JP2012106312A - Supporting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a supporting apparatus capable of reliably distributing a load at a plurality of supporting spots when the load is received, and of easily distributing the load properly according to a withstand load of each supporting spot.SOLUTION: The supporting apparatus includes: a load receiving body 20 capable of receiving a load P at a first part 21; a first rotation support 31 for supporting a second part 22 of the load receiving body 20 by a non-elastic body; and an elastic support 40 for supporting, by an elastic body, a third part 23 positioned on a first part 21 side than the second part 22 of the load receiving body 20, and provided while pre-compression of pre-tension is applied in a direction of the load P receivable by the load receiving body 20 when no-load of the load P is received at the first part 21. Force F0 of pre-compression or pre-tension by the elastic support 40 is set as force larger than a load F1 produced to the elastic support 40 as the load P is received at the first part 21 of the load receiving body 20.

Description

  The present invention relates to a support device.

  For example, in a structure that supports a rotating shaft in a joint portion of a robot or various movable support structure portions, it is common to support at a plurality of positions in the axial direction. For example, consider a case where two locations, one end of the rotating shaft and an intermediate portion of the rotating shaft, are supported by bearings and receive a radial load at the other end of the rotating shaft. In such a support structure, a very large load acts on the bearing that supports the intermediate portion of the rotating shaft. Therefore, the bearing load of the bearing in the middle part of the rotating shaft must be large. This is because the load received at the other end of the rotating shaft is not distributed to the two bearings. For this reason, it is desirable to distribute the load to the two bearings.

  By the way, in Japanese translations of PCT publication No. 2005-526933 (patent document 1), on the inner peripheral surface of the housing, one end of the shaft is supported only by the bearing, the other end of the shaft is engaged with the gear, and the intermediate portion of the shaft is A configuration is described in which it is supported by a bearing and biased toward a meshing position with a gear by a spring. Thereby, even if a force pressing in the radial direction from the gear is applied to the meshing portion of the other end portion of the shaft, the center of the shaft can be made constant by the biasing force of the spring.

  Japanese Patent Laying-Open No. 2005-297080 (Patent Document 2) describes that in a robot joint device, an axial preload is applied to a bearing that supports a motor. In addition, Japanese Utility Model Publication No. 8-10524 (Patent Document 3) describes that, in a joint portion of a robot, an end portion of a tilting arm is supported by a turning arm by a spring.

JP 2005-526933 A JP 2005-297080 A No. 8-10524

  However, in the support device of Patent Document 1, on the premise that the load received by the rotating shaft is always constant, the biasing force by the spring is set so that the center of the rotating shaft does not move. That is, it cannot be applied to a robot whose joint load or movable support structure changes the load received. Moreover, the support apparatus of patent document 2, 3 does not disperse | distribute the load of radial direction.

  By the way, as described above, it is desirable to distribute the load received at the other end of the rotating shaft to the two support portions. Here, a load resistance is set on a support such as a bearing that supports the rotating portion. That is, in general, the maximum load that can be received by the support such as each bearing is predetermined. Therefore, when designing the support structure, the maximum load that can be received by the support must be within the load resistance range.

  When the load resistances of the two support bodies are different, it must be designed so that the load can be distributed according to the load resistance. However, designing in this way is not easy.

  The present invention has been made in view of such circumstances. For example, in the case of a rotating shaft, when receiving a radial load, the rotating shaft can be reliably dispersed at a plurality of locations. Another object of the present invention is to provide a support device that can easily distribute an appropriate load according to the load resistance of each support location.

  The support device includes a load receiver that can receive a load on a first portion, an inelastic support that supports a second portion of the load receiver with an inelastic body, and the second portion of the load receiver. A third part located on the first part side is supported by an elastic body, and preload or pretension is applied in the direction of the load that can be received by the load receiver when the load received by the first part is unloaded. A pre-compression or pre-tension force generated by the elastic support is generated in the elastic support by receiving the load at the first part of the load receiver. It is set to a force greater than the load.

