WRIST UNIT OF ROBOT

• Main Author: TAKADA SEIICHI
• Format: Patent
• Language: English; Japanese
• Published: 12.09.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To provide a wrist unit of a robot that can perform turning motion of a first wrist and a second wrist around one shaft of two shafts orthogonal to each other, and turning motion of the second wrist around the other shaft independently from each other, using one driving motor.SOLUTION: A wrist unit of a robot, in which a second wrist 6 is rotatably mounted on a first wrist 5, is provided with a planetary gear mechanism 4 which is equipped with a sun gear 16 formed integrally with an input shaft 3, a carrier 19, formed integrally with a first wrist shaft 1, which rotatably supports a planetary gear 18 and an inner gear 17 which is connected through a pair of bevel gears 2a and 17b to a second wrist shaft 2 orthogonal to the first wrist shaft 1. The unit can perform turning motion of both wrists 5 and 6 around the first wrist shaft 1 and rotating motion of the second wrist 6 around the second wrist shaft 2 independently from each other, using one driving motor that applies input torque to the input shaft 3, by selectively releasing a first brake 7 for the first wrist shaft 1 and a second brake 8 for the second wrist shaft 2.SELECTED DRAWING: Figure 1 【課題】１つの駆動モータで、互いに直交する２軸のうちの一方の軸のまわりの第１手首と第２手首の回動動作と、他方の軸のまわりの第２手首の回転動作を互いに独立に行うことができるロボットの手首ユニットを提供する。【解決手段】第１手首５に第２手首６を回転自在に組み込み、入力軸３と一体形成された太陽歯車１６と、第１手首軸１と一体形成され、遊星歯車１８を自転自在に支持するキャリア１９と、第１手首軸１と直交する第２手首軸２に一対の傘歯車２ａ、１７ｂを介して連結される内歯車１７とを備えた遊星歯車機構４を設け、第１手首軸１用の第１ブレーキ７と第２手首軸２用の第２ブレーキ８とを選択的に解除操作することにより、入力軸３に入力トルクを加える１つの駆動モータで、第１手首軸１のまわりの両手首５、６の回動動作と、第２手首軸２のまわりの第２手首６の回転動作を互いに独立に行えるようにした。【選択図】図１