JPH07124883A - Swivel base driving structure for industrial robot - Google Patents
Swivel base driving structure for industrial robotInfo
- Publication number
- JPH07124883A JPH07124883A JP29265793A JP29265793A JPH07124883A JP H07124883 A JPH07124883 A JP H07124883A JP 29265793 A JP29265793 A JP 29265793A JP 29265793 A JP29265793 A JP 29265793A JP H07124883 A JPH07124883 A JP H07124883A
- Authority
- JP
- Japan
- Prior art keywords
- fixed
- input shaft
- drive motor
- swivel
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、産業用ロボットの旋回
部の駆動構造に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive structure for a turning portion of an industrial robot.
【０００２】[0002]
【従来の技術】従来、産業用ロボットの旋回部の駆動構
造は、ベースなどの固定部上に支持ベアリングを介して
駆動モータを入力軸に結合した減速機を支持し、減速機
の出力軸に固定した歯車を固定部に固定した歯車に噛み
合わせてある。減速機には支持部を介して旋回部を固定
し、駆動モータを駆動することにより、旋回部が旋回す
るようにしてある。駆動モータに電力を供給するケーブ
ルは、減速機の支持部の外周に巻付けるように配置し、
駆動モータによって減速機を介して旋回部を旋回させる
と、ケーブルは、支持部の回りに巻付けられたり巻き戻
されたりして、駆動モータが旋回部と共に旋回し得るよ
うにしてある（例えば、特開平２−１６０４８５号）。2. Description of the Related Art Conventionally, a drive structure of a swivel part of an industrial robot supports a reducer in which a drive motor is connected to an input shaft through a support bearing on a fixed part such as a base, and an output shaft of the reducer is supported by The fixed gear is meshed with the fixed gear on the fixed portion. The turning portion is fixed to the speed reducer via a support portion, and the turning portion is turned by driving the drive motor. The cable that supplies electric power to the drive motor is arranged so as to be wound around the outer periphery of the support part of the speed reducer,
When the drive motor swivels the swivel through the reducer, the cable is wrapped or unwound around the support to allow the drive motor to swivel with the swivel (eg, JP-A-2-160485).
【０００３】[0003]
【発明が解決しようとする課題】ところが、従来技術で
は、ケーブルが旋回部を支持する支持部の外周に配置さ
れるため、旋回部を支持するベースにケーブル処理のた
めの大きなスペースを必要とし、ベースの外形が大きく
なり、産業用ロボット全体の小形軽量化が難しいと共
に、ケーブルが支持部の外周で曲げ動作を行うため、耐
久性が低下するという欠点があった。本発明は、小形軽
量化が可能な産業用ロボットの旋回部駆動構造を提供す
ることを目的とするものである。However, in the prior art, since the cable is arranged on the outer periphery of the supporting portion that supports the swivel portion, a large space for processing the cable is required in the base that supports the swivel portion, There is a drawback that the outer shape of the base becomes large, it is difficult to reduce the size and weight of the entire industrial robot, and the cable bends around the outer periphery of the supporting portion, so that the durability is reduced. An object of the present invention is to provide a structure for driving a swivel part of an industrial robot that can be reduced in size and weight.
【０００４】[0004]
【課題を解決するための手段】上記問題を解決するた
め、本発明は、ベース上で旋回する旋回部と、前記旋回
部を回転駆動する駆動モータと、前記駆動モータの駆動
軸の回転を減速する減速機とを備えた産業用ロボットの
旋回部駆動構造において、前記駆動モータの固定部を前
記旋回部の端部に固定し、前記ベース上に前記減速機の
固定部を固定し、前記減速機の固定部に軸受を介して設
けた中空状の減速機構部を前記旋回部の端部に固定し、
前記減速機構部の内側に設けて前記減速機構部と連結し
た中空状の入力軸を減速手段を介して前記駆動モータの
駆動軸に連結し、前記中空状の入力軸の内側に前記旋回
部内に動力を供給するケーブルを通すようにしたもので
ある。In order to solve the above problems, the present invention provides a swivel part that swivels on a base, a drive motor that rotationally drives the swivel part, and a rotation of a drive shaft of the drive motor. In an industrial robot swivel part drive structure including a speed reducer, the fixed part of the drive motor is fixed to an end of the swivel part, and the fixed part of the speed reducer is fixed on the base to reduce the speed. A hollow speed reduction mechanism provided on the fixed part of the machine via a bearing is fixed to the end of the revolving part,
A hollow input shaft provided inside the speed reduction mechanism section and connected to the speed reduction mechanism section is connected to a drive shaft of the drive motor through a speed reduction means, and inside the hollow input shaft in the turning section. It is designed to pass through a cable that supplies power.
