• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A gearbox arrangement for an industrial robot comprises a flange element, a pivoting element and a rotating element adapted to move independently of each other, and having two trains of gears, comprising drive-shafts for connection to respective drive means, for separately driving the said flange element and pivoting element. Reduction gears are inserted between the two gear-trains and the flange and pivoting elements. The trains of gears in the rotating element are branched through the intermediate shafts and lateral shafts arranged with their axes in parallel with the axes of the drive-shafts. Such a structure permits the use of small diameter shafts and gears for a compact arrangement. In addition, it permits the use of spur gears at appropriate locations which are inexpensive and relatively easy to install, maintain and service to keep the low tolerances needed for industrial robots.
    公开号:SU1436862A3
    申请号:SU864027247
    申请日:1986-04-18
    公开日:1988-11-07
    发明作者:Бейер Хассо
    申请人:Эке Роботерзюстема Гмбх (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to a machine tool and relates to a drive mechanism for a mechanical arm of an industrial robot, which has a flange body associated with the arm through an intermediate node (wrist).
    The purpose of the invention is the quick removal or repair of the intermediate unit (zap) and reduction of the dimensions of the drive mechanism.
    FIG. 1 shows a general image of an industrial robot; in FIG. 2, section A-A in fig. one.
    The industrial robot has a mechanical arm 1, which is divided into an intermediate node 2 (wrist, or a body of rotation), a pivot element 3 and a trench t h body. The intermediate node 2, a pivot element 3 and flan 20 of the target body 4 can rotate or rotate in accordance with the instructions shown in FIG. 1 arrows. The flange body 4 can be equipped with distinctions necessary for a special chain of use of tools, for example, welding tongs, spray guns for piercing the work associated with applying a lacquer coating, scoop elements and the like. zo
    The arrangement of the drive mechanism consists primarily of two wired shafts 5 and 6 (Fig. 2) 5 which are inserted into the wrist of the mechanical arm of the industrial robot and Tai-i are split into two kinematic chains. The branching of the kinematic chains in the west is made with the help of intermediate shafts 7 and 8, which are located in the following pairs: the drive shaft 5 and 6; the drive shaft 6 through the upper (on) intermediate spans 7 and 8, as well as located across the shaft 8 and, therefore, across the drive shaft 6, the additional intermediate shaft 9 and through the shaft Yu causes the flange body 4 to rotate. The drive shaft 5 through the lower (in figure 2) intermediate shafts 7 and 8, as well as through the passage cross the shaft 8 and, therefore, across the drive shaft 5, the shaft 11 leads to the rotation of the element 3 around an axis parallel to the axis of the shaft 11, which is also an additional intermediate shaft. In this case, the axis of rotation of the flange body 4 coincides with the axis of the shaft Yu, and the axis of rotation of the element is the 3rd axis of the shafts 9 and 11. Between the driven shaft
    3 and the intermediate shaft 10 into the kinematic chain of rotation of the flange body 4 is down gear 12, and between the drive shaft 6 and the shaft 11 for swing - gear 13. These down gears 12 or 13 need not necessarily be included with the last links of the corresponding kinematic chains, however, such inclusion is preferred.
    The intermediate shafts 7 consist of a fixed axle 14 and a cylindrical gear wheel 15 mounted thereto for rotation. This allows simple installation of the intermediate shafts 7 in the intermediate node 2 and simple repair or replacement.
    While the drive shafts 5 and 6, as well as the intermediate shafts 7, have exclusively cylindrical gearing, the shafts 8 are made on one side with cylindrical gearing of wheels 15, and the other side with bevel gearing of wheels 16 in order to enter engagement with a pinion gear 9 also equipped with a bevel gear or with the wheels 17 of the shaft 11. These prevailing relatively simple gear meshes are preferred, for example from the point of view of simple installation, requiring less Atrat manufacturing, etc.
    As the intermediate shafts 7, the shaft 11 also consists of a fixed axle and a bevel gear fixed to it. Shaft 11 is installed in intermediate unit 2 and in port element 3.
    about rmu l and
    the invention
    权利要求:
    Claims (5)
    [1]
    1. Mechanical arm drive mechanism of an industrial robot, having a flanged body connected to the hand by means of an intermediate assembly (wrist), comprising a first drive shaft, a first kinematic chain for rotating the flange body around the longitudinal axis of the arm, including a reduction gear, as well as a second a drive shaft and a second kinematic chain for rocking the flange body around an axis perpendicular to the longitudinal axis of the arm, including also a reduction gear and both kinematic chains have intermediate shafts, and both drive shafts are associated with individual means of displacement (engines), which are due to the fact that, in order to ensure quick removal or repair of the intermediate assembly (wrist) and reduce the dimensions of the drive mechanism, both intermediate shafts are parallel to each other. shafts.
    [2]
    2. Pop. 1 mechanism, different from the fact that the intermediate shafts have a pin on one end and a spur gear on the other end.
    [3]
    3. A mechanism according to claims 1 and 2, characterized in that the intermediate shafts have a cogwheel gear at one end, and the spur gears of the intermediate shafts form gears.