  According to the above support device, the load received by the load receiver can be reliably distributed to the elastic support and the inelastic support. Therefore, the load generated on the elastic support and the load generated on the inelastic support can be smaller than the load received by the first portion of the load receiver. Furthermore, pre-compression or pre-tension is applied to the elastic support, and the pre-compression or pre-tension force applied to the elastic support is more than the load generated on the elastic support when the load receiver receives the load. Is set to be large. If it does so, even if a load generate | occur | produces in an elastic support body when a load receiving body receives a load, the whole load which an elastic support body receives can be hardly changed. That is, the load received by the elastic support can be within a certain range. This facilitates management of the load generated on the elastic support.

  In addition, the support device includes a base shaft, a first rotation support body as the inelastic support body that rotatably supports the second portion of the load receiver with respect to the base shaft, and the base shaft with respect to the base shaft. A second rotary support that rotatably supports the elastic support. Thus, even if it applies to a rotating body and receives a load in the radial direction of a base axis with respect to a load receiving body, the above-mentioned effect is produced.

  The load resistance in the direction perpendicular to the axis of the first rotation support may be set larger than the load resistance in the direction perpendicular to the axis of the second rotation support. In such a case, it is very useful. That is, the load which arises in a 2nd rotation support body can be reliably suppressed by interposing an elastic support body in a 2nd rotation support body with a small load bearing.

  Further, the support device includes a rotation drive shaft that is rotatably provided with respect to the base shaft and rotates by a rotational drive force, the base shaft is fixed to a base, and the first rotation support body rotates to the base shaft. And a second bearing that supports the second part of the load receiver, and the second rotary support decelerates the rotational driving force of the rotary drive shaft and transmits it to the elastic support. It is good also as a reduction gear.

  Here, when a simple bearing and a reduction gear are compared, if the load resistance is comparable, the reduction gear is larger than the bearing. Therefore, in order to reduce the size of the entire support device, it is necessary to make the outer shape of the speed reducer small. If it does so, the load bearing capacity of a reduction gear must be made smaller than the bearing bearing load. In such a case, by interposing the elastic support body with respect to the speed reducer, it is possible to reliably limit the load generated in the speed reducer while using a relatively small speed reducer.

  The support device may be used for the joint portion of a robot having a joint portion. As described above, it is particularly desirable for the joint portion of the robot to distribute the load and to reliably limit at least one of the distributed loads. Then, the said request | requirement can be satisfy | filled reliably by applying the support apparatus mentioned above to the joint part of a robot.

It is an example of the schematic diagram which shows the support apparatus of a 1st example. It is an example of the schematic diagram which shows the support apparatus of a 2nd example. It is an example of the schematic diagram which shows the support apparatus of a 3rd example. It is an example of the schematic diagram which shows the support apparatus of a 4th example. It is an example of the schematic diagram which shows the support apparatus of a 5th example. It is a front view of a robot. It is an example of the axial direction sectional view of the support device used for the joint part of a robot. It is the figure seen from the right side (axial direction) of FIG.

(Conceptual explanation of this embodiment)
DESCRIPTION OF EMBODIMENTS Embodiments embodying a support device of the present invention will be described with reference to the drawings. First, the concept of the present embodiment will be described from the first example to the fifth example.

(First example)
The support device of the first example will be described with reference to FIG. As shown in FIG. 1, the support device of the first example includes a first base 11, a second base 12, a load receiver 20, an inelastic support body 30, and an elastic support body 40. The The first base 11 and the second base 12 are fixed to separate members. Here, the load receiver 20 is described as a beam. A first portion 21 located at one end (the left end in FIG. 1) of the load receiver 20 can receive a load P in the downward direction in FIG. However, the first portion 21 of the load receiver 20 includes the case of a no-load state in which the load P is not received. That is, the first portion 21 of the load receiver 20 can receive a load P ranging from no load to a predetermined load.

  The inelastic support body 30 supports the lower surface of the second portion 22 located at the other end (the right end in FIG. 1) of the load receiver 20 with respect to the first base 11 by the inelastic body. That is, the inelastic support body 30 supports the load receiver 20 so as to resist the direction of the load P received by the first portion 21 of the load receiver 20. Here, the non-elastic body means that the spring and rubber are excluded, and means a fixing means made of metal or wood, for example. That is, physically, even metal or wood is elastically deformed. However, since the amount of deformation is sufficiently smaller than that of the spring and rubber, it is classified here as an inelastic body. On the other hand, the elastic body includes a spring spring, a leaf spring, an air spring, rubber, and the like.