【０００５】[0005]
【作用】上記手段により、減速機の入力軸を中空状に形
成し、その中に、駆動モータに電力を供給するケーブル
を通しているので、駆動モータを固定した旋回部が回転
した時、ケーブルは中空の入力軸の中を通るガイドに案
内されながら捩じられた状態となる。しかし、ケーブル
には捩じりが発生するが曲げ作用が働かないので、ケー
ブルの耐久性が向上する。また、ケーブルが減速機の入
力軸の中を通るので、ケーブル処理のためにベース等に
大きなスペースを確保する必要がなくなる。By the above means, the input shaft of the speed reducer is formed in a hollow shape, and the cable for supplying the electric power to the drive motor is passed through the input shaft, so that the cable is hollow when the swivel part to which the drive motor is fixed rotates. It is in a twisted state while being guided by a guide that passes through the input shaft of. However, although twisting occurs in the cable, the bending action does not work, so the durability of the cable is improved. Moreover, since the cable passes through the input shaft of the speed reducer, it is not necessary to secure a large space in the base or the like for processing the cable.
【０００６】[0006]
【実施例】以下、本発明を図に示す実施例について説明
する。図１は本発明の実施例を示す側断面図である。図
において、箱状のベース１の上に減速機２の固定部２１
をボルト等により固定してあり、減速機２の入力軸２２
は中空状に形成し、入力軸２２には歯車からなる第１段
伝達機構２３を固定し、第１段伝達機構２３は歯車列等
からなる第２段伝達機構２４に連結されて、減速機構部
２５を形成している。第２段伝達機構２４は固定部２１
に対して相対的に回転し得るように軸受２６に支持さ
れ、かつ旋回部３の端部に固定した支持部４に固定して
ある。したがって、入力軸２２のトルクが減速機２の第
１段伝達機構２３、第２段伝達機構２４を介して旋回部
３の支持部４に伝達されるようにしてある。旋回部３に
は、減速機２の入力軸２２に平行でオフセットした位置
に駆動軸５１を有する駆動モータ５の固定部５０を固定
してある。また、支持部４には入力軸２２を通す貫通穴
３１を設けてあり、入力軸２２の旋回部３側に歯車２７
を固定してある。駆動軸５１には小歯車５２を設け、駆
動モータ５を回転駆動することにより、中間歯車５３を
介して入力軸２２に固定した歯車２７を回転駆動するよ
うにしてあり、歯車２７、中間歯車５３、小歯車５２に
より駆動軸５１の回転を減速して入力軸２２にトルクを
伝達する減速手段を形成してある。旋回部３には入力軸
２２の中空部に挿入した中空状のガイド６を固定してあ
る。駆動モータ５に電力を供給するケーブル７は、ベー
ス１の内側からガイド６の内側を通り、減速機２、支持
部４、旋回部３を貫通して駆動モータ５の端子に接続さ
れている。このような構成で、駆動モータ５を回転駆動
することにより、減速機２の第１段伝達機構２３、第２
段伝達機構２４を介して減速され、支持部４を介して旋
回部３が入力軸２２を回転軸として回転されると共に、
駆動モータ５が入力軸２２の回りに公転する。このと
き、ケーブル７は、中空の入力軸２２の中を通るガイド
６に案内されながら捩じられた状態で、駆動モータ５に
電力を供給する。なお、ガイド６にはベース１から旋回
部３に設けたエンドエフェクタ等に圧縮空気等の駆動源
を供給するホース等を通すことができる。また、駆動モ
ータ５を減速機２の入力軸２２に対してオフセットさ
せ、駆動モータ５の駆動軸５１の回転を、小歯車５２、
中間歯車５３、歯車２７からなる減速手段を介して減速
して減速機２の入力軸２２を回転すると、駆動軸５１に
かかる入力軸２２の慣性モーメントは減速比の２乗に反
比例するので、駆動モータ５への負荷は小さくなる。上
記の減速手段で、中間歯車５３を省略してもよいが、中
間歯車５３を入れることにより、入力軸２２に固定した
歯車２７の径を小さくすることができ、慣性モーメント
をさらに小さくすることができる。また、歯車２７、小
歯車５２、中間歯車５３は通常グリースバス内で使用さ
れるが、外形を小さくできる中間歯車を使用する方がグ
リースの攪拌損失を小さくすることができる。減速機の
入力軸を中空状にしたために入力軸の慣性モーメントが
幾分増加しても、モータに対する減速機の慣性モーメン
トは極めて小さくなり、駆動モータの容量の増加を防ぐ
ことができる。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side sectional view showing an embodiment of the present invention. In the figure, a fixing portion 21 of the speed reducer 2 is mounted on a box-shaped base 1.
