JPS6128711Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a wrist device for an industrial robot.

Conventionally, this type of device has a robot main body that supports a bracket to which the wrist is attached via a parallel link mechanism consisting of a robot arm that is swung by a drive source and a link parallel to the robot arm, and the arm is swung. There are known devices in which the wrist can be moved in parallel while maintaining the same posture during movement, but the mounting posture of the wrist needs to be changed depending on the workpiece, and the posture can be easily changed. It is desirable to make this possible. In order to meet such demands, it is conceivable to form a plurality of wrist attachment surfaces with different orientations on the bracket, but this would make the bracket large and heavy and reduce the mobility of the robot. accompanied by inconvenience.

The purpose of the present invention is to provide a device that can meet the above requirements without increasing the size of the bracket.
, the robot arm 3 is swung by the drive source 2.
and a link 4 parallel to the arm 3.
is separable into a first bracket 6a, which is pivotally supported by the arm 3 and the link 4, and a remaining second bracket 6b at a dividing surface 8 that intersects with the wrist attachment surface 7, and each bracket 6a, 6b is the first flange surfaces 7a, 7b on the mounting surface 7 and the dividing surface 8, respectively;
upper second flange surfaces 8a, 8b, and the second bracket 6b is connected to the first flange surface 7a of the first bracket 6a at the second flange surface 8b.
A second wrist attachment surface located on the dividing surface 8 can be formed by the second flange surface 8a of the first bracket 6a and the first flange surface 7b of the second bracket 6b. It is characterized by

In the illustrated embodiment, a robot body 1 is rotatably mounted on a slide table 10 on a machine base 9 via a turntable 11, and a robot arm 3 and a link 4 are attached to the top of the robot body 1 in the vertical direction. The arm 3 and the link 4 are pivotally supported so as to be swingable, and the arm 3 and the link 4 are pivotally connected to a bracket 6 at pivots 3a and 4a at their tips, respectively, as shown in FIGS. 2 and 4, and the bracket 6 is attached to a downward wrist. When the wrist part 5 is attached to the surface 7 and the arm 3 is swung vertically by a drive source 2 consisting of a cylinder provided between the robot body 1, the arm 3 and the link 4 The parallel movement in the vertical direction is transmitted to the bracket 6, and therefore to the wrist portion 5 attached to the bracket 6, through the parallel link mechanism.

The wrist portion 5 is connected to a pair of first and second hydraulic motors 5.
a and 5b are combined so that their axes are perpendicular to each other, and a mounting seat 5c for the wrist mounting surface 7 is provided on the circumferential surface of the first hydraulic motor 5a, and a rotating shaft of the second hydraulic motor 5b is mounted on the circumferential surface of the first hydraulic motor 5a. A tool mounting plate 5d on which a welding gun and other tools 12 are mounted is provided. According to the present invention, the bracket 6 is pivoted to the arm 3 and the link 4 by a dividing surface 8 that intersects with the wrist mounting surface 7, for example, a vertical dividing surface 8 that is orthogonal to the mounting surface 7. The first bracket 6a and the remaining second bracket 6b can be separated, and each bracket 6a,
6b, the first flange surface 7a on the mounting surface 7,
7b, and second flange surfaces 8a, 8 on the dividing surface 8.
b, and the second bracket 6b is connected to the second bracket 6b.
The flange surface 8b can be freely replaced with the first flange surface 7a of the first bracket 6a as shown in FIG. 5, and in this state, the second flange surface 8a of the first bracket 6a and the first
A second wrist attachment surface located on the dividing surface 8 is formed with the flange surface 7a,
To explain this in more detail, in the normal installation state shown in FIG.
The second flange surfaces 8a, 8b are provided on the flange surface 8a.
screws 15, which are attached to the downward wrist attachment surface 7 formed by the first flange surfaces 7a, 7b of both the brackets 6a, 6b; 16, the wrist portion 5 can be attached freely, and in the replacement state shown in FIG. 8b, 7a, and the first
The respective flange surfaces 8a, 7 are attached to the forward-facing wrist attachment surface formed by the second flange surface 8a of the bracket 6a and the first flange surface 7b of the second bracket 6b.
The wrist portion 5 can be attached freely using the screws 13 and 16 provided in a. In the drawing, reference numeral 17 indicates a control unit for each hydraulic motor 5a, 5b constituting the wrist portion 5. The unit 17 is mounted on the wrist portion 5, and the unit 17 is supplied with oil from the robot arm 3 side. As shown in FIG. 4, this is done through an oil hole 18 formed in the pivot shaft 3a for the bracket 6 at the tip of the arm 3. In this case, the first bracket 6
The oil hole 18 is provided on the first and second flange surfaces 7a and 8a of a.
When the second flange surface 8b of the second bracket 6b is connected to each flange surface 7a, 8a by forming each oil spout 19 connected to the oil outlet 19, the second flange surface 8b of the second bracket 6b is formed.
0 is aligned with the oil spout 19, and the unit 17 is supplied with oil through an oil supply pipe 21 connected to the socket 20. In the drawing, 22 indicates an oil supply pipe on the robot arm 3 side that is connected to the oil hole 18.

As described above, according to the present invention, the bracket 6 is separable into the first bracket 6a and the second bracket 6b at the dividing surface 8 intersecting the wrist attachment surface 7,
By replacing the second bracket 6b, a second wrist attachment surface that matches the dividing surface 8 can be formed, and the bracket 6 can be replaced with a small bracket that forms a single wrist attachment surface. It has an advantageous effect that the mounting posture of the wrist portion 5 can be changed depending on the size of the wrist portion 5.

[Brief explanation of the drawing]

Fig. 1 is a side view of an example of an industrial robot equipped with the device of the present invention, Fig. 2 is a partially cutaway side view of its main parts, Fig. 3 is a plan view thereof, and Fig. 4 is the same as that shown in Fig. 2. A cut-away front view and FIG. 5 are side views of the main parts with the second bracket replaced. DESCRIPTION OF SYMBOLS 1... Robot body, 2... Drive source, 3... Robot arm, 4... Link, 3a, 4a... Pivot, 5... Wrist part, 6... Bracket, 6a...
First bracket, 6b...Second bracket, 7...
...wrist attachment surface, 8...dividing surface, 7a, 7b...first flange surface, 8a, 8b...second flange surface.

Claims (1)

[Scope of utility model claims] A bracket 6 for attaching a wrist portion 5 to a robot body 1 via a parallel link mechanism consisting of a robot arm 3 swung by a drive source 2 and a link 4 parallel to the arm 3. A first bracket 6a and a remaining second bracket 6 are pivotally supported by the arm 3 and the link 4 at a dividing surface 8 that intersects the wrist attachment surface 7 of the bracket 6.
The respective brackets 6a, 6 can be separated from each other.
b, the first flange surfaces 7a, 7 on the mounting surface 7, respectively;
b, and second flange surfaces 8a, 8b on the dividing surface 8.
and the second bracket 6b is freely replaceable at the second flange surface 8b thereof to the first flange surface 7a of the first bracket 6a.
An industrial robot characterized in that a second wrist mounting surface located on the dividing surface 8 can be freely formed by a second flange surface 8a of the bracket 6a and a first flange surface 7b of the second bracket 6b. Wrist device.