  The elastic support body 40 supports the lower surface of the third portion 23 located at the intermediate portion of the load receiver 20 with respect to the second base 12 by a spring or rubber which is an elastic body. That is, the elastic support body 40 supports the load receiver 20 so as to resist the direction of the load P received by the first portion 21 of the load receiver 20. Further, when the load P received on the first portion 21 of the load receiver 20 is unloaded, the spring or rubber which is the elastic body of the elastic support body 40 is provided in a state where pre-compression is applied. The pre-compression force F0 of the elastic support body 40 is set to a force larger than the load F2 generated in the elastic support body 40 by receiving the load P at the first portion 21 of the load receiver 20. The third part 23 of the load receiver 20 is located closer to the first part 21 than the second part 22.

  The operation of the support device of the first example will be described. When a lower load P is applied to the first portion 21 of the load receiver 20, a force F <b> 1 (arrow in FIG. 1) in a compressing direction is applied to the inelastic support 30 due to force balance and moment balance. The force F2 (arrow of FIG. 1) of acting and the direction to compress acts also on the elastic support body 40. FIG. In this way, the load P received by the first portion 21 of the load receiver 20 is dispersed and supported by the inelastic support body 30 and the elastic support body 40. Therefore, the load F1 generated on the inelastic support body 30 and the load F2 generated on the elastic support body 40 can be made smaller than the load P received by the first portion 21 of the load receiver 20.

  Further, the elastic support 40 is preliminarily given a compression load of F0. The precompression load F0 is a force sufficiently larger than the load F2 generated in the elastic support body 40 by receiving the load P at the first portion 21 of the load receiver 20. Therefore, the amount of compressive deformation of the elastic support body 40 that is deformed by receiving the load P on the first portion 21 of the load receiver 20 is very small. That is, when the first part 21 of the load receiver 20 receives the load P, the support length of the elastic support body 40 (vertical length in FIG. 1) is not applied to the first part 21 of the load receiver 20. In this case, the support length of the elastic support body 40 (vertical length in FIG. 1) can be made almost the same. Then, even if the load F2 is generated in the elastic support body 40 when the first portion 21 of the load receiver 20 receives the load P, the entire load (F0 + F2) received by the elastic support body 40 can be hardly changed. . That is, the total load (F0 + F2) generated in the elastic support 40 can be within a certain range. Thereby, management of the whole load (F0 + F2) which arises in the elastic support body 40 becomes easy. For example, it is useful when the load resistance of the second base 12 is limited.

(Second example)
The support device of the second example will be described with reference to FIG. Here, only differences between the support device of the second example and the support device of the first example will be described. In the support device of the second example, the first portion 21 of the load receiver 20 can receive an upward load P as shown in FIG. Further, when the load P received on the first portion 21 of the load receiver 20 is unloaded, the spring or rubber which is the elastic body of the elastic support 40 is provided in a state in which pretension is applied. The pre-tension force F0 of the elastic support body 40 is set to a force larger than the load F2 generated in the elastic support body 40 by receiving the load P at the first portion 21 of the load receiver 20.

  Also in this case, similarly to the support device of the first example, the load P received by the first portion 21 of the load receiver 20 is distributed and supported by the inelastic support body 30 and the elastic support body 40. . Furthermore, even if the first portion 21 of the load receiver 20 receives the load P and the load F2 is generated in the elastic support 40, the entire load (F0 + F2) received by the elastic support 40 can be hardly changed. . That is, the total load (F0 + F2) generated in the elastic support 40 can be within a certain range. Thereby, management of the whole load (F0 + F2) which arises in the elastic support body 40 becomes easy.

(Third example)
A support device of a third example will be described with reference to FIG. Here, only differences between the support device of the first example and the support device of the first example will be described. In the support device of the third example, the first portion 21 located in the middle part of the load receiver 20 can receive a downward load P as shown in FIG. The inelastic support body 30 supports the other end (the right end in FIG. 3) of the load receiver 20 with the inelastic body. The elastic support body 40 supports one end (the left end in FIG. 3) of the load receiver 20 with an elastic body. The elastic support 40 is pre-compressed.

