KR0124570B1 - Wrist of industrial articulated robot - Google Patents

Abstract

The robot wrist improves the power trnasmission efficiency and makes the robot compact by simplifying the connection structure. The robot wrist comprises a 1st wrist(29) assembled with a 1st shaft(3); 2nd and 3rd shaft(7,8) combined within the 1st shaft(3); pulleys(35,36) connected to the 3rd shaft(8) via bevel gears(11,39) and a timing belt(37); other belvel gears(10,33) transmitting the power of the 2nd shaft(7) with a speed reducer(34); a 2nd wrist(30) receiving the power of the 2nd and 3rd shaft(7,8).

Description

Wrist structure of industrial articulated robot

Figure 1 is a schematic diagram showing the wrist structure of a conventional industrial articulated robot.

2 is a schematic view showing the present invention.

* Explanation of symbols for the main parts of the drawings

1: robot arm 3: 1st axis

7: 2nd axis 8: 3rd axis

10, 11, 33, 39, 41, 43: Bevel Gears

29: the first list 30: the second list

31: Third List 32: Axis

34: reducer 35, 36: pulley

37: timing belt

The present invention relates to a wrist structure of an industrial articulated robot, and more particularly, to simplify the connection structure to improve the power transmission efficiency and to realize the compactness of the robot.

In recent years, with the development of factory automation, industrial robots have been widely used.

For example, the spread of horizontal articulated robots and vertical articulated robots is becoming popular.

In particular, in the case of vertical articulated robots, the open-loop mechanism and the closed-loop mechanism model are the main types, and although each type is different from the model, the wrist structure is It has almost the same structure.

The wrist structure of the vertical articulated robot has to be compact and has low power loss, thereby improving power transmission efficiency, thereby accelerating technology development for the wrist structure.

1 is a schematic view showing a wrist structure of a conventional articulated robot, in which a first shaft 3 of a first wrist 2 is supported by a bearing 4 on a robot arm 1, The second list 5 is coupled to the list 2 so as to rotate at right angles with the first list 2, and the third list 6 is the same as the first list 2 in the second list 5. It is coupled to rotate in the direction.

In addition, the second shaft 7 and the third shaft 8 are coupled to the inside of the first shaft 3 integrally formed with the first wrist 2, and are supported by the bearing 9. The gears 10 and 11 are fixed, but the third shaft 8 is more exposed to the outside than the second shaft 7.

This is to avoid mutual interference of the bevel gears (10) and (11).

In addition, a pair of pulleys 13 and 14 are rotatably installed on one side of the first wrist 2 so as to transmit power by the timing belt 12, and the shaft 15 fixed to the pulley 13 on one side thereof. The bevel gear 16 is fixed to the second shaft 7 and the bevel gear 10 fixed thereto, and the other pulley 14 and the fixed shaft 17 are connected to the second wrist 5. As the second shaft (7) is rotated, power is applied to the second shaft (7) → bevel gear (10) → bevel gear (16) → shaft (15) → pulley (13) → timing belt (12) → pulley (14). ) Is transmitted through the shaft (17) to the reducer (18) to rotate the second wrist (5).

On the other side of the first wrist 2, a pair of pulleys 20 and 21 are rotatably provided so that power is transmitted by the timing belt 19, and the shaft fixed to the pulley 20 on one side is fixed. The bevel gears 23 are fixed to the third shaft 8 and the bevel gears 11 fixed to each other, and another pulley 21 and the shaft 24 are fixed to the second wrist 5. The bevel gear 25 is fixed to the front end through the inside thereof so as to be engaged with the bevel gear 27 fixed to the shaft 26 of the third wrist 6.

Accordingly, when the first shaft 3 is rotated by a motor (not shown), the first wrist 2 rotates in the same direction as the rotation direction of the first shaft 3 and the second wrist 5 is as described above. As the power is transmitted, the first wrist 2 rotates in a direction perpendicular to the first wrist 2, and the third wrist 6 has a third shaft 8 → bevel gear 11 → bevel gear 23 → pulley 20 → timing belt. (19) → pulley (21) → shaft (24) → bevel gear (25) → bevel gear (27) → shaft (26) → speed reducer (28), so that the direction of rotation of the first shaft (3) Rotate the same as

However, such a conventional structure has a large energy transmission and support distance such as shafts, pulleys and timing belts, which are power transmission elements, resulting in increased energy loss during power transmission. There was this.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem in the related art, and an object thereof is to improve a power transmission structure so that a second wrist can be driven without using a separate pulley and a timing belt.

