公开(公告)号：US4574655A

公开(公告)日：1986-03-11

申请号：US630952

申请日：1984-07-16

申请人： Kaoru Kimura ,  Shunji Sato ,  Junichiro Ogawa ,  Mitsuyoshi Nakano

发明人： Kaoru Kimura ,  Shunji Sato ,  Junichiro Ogawa ,  Mitsuyoshi Nakano

IPC分类号： B25J9/10 ,  B25J17/02 ,  F16H1/00 ,  F16H37/00

CPC分类号： F16H1/006 ,  B25J17/0283 ,  B25J9/1025 ,  Y10T74/19 ,  Y10T74/19051

摘要： The present invention provides a wrist mechanism with three degrees of freedom for an industrial robot, which is compactly formed and to which a tool is mounted. The first degree of freedom is associated with a first input shaft for rotating a wrist portion at a low speed. The second and third degrees of freedom are associated with rotating the tool or tilting the wrist. In order to attain these motions, second and third input shafts concentrically arranged relative to the first input shaft are used for transmitting motion to, through bevel gears, speed reduction mechanisms each symmetrically disposed at right and left sides, and the outputs therefrom are used to drive the tool and wrist.

摘要翻译： 本发明提供了一种用于工业机器人的三自由度的手腕机构，其紧凑地形成并且工具被安装到该自动机构上。 第一自由度与用于以低速旋转腕部的第一输入轴相关联。 第二和第三自由度与旋转工具或倾斜手腕相关联。 为了获得这些运动，相对于第一输入轴同心地配置的第二和第三输入轴用于通过锥齿轮将运动传递到每个对称地设置在右侧和左侧的减速机构，并且其输出用于 驱动工具和手腕。

公开(公告)号：US4594918A

公开(公告)日：1986-06-17

申请号：US632801

申请日：1984-07-20

申请人： Karou Kimura ,  Junichiro Ogawa

发明人： Karou Kimura ,  Junichiro Ogawa

IPC分类号： B25J17/02 ,  B25J19/00 ,  F16H37/00

CPC分类号： B25J17/0291 ,  Y10T403/17 ,  Y10T74/19051 ,  Y10T74/20207

摘要： In a wrist mechanism of the type that two sets of differential speed reduction devices are provided within a wrist and arranged symmetrically of and perpendicularly to the axis of an arm and that the adjustment of the angle of the wrist and the rotation of a tool are carried out through the differential speed reduction devices, a novel wrist mechanism is provided for preventing a wrist cover from entering into a dead point condition. The wrist mechanism comprises a guide protrusion and a guide. The guide protrusion is provided on the side of a bracket related by one of wrist covers on a wrist portion side, the side being located outside a speed reduction shaft and on the side of the wrist portion relative to the axis of an input shaft. The guide is provided on the inner face of the wrist cover at a point on a locus of the guide protrusion relative to the wrist cover, the point being defined by that at least the axes of a tool rotation shaft and input shafts coincide with each other.

摘要翻译： 在手腕机构中，两组差速减速装置设置在手腕内并且对称地并且垂直于臂的轴线并且手腕的角度和工具的旋转的调节被携带 通过差速减速装置，提供了一种新颖的腕部机构，用于防止腕套进入死点状态。 手腕机构包括导向突起和引导件。 引导突起设置在与手腕部一侧的腕套之一相关的支架侧，侧面位于减速轴外侧，相对于输入轴的轴线位于腕部的一侧。 引导件设置在导向突起相对于手腕盖的轨迹上的一个​​点处的手腕盖的内表面上，该点由刀具旋转轴和输入轴的至少轴线彼此重合而定义 。