  Also in this case, similarly to the support device of the first example, the load P received by the first portion 21 of the load receiver 20 is distributed and supported by the inelastic support body 30 and the elastic support body 40. . Furthermore, even if the first portion 21 of the load receiver 20 receives the load P and the load F2 is generated in the elastic support 40, the entire load (F0 + F2) received by the elastic support 40 can be hardly changed. . That is, the total load (F0 + F2) generated in the elastic support 40 can be within a certain range. Thereby, management of the whole load (F0 + F2) which arises in the elastic support body 40 becomes easy.

(Fourth example)
A support device of a fourth example will be described with reference to FIG. The support device of the fourth example has a configuration in which the load receiver 20 is rotatably supported with respect to the base shaft 13. As shown in FIG. 4, the support device of the fourth example includes a base shaft 13, a load receiver 20, a first rotation support body 31, an elastic support body 40, and a second rotation support body 50. Is done. The base shaft 10 is a shaft fixed to another member. The load receiver 20 is the same as the load receiver 20 of the first example. The elastic support 40 is the same as the elastic support 40 of the first example.

  The first rotating support 31 is a bearing (a rolling bearing is shown in FIG. 4), and the lower surface of the second portion 22 located at the other end (right end in FIG. 1) of the load receiver 20 with respect to the base shaft 13. Is rotatably supported by an inelastic body. That is, the first rotation support body 31 resists the direction of the load P received by the first portion 21 of the load receiver 20, that is, the second rotation support body 50 that supports the load receiver 20 in the radial direction is: The elastic support body 40 is rotatably supported with respect to the base shaft 10.

  In this case, the support device of the first example is applied to the rotating body, and the same effect is obtained. This is particularly useful when the load resistance of the second rotary support 50 is limited. Further, the present invention is effective when applied to one in which the load resistance in the radial direction (axial orthogonal direction) of the first rotary support 31 is set larger than the load resistance in the radial direction (axial orthogonal direction) of the second rotary support 50. To work. In this case, since the load resistance in the radial direction of the second rotary support 50 is relatively small, it is difficult to allow changes in the load. Therefore, with the above-described configuration, even if the radial load resistance of the second rotary support 50 is small, the second rotation support body 50 can be reliably used within the range of the load resistance.

(Fifth example)
The support device of the fifth example will be described with reference to FIG. The support device of the fifth example is obtained by replacing the second rotary support 50 of the fourth example with a speed reducer. As shown in FIG. 5, the support device of the fifth example includes a base shaft 13, a load receiving body 20, a first rotation support body 31, an elastic support body 40, a rotation drive shaft 60, and a speed reducer 70. It is prepared for. The base shaft 10 is a shaft fixed to a base (not shown) which is a separate member. The load receiver 20 is the same as the load receiver 20 of the first example. The elastic support 40 is the same as the elastic support 40 of the first example. Moreover, the 1st rotation support body 31 is the same as the 1st rotation support body 31 of a 4th example.

  The rotation drive shaft 60 is provided coaxially with the base shaft 13 and rotates by a rotation drive force generated by a rotation drive source 80 such as an electric motor or an internal combustion engine. The speed reducer 70 is a part corresponding to the second rotary support 50 of the fourth example, and reduces the rotational driving force of the rotary drive shaft 60 and transmits it to the elastic support 40. That is, the load receiver 20 can be rotated around the central axis of the base shaft 13 and the rotational drive shaft 60 by the rotational force decelerated by the speed reducer 70.

  In this case, the same effect as the support device shown in the fourth example is achieved. Here, when a simple bearing and the speed reducer 70 are compared, if the load resistance in the radial direction of both is comparable, the speed reducer 70 becomes larger than the bearing. Therefore, in order to reduce the size of the entire support device, it is necessary to make the outer shape of the speed reducer 70 small. Then, the load capacity in the radial direction of the reduction gear 70 must be smaller than the load resistance in the radial direction of the bearing. In such a case, by interposing the elastic support body 40 with respect to the speed reducer 70, it is possible to reliably limit the load generated in the speed reducer 70 while using the relatively small speed reducer 70.