According to an aspect of the present invention for achieving the above object, the first arm is integrally formed on the robot arm and the first axis is coupled to the second axis and the third axis in order to provide power to the third axis. The bevel gear is transmitted to the bevel gear through the pulley connected to the bevel gear and the timing belt to rotate the third wrist. And a wrist structure of an industrial articulated robot, adapted to be delivered to a second wrist via a and reducer.

Hereinafter, with reference to Figure 2 of the accompanying drawings showing the present invention as an embodiment in more detail as follows.

2 is a schematic view of the present invention, and description of the same parts as in the conventional structure will be omitted, and like reference numerals will be given.

A first wrist 29 coupled to the robot arm 1 as a bearing 4 and rotating according to the driving of a motor (not shown), and axially coupled to the first wrist 29 to be the first wrist. The second wrist 30 is rotated in a direction perpendicular to the 29 and the third wrist 31 is coupled to the second wrist 30 and rotates on the same axis as the first wrist 29.

The second wrist 30 is rotatably coupled to the shaft 32 on the outside of the first wrist 29 and the bevel gear 33 fixed to the shaft 32 is at the end of the second shaft 7. As the second shaft 7 rotates in engagement with the fixed bevel gear 10, the rotational force is transmitted through the bevel gears 10, 33 and the reducer 34 to be perpendicular to the first wrist 29. It is supposed to rotate.

A pair of pulleys 35 and 36 are connected to one side of the second wrist 30 by a timing belt 37, and a bevel gear 39 is fixed to the shaft 38 of the pulley 35. The bevel gear 41, which is adapted to engage the third shaft 8 and the fixed bevel gear 11 and is fixed to the shaft 40 of the other pulley 36, has the third wrist 31 and the fixed shaft 42. Meshing with the bevel gear (43), the power of the bevel gears (11), (39) and pulleys (35), (36) and bevel gears (41), (43) as the third shaft (8) is rotated. At the same time as being transmitted through the decelerator 44 is decelerated by the reducer 44 to rotate the third wrist 31.

Referring to the effects of the present invention configured as described above are as follows.

First, as the first shaft 3 is rotated by the motor, the first wrist 29 fixed to the first shaft 3 is rotated in the same direction as the rotation direction of the first shaft 3.

In addition, when the second shaft 7 rotates, the bevel gear 10 fixed to the end of the second shaft 7 rotates, and accordingly, the rotational force of the bevel gear 33 → shaft 32 → reducer 34 is rotated. Since the second wrist 30 is transmitted to the second wrist 30 through the second wrist 30, the second wrist 30 moves in a direction perpendicular to the direction of rotation of the first wrist 29 about the axis 32.

When the third shaft 8 rotates, the power is bevel gear 11 → bevel gear 39 → shaft 38 → pulley 35 → timing belt 37 → pulley 36 as in the prior art. The third wrist 31 is rotated because the shaft 40 is transmitted through the bevel gear 41 to the bevel gear 43 to the shaft 42 to the reduction gear 44.

As described above, since the rotational force of the second shaft 7 can be directly transmitted to the second wrist 30 through the bevel gears 10 and 33, the power transmission structure is simplified. In addition to minimizing energy loss, the robot's wrist can be made compact.

Claims (1)

The first arm 29 is integrally formed with the robot arm 1 with the first shaft 3, and the second shaft 7 and the third shaft 8 are sequentially coupled inside the first shaft 3. Power of the third shaft 8 is transmitted to the bevel gears 41 and 43 through the pulleys 35 and 36 connected to the bevel gears 11 and 39 and the timing belt 37. In order to rotate the three wrists 31, the second wrist 30 is rotatably coupled to the shaft 32 to the outside of the first wrist 29 so that the power of the second shaft 7 is beveled. Wrist structure of an industrial articulated robot, characterized in that to be delivered to the second wrist (30) through (10), (33) and the reducer (34).