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Wrist structure of industrial robots

A technology of robots and wrists, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2016-04-27
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, in the spur gear reduction mechanisms of JP-A-2014-000612, JP-A-7-52074, and the fifth-shaft reduction mechanism of JP-A-10-175188, in order to increase the conveyable mass, etc. When the reduction ratio needs to be changed due to the specification change, design changes such as re-preparation of the wrist frame are required.

Method used

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  • Wrist structure of industrial robots
  • Wrist structure of industrial robots
  • Wrist structure of industrial robots

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Embodiment Construction

[0023] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following drawings, the same reference numerals are assigned to the same components. For ease of understanding, the scales of the above drawings are appropriately changed.

[0024] figure 1 It is a figure showing the overall structure of the robot including the wrist structure part based on this invention. figure 1 The shown robot 1 is a vertical articulated robot with a six-axis structure. The wrist 2 at the tip of the robot 1 is mounted with six degrees of freedom. In each axis of the robot 1, servo motors (not shown in figure 1 ). These servomotors are connected to the robot controller 5 by control cables respectively extending from the servomotors, and each servomotor is controlled by the robot controller 5 .

[0025] Such as figure 1 As shown, a work tool 3 such as a clamp or a welding torch is attached to the tip of the wrist 2 of the robot 1 . The wo...

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PUM

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Abstract

A spur gear deceleration mechanism unit (30) of a wrist structure unit is adapted to be driven in a first deceleration ratio structure or a second deceleration ratio structure. The first deceleration ratio structure uses at least a first spur gear (31) fitted onto an output shaft of a wrist inner frame driving motor (21) and a second spur gear (32) rotatably supported by a first auxiliary shaft (41). The second deceleration ratio structure uses at least the first spur gear, a first additional spur gear (51) rotatably supported by an additional auxiliary shaft (50), and a second additional spur gear (52) rotatably supported integrally with the first additional spur gear by the additional auxiliary shaft.

Description

technical field [0001] The present invention relates to a wrist structure provided at the tip of an arm of an industrial robot. Background technique [0002] The wrist structure of an industrial robot includes a wrist frame and a wrist inner frame that can rotate relative to the wrist frame. Wrist components such as hands and tools are attached to the wrist inner frame via the work tool attachment. The rotation of the output shaft of the drive motor built in the wrist frame is decelerated by the spur gear reduction mechanism, thereby rotating the wrist inner frame relative to the wrist frame. [0003] In the wrist structure part disclosed in Japanese Patent Application Laid-Open No. 2014-000612, the drive motor is housed in the wrist frame, and the space for the speed reducer of the spur gear reduction mechanism that forms the transmission mechanism of the drive force is housed, and the space for supplying the drive power to the drive motor, The wiring spaces of the wiring...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/0258B25J9/102Y10T74/20317
Inventor 森正嘉
Owner FANUC LTD