Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1994-12-14
1996-08-27
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
7449006, 901 26, 901 29, B25J 1702
Patent
active
055490166
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
This invention relates to a wrist mechanism provided at the front end portion of an arm of an industrial robot.
BACKGROUND OF THE INVENTION
Heretofore, there is disclosed a wrist mechanism which comprises, at the front end portion of the arm of an industrial robot, a rotary shaft rotating about a second axis perpendicular to a first axis extending in a length direction of the arm and a rotary shaft rotating about a third axis perpendicular to the second axis, wherein two drive mechanisms for independently driving the second and third axes are provided, thus to thus rotate a tool fixing portion through a bevel gear about the second and third axes (e.g., Japanese Utility Model Application Laid Open No. 70896/1988).
Moreover, there is disclosed a wrist mechanism in which an arm is formed by three shafts of a the hollow structure in a concentric form. An inclined rotary portion in a hollow form rotating through a hollow bevel gear about a second axis inclined relative to a first axis extending in a length direction of the arm is provided at the front end portion thereof, and a hollow tool fixing portion rotating through a bevel gear about a third axis inclined relative to the second axis is provided (e.g., (Japanese Patent Application Laid Open
However, in the prior art of the aforesaid Japanese U.M. application Laid Open No. 63-70896, since the front end portion of the arm is occupied by two drive mechanisms for independently driving the second and third axes, cable and hose for supplying electricity and fluid such as pressurized oil or pressurized air, etc. cannot be passed through the tool fixed at tool fixing portion, and such cable and hose are therefore disposed outside the wrist portion. For this reason, there was the problem that in the case where the wrist portion is rotated many number of times, cable or hose is wound around the wrist portion, so the rotational operation range of the wrist portion is limited.
Moreover, in the prior art of the aforesaid Japanese Patent Application Laid Open No. 61-168487, while cable or hose can be passed through the hollow arm, it is necessary to pass such cable or hose inside three hollow bevel gears of the wrist portion and the hollow passage is curved. And there was the problem that at the time of performing the work for attachment/detachment of the cable or hose, the tool is detached from the tool fixing portion and connector is then detached, so it would take much time.
SUMMARY OF THE INVENTION
An object of this invention is to provide a wrist mechanism for an industrial robot in which there is no possibility that rotational operation of the wrist portion is limited, and the performance of the work for attaching/detaching of the cable or hose for the tool is facilitated.
This invention is directed to a wrist mechanism for an industrial robot having a second axis perpendicular to a first axis extending in a length direction of an arm and a third axis perpendicular to the second axis, and including a wrist portion capable of rotating about the second and third axes. The wrist mechanism comprises: first and second reduction mechanisms supported at both side surface portions of the front end portion of the arm having a cut portion so that they can be rotated about the second axis; a wrist frame including a hollow portion and a cut portion fixed at the output shaft of the first reduction mechanism; a first bevel gear including a hollow portion provided at the wrist frame and supported so that it can be rotated about the third axis perpendicular to the second axis; a second bevel gear provided on the wrist frame, rotating about an axis parallel to the second axis and meshing with the first bevel gear; a toothed wheel integral with the second bevel gear; a toothed wheel fixed at the output shaft of the second reduction mechanism and meshing with the toothed wheel integral with the second bevel gear; and a tool fixing portion including a hollow portion fixed to the first bevel gear.
Particularly, cable and hose connected to the tool are provided i
REFERENCES:
patent: 4218166 (1980-08-01), Akeel et al.
patent: 4703668 (1987-11-01), Peter
patent: 5279177 (1994-01-01), Inada
Nakako Toru
Tanimura Hideki
Tukuda Kouji
Herrmann Allan D.
Kabushiki Kaisha Yaskawa Denki
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