JPH04217485A - Industrial robot device - Google Patents

Abstract

PURPOSE:To reduce the weight and miniaturize the wrist of an industrial robot, restraint the cost and improve the reliability, through the omission of a spur gear. CONSTITUTION:The transmission device which transmits the driving force from a 1st input axis 2 to a speed reducer 9 is composed of 1st, 2nd and 4th bevel gears 3, 4, 8 only, these bevel gears 3, 4, 8 are meshed with their arrangement in the case 1. Also the transmission device which transmits the driving force from a 2nd input axis 11 to a speed reducer 14 is composed of 5th and 6th bevel gears 12, 13 only, the these bevel gears 12, 13 are meshed with their arrangement in the case 1. As the transmission device is composed of the bevel gears only, the 1st/2nd spur gears and 3rd bevel gear which were necessary in the past can be omitted, and the light weighing and miniaturization of the wrist, the restraint of the manufacturing cost and the improvement of reliability can be realized.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot device, and more particularly to an improvement in the mechanical system of a wrist portion.

0002

[Prior Art] Fig. 2 shows the wrist of a conventional industrial robot.
An input shaft 2 is pivotally supported, and a first bevel gear 3 that meshes with a second bevel gear 4 is fitted into an end of the first input shaft 2. A first spur gear 5 that meshes with a second spur gear 6 is fitted onto the end of the shaft 4 . Further, a third bevel gear 7 is fitted to the end of the shaft of the second spur gear 6, and a fourth bevel gear 8 that operates the reducer 9 is attached to the third bevel gear 7. are meshed with each other, so that the output flange 10 rotates as the reducer 9 operates.

A second input shaft 11 is pivotally supported inside the case 1, and a fifth bevel gear meshing with a sixth bevel gear 13 is attached to the end of the second input shaft 11. 12 is fitted, and as the sixth bevel gear 13 rotates, a speed reducer 14 that swings the case 1 is operated.

[0004] Therefore, the driving force from the first input shaft 2 is
After being sequentially transmitted to the first bevel gear 3, second bevel gear 4, first spur gear 5, second spur gear 6, third bevel gear 7, and fourth bevel gear 8, the deceleration is performed. is input to the machine 9, and this reducer 9
operates to rotate the output flange 10.

[0005] Furthermore, the driving force from the second input shaft 11 is
After being sequentially transmitted to the fifth bevel gear 12 and the sixth bevel gear 13, it is input to the reducer 14, which operates to swing the entire case 1.

[0006]

[Problems to be Solved by the Invention] The wrist portion of a conventional industrial robot is constructed as described above, and a large number of gears 3, 4, 5, 6, 7, 8, 12, and 13 are complexly arranged inside the case 1. This poses problems such as an increase in the size of the wrist, an increase in cost, and a decrease in reliability.

The present invention has been made in view of the above, and an object of the present invention is to provide an industrial robot device that can reduce the weight and size of the wrist, reduce costs, and improve reliability.

[0008]

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention provides a plurality of transmissions for transmitting the driving force from the input shaft to the output flange inside the case constituting the wrist portion of the industrial robot. In addition, the transmission device is characterized in that the plurality of transmission devices are composed only of bevel gears.

[0009]

[Operation] According to the present invention, since the transmission device of the wrist portion is composed of only bevel gears, it is possible to reduce the weight and size of the wrist portion, reduce costs, and improve reliability by omitting spur gears. can.

0010

[Embodiment] The present invention will be described in detail below based on an embodiment shown in FIG. 1. The wrist portion of the industrial robot according to the present invention has a first input shaft 2 that is pivotably supported inside a case 1 that is a main body. is,
A first bevel gear 3 is fitted to the end of the first input shaft 2, and a second bevel gear 4 is attached to the first bevel gear 3.
are engaged. Further, a fourth bevel gear 8 that operates a reducer 9 is meshed with the second bevel gear 4, so that the output flange 10 rotates as the reducer 9 operates.

On the other hand, a second input shaft 11 is pivotally supported inside the case 1, and a fifth bevel gear that meshes with a sixth bevel gear 13 is disposed at the end of the second input shaft 11. 12 is fitted, and as the sixth bevel gear 13 rotates, a speed reducer 14 that swings the case 1 is operated.

Therefore, the driving force from the first input shaft 2 is:
First bevel gear 3, second bevel gear 4, and fourth bevel gear 8
After being sequentially transmitted to , the signal is input to the reducer 9 , and the reducer 9 operates to rotate the output flange 10 . Further, the driving force from the second input shaft 11 is sequentially transmitted to the fifth bevel gear 12 and the sixth bevel gear 13, and then input to the reducer 14, and the reducer 14 is operated. The entire case 1 is rocked.

As described above, according to the present invention, the transmission device for transmitting the driving force from the first input shaft 2 to the reducer 9 is simply constructed from only bevel gears, so that the transmission device shown in FIGS. As is clear from the comparison, the first spur gear 5 and the second spur gear 6
, and the third bevel gear 7 can be definitely omitted. Therefore, it is possible to significantly reduce the weight and size of the wrist part, and
Manufacturing costs can be significantly reduced, and reliability can be significantly improved. Furthermore, as the wrist becomes lighter and smaller, the driving load on the joints of the entire robot is reduced, making it possible to reduce the weight of the robot.

[0014]

As described above, according to the present invention, the transmission device for transmitting the driving force from the first input shaft to the reducer is simply constructed from only bevel gears. , second
This has the effect of reliably omitting the spur gear and the third bevel gear. In addition, it is possible to significantly reduce the weight and size of the wrist part, and to significantly reduce manufacturing costs.
Moreover, there is an effect that reliability can be significantly improved. Furthermore, as the wrist becomes lighter and smaller, the driving load on the joints of the robot as a whole is reduced, so there is an effect that the robot can be made lighter.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of main parts of an embodiment of an industrial robot device according to the present invention.

FIG. 2 is an explanatory diagram of main parts of a conventional industrial robot device.

[Explanation of symbols]

1 Case 2 First input shaft 3 First bevel gear 4 Second bevel gear 8 Fourth bevel gear 9.14 Reducer 10 Output flange 11 Second input shaft 12 Fifth bevel gear 13 Sixth bevel gear

Claims (1)

[Claims] Claim 1. An industrial robot device, wherein a plurality of transmission devices for transmitting driving force from an input shaft to an output flange are disposed inside a case constituting a wrist portion of the industrial robot, wherein the plurality of transmission devices An industrial robot device comprising only bevel gears.