Is fixed by bolts or the like, and the input shaft 22 of the speed reducer 2
Is formed in a hollow shape, a first stage transmission mechanism 23 composed of a gear is fixed to the input shaft 22, and the first stage transmission mechanism 23 is connected to a second stage transmission mechanism 24 formed of a gear train or the like to reduce the speed. The part 25 is formed. The second stage transmission mechanism 24 includes the fixed portion 21.
It is supported by a bearing 26 so as to be able to rotate relative to it, and is fixed to a support portion 4 fixed to the end of the revolving portion 3. Therefore, the torque of the input shaft 22 is transmitted to the support portion 4 of the turning portion 3 via the first stage transmission mechanism 23 and the second stage transmission mechanism 24 of the speed reducer 2. A fixed portion 50 of a drive motor 5 having a drive shaft 51 is fixed to the swivel portion 3 at a position parallel to and offset from the input shaft 22 of the speed reducer 2. Further, the support portion 4 is provided with a through hole 31 through which the input shaft 22 is inserted, and the gear 27 is provided on the swivel portion 3 side of the input shaft 22.
Is fixed. A small gear 52 is provided on the drive shaft 51, and the gear 27 fixed to the input shaft 22 is rotationally driven via the intermediate gear 53 by rotationally driving the drive motor 5. A decelerating means for decelerating the rotation of the drive shaft 51 by the small gear 52 and transmitting the torque to the input shaft 22 is formed. A hollow guide 6 inserted into the hollow portion of the input shaft 22 is fixed to the swivel portion 3. A cable 7 for supplying electric power to the drive motor 5 passes from the inside of the base 1 to the inside of the guide 6, passes through the speed reducer 2, the support portion 4, and the turning portion 3 and is connected to the terminal of the drive motor 5. By rotating the drive motor 5 in such a configuration, the first-stage transmission mechanism 23 and the second transmission mechanism 23 of the speed reducer 2 are driven.
The speed is reduced via the stage transmission mechanism 24, the swivel unit 3 is rotated via the support unit 4 with the input shaft 22 as the rotation axis, and
The drive motor 5 revolves around the input shaft 22. At this time, the cable 7 supplies electric power to the drive motor 5 while being twisted while being guided by the guide 6 passing through the hollow input shaft 22. It should be noted that a hose or the like that supplies a drive source such as compressed air from the base 1 to the end effector or the like provided on the swivel unit 3 can be passed through the guide 6. In addition, the drive motor 5 is offset with respect to the input shaft 22 of the speed reducer 2, and the rotation of the drive shaft 51 of the drive motor 5 is controlled by the small gear 52,
When the input shaft 22 of the speed reducer 2 is rotated by decelerating it through the speed reducing means including the intermediate gear 53 and the gear 27, the moment of inertia of the input shaft 22 applied to the drive shaft 51 is inversely proportional to the square of the reduction ratio, and therefore the driving The load on the motor 5 is reduced. Although the intermediate gear 53 may be omitted in the speed reducing means, by inserting the intermediate gear 53, the diameter of the gear 27 fixed to the input shaft 22 can be reduced, and the moment of inertia can be further reduced. it can. Further, the gear 27, the small gear 52, and the intermediate gear 53 are usually used in the grease bath, but the stirring loss of grease can be reduced by using the intermediate gear whose outer shape can be reduced. Since the input shaft of the speed reducer is hollow, even if the moment of inertia of the input shaft increases to some extent, the moment of inertia of the speed reducer with respect to the motor becomes extremely small, and the capacity of the drive motor can be prevented from increasing.