(Supporting device applied to human-friendly robot)
The case where the support device of the fifth example described above is applied to a joint part of a human coexistence type robot, for example, a care robot will be described with reference to FIGS. As shown in FIG. 6, the robot 100 includes a human upper body part, and driving wheels are arranged on a pedestal 110 that indicates the upper body part. The robot 100 can automatically run without depending on human operations. Specifically, the robot 100 includes two arm portions 101 and 102. These two arm portions 101 and 102 include a shoulder joint, an elbow joint, and a wrist joint, and the angle can be freely driven by each joint. Then, for example, a cared person can be held by the two arms 101 and 102. In other words, the arms 101 and 102 can be operated and the arms 101 and 102 can be held in the same manner as a human holding the person.

  The body portion 120 of the robot 100 includes a joint portion 121 that swings in the left-right direction when facing the robot 100 (when viewed from the front) with respect to the pedestal 110. That is, the joint part 121 is a joint part that rotates the body part 120 with respect to the pedestal 110 around the axis in the front-rear direction of the robot 100. Then, the above-described support device is applied to the joint portion 121. That is, when the cared person is not held in the arms 101 and 102 of the robot 100, only the weight of each part of the robot 100 acts on the joint 121, and no new load is generated. It becomes a load state. On the other hand, when the care receiver is held in the arm portions 101 and 102 of the robot 100, a load corresponding to the weight of the care receiver acts on the joint portion 121.

  Below, the structure of the support apparatus of the joint part 121 is demonstrated in detail with reference to FIG. 7 and FIG. Here, the left side of FIG. 7 is the front side of the robot 100, and the right side of FIG. 7 is the back side of the robot 100. As shown in FIGS. 7 and 8, the joint portion 121 includes a base 210, first and second base shafts 221 and 222, main and auxiliary load receivers 231 and 232, and a first rotation support (inelastic support). Body) 240, a rotary drive shaft 250, a speed reducer 260, and an elastic support 270.

  The base 210 is a member fixed to the pedestal side of the robot 100. The first and second base shafts 221 and 222 are shaft-shaped or cylindrical members fixed to the base 210. The first base shaft 221 is formed in an annular shape, and one end side (the right side in FIG. 7) of the first base shaft 221 is fixed to the base 210 (fastened by a bolt (not shown)). Further, the second base shaft 222 is formed in a substantially disc shape. One end side (the right side in FIG. 7) of the second base shaft 222 is fastened to the other end side (the left side in FIG. 7) of the first base shaft 221 by a bolt, and the lower part of the outer peripheral surface of the second base shaft 222 is fixed to the base 210. Has been. That is, the first and second base shafts 221 and 222 operate integrally with the base 210.

  The main load receiver 231 is formed in a substantially flat plate shape and is fixed to the body portion 120 side of the robot 100. That is, the main load receiver 231 swings around the axis in the front-rear direction of the robot 100 with respect to the base 210. In a state where a person is held by the arm portions 101 and 102 of the robot 100, the load is received by the first portion 231 a of the main load receiver 231. The sub load receiver 232 is fastened to the lower surface of the main load receiver 231 with bolts. A concave portion 232a is formed on the left side of FIG. 7 on the lower surface of the auxiliary load receiver 232 so as to accommodate the upper end of a spring 271 of an elastic support 270, which will be described later. Further, a guide portion 232b for guiding a lower support 272 of an elastic support 270, which will be described later, is formed at one end (left side in FIG. 7) of the sub load receiver 232.

  The first rotation support body (non-elastic support body) 240 includes a main bearing 241 and an outer ring side member 242. The main bearing 241 is sandwiched between the first base shaft 221 and the second base shaft 222 and is disposed on the outer peripheral side of the second base shaft 222. The outer ring side member 242 is integrally fastened to the outer ring of the main bearing 241. That is, the outer ring side member 242 is disposed so as to be rotatable with respect to the first and second base shafts 221 and 222. The outer peripheral surface of the outer ring side member 242 is fastened to the other end side (right side in FIG. 7) of the auxiliary load receiver 232 with a bolt. That is, the first rotation support body 240 supports the second part 231b on the other end side of the main load receiver 231 with an inelastic body and supports the first load support 221 and 222 so as to be rotatable with respect to the first and second base shafts 221 and 222. is doing.