    [4]
    4. The mechanism for PP. 1-3, which is due to the fact that in the kinematic chain of a swing there is an additional intermediate shaft fixed by a pin in the intermediate node
    (zapstye), and on this shaft there is a bevel gear, forming with. bevel gear of the main intermediate shaft Koichi gear.
    [5]
    5. Mehayizm on PP. 1-4, characterized in that; that the drive shafts have cylindrical gears, which form cylindrical gears
    Drik wheel, and on the other - Coca-2o precise shafts gears.
    .one
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1436862A3|1988-11-07|Drive mechanism for mechanical arm of industrial robot
    SU1524801A3|1989-11-23|Drive head for manipulators
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    EP0178620B1|1989-05-24|Arrangement of robot joints
    SU1421250A3|1988-08-30|Reduction-gear head for manipulators
    US20080295623A1|2008-12-04|Speed Reducer to be Attached to Articulated Portion Industrial Robot
    US5924330A|1999-07-20|Industrial robot wrist unit
    GB2200188A|1988-07-27|Harmonic speed changer
    JP3659707B2|2005-06-15|Turning part structure for robots, etc.
    WO2010127701A1|2010-11-11|Pitch and roll robot joint and industrial robot
    US3857301A|1974-12-31|Speed reducer
    US4688984A|1987-08-25|Wrist driving mechanism for industrial robot
    US6389921B1|2002-05-21|Wrist mechanism of industrial robot
    US6415678B1|2002-07-09|Wrist mechanism of industrial robot
    DE3719064A1|1987-12-17|ROBOT WRIST
    EP0128544B1|1987-01-14|A joint structure between link members primarily of an industrial robot arm
    US4224836A|1980-09-30|Tilting drive arrangement for a converter
    DE2363106C2|1983-08-11|Load balancing device for a planetary gear drive of heavy motor vehicles
    SU891425A1|1981-12-23|Manipulator
    EP0347260B2|1996-06-12|Drive system for vehicles
    CA1160475A|1984-01-17|Speed change mechanism
    CN214359526U|2021-10-08|Three-axis integrated combination device
    SU704777A2|1979-12-25|Joint for manipulator links
    SU1542797A1|1990-02-15|Manipulator joint
    US4630349A|1986-12-23|Method for assembling two-way transmission gears with power distribution
    同族专利:
    公开号 | 公开日
    DE8511948U1|1985-07-11|
    US4776232A|1988-10-11|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JPS5025234B1|1970-02-20|1975-08-21|
    JPS5425300B2|1973-01-25|1979-08-27|
    JPS5317997B2|1973-04-12|1978-06-12|
    JPS5727686A|1980-07-21|1982-02-15|Hitachi Ltd|Industrial articular robot|
    DE3048067C2|1980-12-19|1984-08-09|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg|Gear arrangement for the joint head of a manipulator|
    DE3219292C2|1982-05-22|1986-01-02|Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg|Rod end for industrial robots|
    DE3228945C2|1982-08-03|1988-08-25|Eke Robotersysteme Gmbh, 8000 Muenchen, De|
    JPS5973284A|1982-10-19|1984-04-25|Fanuc Ltd|Articulated arm type industrial robot|
    JPS6315113B2|1982-10-20|1988-04-02|Fanuc Ltd|
    EP0133499B1|1983-08-03|1987-06-03|KUKA Schweissanlagen GmbH|Manipulator gear head|
    US4684313A|1984-01-13|1987-08-04|Mitsubishi Denki Kabushiki Kaisha|Wrist device of industrial robot|
    US4574655A|1984-07-16|1986-03-11|Kabushiki Kaisha Yasakawa Denki Seisakusho|Wrist mechanism for industrial robot|JPS62287991A|1986-06-09|1987-12-14|Fanuc Ltd|Wrist drive mechanism of industrial robot|
    JPS63109994A|1986-10-27|1988-05-14|Hitachi Ltd|Wrist mechanism for industrial robot|
    US4897014A|1988-09-06|1990-01-30|Harbor Branch Oceanographic Institution, Inc.|Device for interchange of tools|
    JPH02190288A|1989-01-20|1990-07-26|Kobe Steel Ltd|Wrist mechanism for robot for industrial use|
    US4976165A|1989-07-14|1990-12-11|Kabushiki Kaisha Kobe Seiko Sho|Backlash removing mechanism for industrial robot|
    JP3329430B2|1996-04-09|2002-09-30|株式会社安川電機|Industrial robot wrist mechanism|
    CN102198658A|2010-03-25|2011-09-28|鸿富锦精密工业（深圳）有限公司|Robot arm assembly|
    JP5965128B2|2011-10-28|2016-08-03|川崎重工業株式会社|Industrial robot wrist structure and assembly method thereof|
    GB2541369B|2015-07-22|2021-03-31|Cmr Surgical Ltd|Drive mechanisms for robot arms|
    GB2540756B|2015-07-22|2021-03-31|Cmr Surgical Ltd|Gear packaging for robot arms|
    WO2017013451A1|2015-07-22|2017-01-26|Cambridge Medical Robotics Ltd|Gear packaging for robot arms|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE8511948U|DE8511948U1|1985-04-22|1985-04-22|Gear arrangement for an industrial robot hand|
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