gripping direction, the second component on the right side is gripped by the hand 81, and then the drive shaft 5 is rotated to move the bracket 45 upward 4.
After rotating 5 degrees and changing the gripping direction by rotating the drive shaft 6, the third part on the left side is gripped by the hand 82, thereby gripping three types of parts supplied to the same position with different gripping directions. be able to.

In each of the above-described embodiments, the wrist can perform two wrist movements: rotation and swing, but if necessary, the wrist may be moved only to either rotation or swing.

In particular, in this example, the arm 3 can be extended and contracted, rotated left and right, and moved up and down, so that even with only one type of wrist movement, parts transportation, assembly, processing, etc. can be carried out satisfactorily.

Also, those with two pairs of hands have their hands attached at a 90 degree angle, and those with three pairs of hands have their hands attached at a 45 degree angle.
The hand does not need to be attached at 0 degrees or 45 degrees as long as the hand is attached in a different direction with respect to the wrist.

Furthermore, although each of the above embodiments shows cases in which there are two and three pairs of hands, if several pairs of hands with different shapes are arranged in different directions, several types of parts will be required depending on the number of hands. It is easy to understand that this can be done without changing hands during one cycle.

Further, in the above example, the hands include claws 74 a, b, 75.
a.

b shows a device with the function of holding parts, but of course the function of the hand should not be limited to this gripping function. It may also have the function of attaching parts or pushing the part into the workpiece from a predetermined direction, or the hand may be used as a tool for cutting or polishing, or the hand may be used as a spray gun. As explained above, the device of the present invention connects the wrist portions so that the tip of the arm can perform at least one of a rotational motion and a swinging motion, and the wrist portion of the arm Since several pairs of hands are connected in different directions, two or more types of parts with different shapes, sizes, and materials can be processed without changing hands during one cycle, and the time required to change hands is reduced. It has the effect of shortening the cycle time, and also has the excellent effect of being able to grip large parts without interference between parts or between parts and hands.

Moreover, in the device of the present invention, an actuator is disposed outside the arm, and the displacement of this actuator is transmitted to each of several pairs of hands via a drive shaft and a plurality of gears disposed inside the arm. As a result, several pairs of hands can be rotated individually relative to the wrist, even though the wrist part performs complicated movements such as rotation and swinging. Now, it is no longer possible to simply grasp parts placed in a fixed direction, but it has become possible to grip parts placed in any direction, and it is now possible to grip parts placed in any direction. Particularly excellent effects such as assembly, processing, painting, etc. of parts can be easily performed.

[Brief explanation of the drawing]

Fig. 1 is a front view showing one embodiment of the wrist of the present invention, Fig. 2 is a longitudinal sectional view taken along line A-A' shown in Fig. 1, and Fig. 3 is another embodiment of the wrist of the present invention. It is a front view showing. 3... Arm, 6... Drive shaft, 17
．． 24.53 a...Gear, 44.45...
... Plate and bracket forming the wrist part, 68 a
, 68 b, 72 a, 72 b, 73 a.

Claims (2)

[Scope of utility model registration request] (1) An arm, a wrist part connected to the tip of the arm, and several pairs of hands connected to the wrist part from different directions, and the wrist part rotates with respect to the arm. It has a wrist operating means for performing at least one wrist movement of the swinging motion, and further includes an actuator disposed outside the arm, and a drive shaft disposed inside the arm and a drive shaft disposed inside the arm to control the displacement of the actuator. A wrist of an industrial robot, characterized in that the wrist of an industrial robot is configured to transmit information to each of the several sets of hands via a plurality of gears, and to rotate each of the several sets of hands relative to the wrist portion. (2) The wrist of an industrial robot according to claim 1, wherein the child is detachably connected to the wrist.