【０００７】[0007]
【発明の効果】以上述べたように、本発明によれば、ケ
ーブルを減速機の中空状の入力軸の中を通るようにして
あるため、ケーブルには捩じりが発生するが曲げ作用が
働かないので、ケーブルの耐久性が向上すると共に、ケ
ーブル処理のためにベースに大きなスペースを設ける必
要がなくなり、小形軽量の産業用ロボットの旋回部駆動
構造を提供できる効果がある。As described above, according to the present invention, since the cable is passed through the hollow input shaft of the speed reducer, the cable is twisted but is not bent. Since it does not work, the durability of the cable is improved, and it is not necessary to provide a large space in the base for processing the cable, and it is possible to provide a swivel part drive structure for a small and lightweight industrial robot.
【図１】本発明の実施例を示す側断面図である。FIG. 1 is a side sectional view showing an embodiment of the present invention.
１ ベース、２ 減速機、２１ 固定部、２２ 入力
軸、２３ 第１伝達機構、２４ 第２伝達機構、２５
減速機構部、２６ 軸受、２７ 歯車、３ 支持部 ３
１ 貫通穴、４ 旋回部、５ 駆動モータ、５０ 固定
部、５１ 駆動軸、５２ 小歯車、５３ 中間歯車、６
ガイド、７ ケーブル1 Base, 2 Reduction Gear, 21 Fixed Part, 22 Input Shaft, 23 First Transmission Mechanism, 24 Second Transmission Mechanism, 25
Reduction mechanism part, 26 bearings, 27 gears, 3 support parts 3
1 through hole, 4 swivel part, 5 drive motor, 50 fixed part, 51 drive shaft, 52 small gear, 53 intermediate gear, 6
Guide, 7 cable
Claims (3)
部を回転駆動する駆動モータと、前記駆動モータの駆動
軸の回転を減速する減速機とを備えた産業用ロボットの
旋回部駆動構造において、前記駆動モータの固定部を前
記旋回部の端部に固定し、前記ベース上に前記減速機の
固定部を固定し、前記減速機の固定部に軸受を介して設
けた中空状の減速機構部を前記旋回部の端部に固定し、
前記減速機構部の内側に設けて前記減速機構部と連結し
た中空状の入力軸を減速手段を介して前記駆動モータの
駆動軸に連結し、前記中空状の入力軸の内側に前記旋回
部内に動力を供給するケーブルを通すようにしたことを
特徴とする産業用ロボットの旋回部駆動構造。1. An industrial robot swivel unit drive structure comprising a swivel unit that swivels on a base, a drive motor that rotationally drives the swivel unit, and a speed reducer that decelerates rotation of a drive shaft of the drive motor. In, a fixed part of the drive motor is fixed to an end of the swivel part, a fixed part of the speed reducer is fixed on the base, and a hollow speed reducer provided on the fixed part of the speed reducer via a bearing. The mechanical part is fixed to the end of the revolving part,
A hollow input shaft provided inside the speed reduction mechanism section and connected to the speed reduction mechanism section is connected to a drive shaft of the drive motor through a speed reduction means, and inside the hollow input shaft in the turning section. A rotating part drive structure for an industrial robot characterized in that a cable for supplying power is passed through.
入力軸に対して平行にオフセットし、減速手段を介して
前記駆動軸と前記入力軸とを連結した請求項１記載の産
業用ロボットの旋回部駆動構造。2. The industrial robot according to claim 1, wherein the drive shaft of the drive motor is offset in parallel with the input shaft of the speed reducer, and the drive shaft and the input shaft are connected via a speed reducing means. Swiveling part drive structure.