  The rotational drive shaft 250 includes a transmission shaft 251 and a pulley 252. On the outer peripheral surface of one end of the transmission shaft 251 (left side in FIG. 7), a protruding portion (key) 251a extending in the axial direction is formed. The other end of the transmission shaft 251 (the right side in FIG. 7) is rotatably supported by the second base shaft 222 via a bearing 251b. A key groove 252a is formed on the inner peripheral surface of the pulley 252 so as to be fitted to the convex strip 251a on one end side of the transmission shaft 251. The pulley 252 is attached to one end of the transmission shaft 251 in a state where the rotation is restricted by fitting the key groove 252a into the ridge 251a. An endless belt (not shown) is placed between the pulley 252 and the output shaft of an electric motor (not shown). That is, the rotational driving force of the electric motor is transmitted to the pulley 252 via the endless belt.

  The speed reducer 260 can output a rotational force obtained by reducing the rotational driving force of the transmission shaft 251. The speed reducer 260 is attached to the transmission shaft 251 and is attached to one end side of the second base shaft 222. As the speed reducer 260, for example, a wave gear speed reducer is used. Specifically, the speed reducer 260 includes a wave generator 261, a flex spline 262, a circular spline 263, a bearing 264, and an output turntable 265.

  The wave generator 261 includes an elliptic cam-shaped outer peripheral surface wave plug 261a and a wave bearing 261b fitted on the outer peripheral surface of the wave plug 261a. The wave plug 261a is fastened to the outer peripheral side of the transmission shaft 251 with a bolt. Further, the outer peripheral surface shape of the wave bearing 261b is an elliptical shape that is similar to the outer peripheral surface shape of the wave plug 261a.

  The flexspline 262 is formed in a thin top hat shape having an open end, and includes a cylindrical body 262a and a diaphragm 262b. The cylindrical body 262a of the flex spline 262 has flexibility, and external teeth are formed on the outer peripheral surface on one opening end side. The cylindrical body 262a is fitted to the outer peripheral side of the wave bearing 261b and deforms following the elliptical shape of the outer peripheral surface of the wave bearing 261b. The diaphragm 262b of the flex spline 262 is integrally formed so as to extend radially outward from the other end (the left side in FIG. 7) of the cylindrical body 262a. The axial thickness of the outermost peripheral portion of the diaphragm 262b is thicker than that of the inner peripheral portion.

  The circular spline 263 is fixed to one end of the second base shaft 222, and an inner tooth is formed on the inner peripheral surface. The number of internal teeth of the circular spline 263 is slightly larger than the number of external teeth of the cylindrical body 262a of the flexspline 262. The inner teeth of the circular spline 263 mesh with the outer teeth of the cylindrical body 262a of the flexspline 262. However, since the cylindrical body portion 262a of the flexspline 262 is deformed into an elliptical shape, the portion where the inner teeth of the circular spline 263 and the outer teeth of the cylindrical body portion 262a of the flexspline 262 mesh with each other is an elliptical length. Only near the axis.

  The bearing 264 is a cross roller bearing, and the inner ring of the bearing 264 is fastened to the circular spline 263 with a bolt. On the other hand, the outer ring of the bearing 264 is fastened to the outer peripheral portion of the diaphragm 262b of the flexspline 262 with bolts.

  The output rotating disk 265 is formed in a disk shape, and is rotatably supported by an axial intermediate portion of the transmission shaft 251 via a bearing 265a. The output rotating disk 265 is fastened to the outer ring of the bearing 264 and the diaphragm 262b of the flexspline 262 with bolts.

  The operation of the speed reducer 260 described above will be described. When the transmission shaft 251 rotates, the wave generator 261 rotates. That is, the long axis portion of the wave bearing 261b moves in the circumferential direction. Along with this operation, the meshing site between the inner teeth of the circular spline 263 and the outer teeth of the cylindrical body 262a of the flexspline 262 moves in the circumferential direction. On the other hand, the circular spline 263 is fixed to the second base shaft 222. Then, the flex spline 262 rotates by the difference in the number of teeth between the internal teeth of the circular spline 263 and the external teeth of the cylindrical body 262a of the flex spline 262. The flex spline 262 decelerates the rotation of the transmission shaft 251 and rotates the output turntable 265.