小歯車と、前記入力軸に固定した歯車と、前記小歯車と
前記入力軸に固定した歯車とに噛み合う中間歯車とから
なる請求項２記載の産業用ロボットの旋回部駆動構造。3. The reduction means comprises a small gear fixed to the drive shaft, a gear fixed to the input shaft, and an intermediate gear meshing with the small gear and the gear fixed to the input shaft. 2. The structure for driving a rotating part of an industrial robot according to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29265793A JPH07124883A (en) | 1993-10-27 | 1993-10-27 | Swivel base driving structure for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29265793A JPH07124883A (en) | 1993-10-27 | 1993-10-27 | Swivel base driving structure for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07124883A true JPH07124883A (en) | 1995-05-16 |
Family
ID=17784622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29265793A Pending JPH07124883A (en) | 1993-10-27 | 1993-10-27 | Swivel base driving structure for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07124883A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005188748A (en) * | 2005-01-31 | 2005-07-14 | Nabtesco Corp | Eccentrically rocking type reduction gear and joint of industrial machine equipped with the same |
| WO2006115257A1 (en) | 2005-04-25 | 2006-11-02 | Nabtesco Corporation | Turning portion structure of industrial robot |
| JP2007263372A (en) * | 2007-05-15 | 2007-10-11 | Nabtesco Corp | Joint device of industrial robot |
| JP2007292315A (en) * | 2007-05-15 | 2007-11-08 | Nabtesco Corp | Joint device for industrial robot |
| JP2008025846A (en) * | 2007-10-03 | 2008-02-07 | Nabtesco Corp | Revolving part structure of robot or the like |
| JP2008192794A (en) * | 2007-02-05 | 2008-08-21 | Sumitomo Heavy Ind Ltd | Drive unit of sunlight generator system |
| JP2009018412A (en) * | 2007-06-11 | 2009-01-29 | Sumitomo Heavy Ind Ltd | Joint driving device of robot |
| JP2010156431A (en) * | 2008-12-29 | 2010-07-15 | Sumitomo Heavy Ind Ltd | Routing structure for cable or the like, and turning device for industrial machine |
| JP2011043246A (en) * | 2010-12-03 | 2011-03-03 | Nabtesco Corp | Eccentric differential type reduction gear |
| US8029400B2 (en) | 2005-08-22 | 2011-10-04 | Nabtesco Corporation | Center crank eccentrically oscillating speed reducer |
| CN102950593A (en) * | 2011-08-25 | 2013-03-06 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| JP2015134382A (en) * | 2014-01-16 | 2015-07-27 | セイコーエプソン株式会社 | Robot, control device, and robot system |
| CN104896074A (en) * | 2015-05-29 | 2015-09-09 | 车大强 | Oil seal cover structure of mini-tiller gearbox |
| JP2016068203A (en) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | robot |
| JP2017113837A (en) * | 2015-12-24 | 2017-06-29 | ファナック株式会社 | Articulated industrial robot having miniaturized joint portion |
| DE10217343B4 (en) * | 2001-04-18 | 2017-07-06 | Teijin Seiki Co. Ltd. | reducer |
| US9975240B2 (en) | 2013-11-01 | 2018-05-22 | Seiko Epson Corporation | Robot, controller, and robot system |
| WO2018203019A1 (en) * | 2017-05-05 | 2018-11-08 | Axwellrobotik | Articulation for robotic arm |
| CN108908404A (en) * | 2018-07-26 | 2018-11-30 | 芜湖市越泽机器人科技有限公司 | A kind of robot Rotatable base |
| KR20190107802A (en) * | 2018-03-13 | 2019-09-23 | 한국기계연구원 | Counterbalance manipulator with a hollow shaft |
| WO2020217834A1 (en) * | 2019-04-26 | 2020-10-29 | ナブテスコ株式会社 | Reduction gear and drive device using reduction gear |
-
1993
- 1993-10-27 JP JP29265793A patent/JPH07124883A/en active Pending
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10217343B4 (en) * | 2001-04-18 | 2017-07-06 | Teijin Seiki Co. Ltd. | reducer |
| JP4657747B2 (en) * | 2005-01-31 | 2011-03-23 | ナブテスコ株式会社 | Industrial robot joint device |
| JP2005188748A (en) * | 2005-01-31 | 2005-07-14 | Nabtesco Corp | Eccentrically rocking type reduction gear and joint of industrial machine equipped with the same |
| JP2011212839A (en) * | 2005-04-25 | 2011-10-27 | Nabtesco Corp | Structure of turning part of industrial robot using eccentric oscillation type reduction gear |
| EP2052818A1 (en) | 2005-04-25 | 2009-04-29 | Nabtesco Corporation | Eccentrical oscillation speed reducer for the turning portion structure of industrial robot |
| WO2006115257A1 (en) | 2005-04-25 | 2006-11-02 | Nabtesco Corporation | Turning portion structure of industrial robot |
| US7942779B2 (en) | 2005-04-25 | 2011-05-17 | Nabtesco Corporation | Turning portion structure of industrial robot |
| US8029400B2 (en) | 2005-08-22 | 2011-10-04 | Nabtesco Corporation | Center crank eccentrically oscillating speed reducer |
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