  The elastic support 270 includes a metal spring 271 and a lower support 272 that supports the lower end of the spring 271. The upper end of the spring 271 is accommodated in the recess 232 a of the auxiliary load receiver 232. Further, the spring 271 is assembled in a compressed state. This pre-compression force is set to a force larger than the load generated in the spring 271 by receiving the load on the first portion 231a of the main load receiver 231.

  The lower support 272 is a thick plate, and is fastened by bolts above the output rotating disk 265 of the speed reducer 260. As shown in FIG. 8, a protrusion 272a that protrudes upward is formed at the center in the left-right direction of the upper surface when the lower support 272 is viewed in the axial direction. The protrusion 272a is inserted into the lower end side of the spring 271 and exhibits a function of preventing the spring 271 from being displaced. Further, the lower support 272 is guided by the guide portion of the sub load receiver 232 so as to be movable in the vertical direction with respect to the sub load receiver 232. That is, the third portion 231c (the middle between the first portion 231a and the second portion 231b) of the main load receiver 231 is supported by the speed reducer 260 via the elastic support body 270.

  With such a configuration, as described in the fifth example described above, when a load is applied to the first portion 231a of the main load receiver 231, the load is applied to the first rotation support (inelastic support). ) 240 and the elastic support 270. Therefore, the load received by the first rotary support 240 and the load received by the elastic support 270 can be smaller than the load received by the first portion 231a of the main load receiver 231.

  Moreover, when the reduction gear 260 is made small, the load resistance of the reduction gear 260 is reduced. Therefore, as described above, the pre-compressed spring 271 is interposed between the auxiliary load receiver 232 and the output rotary disk 265 of the speed reducer 260, that is, the auxiliary load receiver 232 is preliminarily attached to the speed reducer 260. By supporting with the compressed spring 271, the load generated in the speed reducer 260 can be within a certain range. Thereby, the load generated in the speed reducer 260 can be reliably limited while using the relatively small speed reducer 260.

10, 13: Base shaft, 11: First base, 12: Second base, 20: Load receiver, 21: First portion, 22: Second portion, 23: Third portion, 30: Inelastic support, 31: First One rotation support 40: Elastic support 50: Second rotation support 60: Rotation drive shaft 70: Reducer 80: Rotation drive source 100: Robot 101, 102: Arm part 110: Pedestal 120: Body 121: Joint part 210: Base, 221: First base axis, 222: Second base axis 231: Main load receiver, 231a: First part, 231b: Second part 231c: Third part 232: Sub load receiver , 232a: concave portion, 232b: guide portion 240: first rotation support, 241: main bearing, 242: outer ring side member 250: rotational drive shaft, 251: transmission shaft, 251a: convex strip portion, 251b: bearing 252: pulley 252 : Keyway 260: Reducer 261: Wave generator 261 a: Wave plug 261 b: Wave bearing 265a: bearing 270: elastic support, 271: spring, 272: lower support, 272a: protrusion

Claims (5)

A load receptor capable of receiving a load on the first part;
An inelastic support for supporting the second part of the load receiver by an inelastic body;
A third portion of the load receiver that is located closer to the first portion than the second portion is supported by an elastic body, and the load receiver can receive when the load received by the first portion is unloaded. An elastic support provided in a pre-compressed or pre-tensioned state in the direction of the load;
With
The pre-compression or pre-tension force by the elastic support is a support device that is set to a force larger than the load generated in the elastic support by receiving the load at the first portion of the load receiver. In claim 1,
The support device is
The basic axis,
A first rotating support as the inelastic support that rotatably supports the second part of the load receiver with respect to the base shaft;
A second rotary support that rotatably supports the elastic support relative to the base shaft;
A support device comprising: In claim 2,
A support device in which the load resistance in the direction perpendicular to the axis of the first rotary support is set larger than the load resistance in the direction perpendicular to the axis of the second rotary support. In claim 2 or 3,
The support device includes a rotational drive shaft that is rotatably provided with respect to the base shaft and rotates by a rotational drive force,
The base shaft is fixed to the base;
The first rotation support body is a first bearing that is rotatably provided on the base shaft and supports the second portion of the load receiver,
The second rotation support body is a support device that is a speed reducer that decelerates and transmits the rotational driving force of the rotation drive shaft to the elastic support body. In any one of Claims 1-4,
The support device is a support device used for the joint portion of a robot having a joint portion.

Images