JP2556919Y2 - Drive mechanism of industrial robot - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a drive unit for an industrial robot, comprising: an output bevel gear connected to an output shaft of a motor which is a drive source for driving a robot arm; Also, the present invention relates to a drive mechanism for an industrial robot having a transmission mechanism in which an input bevel gear of a speed reducer supported by a robot arm meshing with an inclination angle is coupled.

[0002]

2. Description of the Related Art Conventionally, in such a drive mechanism of a robot, as a coupling method for transmitting the power of a motor to a speed reducer, for example, as shown in FIG.
A method in which the motor 2 is arranged on an axis perpendicular to the speed reducer input shaft 80 of the speed reducer 50 by using two meshing bevel gears 4 and 90 fixed to each other in the axial direction to transmit power. Etc. were used. The inside of the reducer input shaft 80 is
The reduction gear carrier 51 was supported on the inner circumference via a bearing 101.

[0003]

However, in the conventional method, cutting off the output shaft of the motor 2 and the input shaft of the speed reducer 50, which are the two meshing bevel gears 4 and 90, is required.
If the rear cover 110 of the speed reducer is removed and the speed reducer 50 must be disassembled, it is not easy, and if parts such as the bearings and gears on the motor body or the motor output shaft side fail to rotate due to a failure, the speed is reduced. It was not possible to rotate the input shaft of the machine. This made it impossible to rotate the output side of the speed reducer, so that the arm of the robot remained fixed and could not be moved manually.

An object of the present invention is to cut an output bevel gear connected to an output shaft of a motor and an input bevel gear of a speed reducer supported by a robot arm which meshes with the output bevel gear at a right angle or an inclined angle. It is easy to release, and when parts such as the motor body or the bearings and gears on the motor output shaft side become unable to rotate due to failure, the input shaft of the speed reducer can be easily removed and rotated, It is an object of the present invention to provide a drive mechanism for an industrial robot in which the output side of the machine can be rotated and thus the arm of the robot can be moved manually.

[0005]

Accordingly, the present invention provides an output bevel gear coupled to an output shaft of a motor for driving a robot arm of an industrial robot, and a robot arm engaged with the output bevel gear at a right angle or at an inclined angle. The input bevel gear is connected to a reducer input shaft arranged to be able to penetrate the rear cover of the reducer, and the input bevel gear is connected to the input bevel gear. A bearing which is fixedly supported on the inner ring of a cylindrical roller bearing having an outer ring fixed to the inner periphery of the reduction gear flange and which is movable in the axial direction, and the other end of which is supported by a bearing case which is in sliding contact with the through hole of the rear lid. Or a motor for driving a robot arm
Is fixed to the bearing case in the event of a motor output shaft failure.
The reduction gear input shaft by removing the bearing
To the input bevel gear and the output
The above-mentioned problem has been solved by providing a drive mechanism of an industrial robot characterized in that the engagement with a bevel gear can be easily cut off.

[0006]

[Action] Drive the robot arm of an industrial robot
Is the drive source for the motor, the output shaft of this motor
Output bevel gear, etc., which is keyed to the receiving or output shaft
If the robot cannot rotate due to a failure,
Rear lid fixed to a speed reducer for rotating the arm
Bolt and bearing retainer to the bearing case
Remove the bolts to fix to the gearbox,
Deceleration so that it can penetrate and move axially
By moving the machine input shaft in the axial direction,
The input bevel gear fixed to the force axis is made movable
Makes it easy to engage the input bevel gear with the output bevel gear.
It is made to come off.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to FIGS. FIG. 1 is a sectional view of a main part showing a configuration of a drive mechanism of an industrial robot according to one embodiment of the present invention. In FIG. 1, an output bevel gear 4 and an input bevel gear 9, which are connected by a key to an output shaft 3 of a motor 2, which is a driving source for driving a robot arm 1 of an industrial robot, mesh with a right angle. As a result, the driving force of the motor 2 for driving the robot arm 1 is reduced by the speed reducer 5 supported by the robot arm.
Is transmitted to

An input bevel gear 9 is connected to a speed reducer input shaft 8 which can penetrate the rear cover 11 of the speed reducer 5 and can move in the axial direction. The inner ring 17 is fixedly supported on an axially movable cylindrical roller bearing 7 having an outer ring 22 fixed to an inner periphery 21 of a reduction gear flange 20 on the gear side, and the other end of the rear cover 11 has a through hole 1 at the other end.
The bearing 6 is supported by a bearing 6 supported by a bearing case 12 that slides on the bearing case 9. Reference numeral 13 denotes a bearing retainer, 14 denotes a bolt for fixing the bearing retainer 13 to the bearing case 12, and 18 denotes a bolt for fixing the bearing retainer 13 to the rear lid 11.

When the motor 2, the bearing 10 of the motor output shaft 3, or the output bevel gear 4 or the like becomes unable to rotate due to a failure, the output bevel gear 4 connected to the motor output shaft 3
2, a bolt 18 fixed to a rear lid 11 fixed to a speed reducer 5 for rotating the robot arm 1, and a bearing, as can be seen from FIG. By removing the bolt 14 for fixing the retainer 13 to the bearing case 12 and moving the speed reducer input shaft 8 in the axial direction to the right in the direction of the arrow in FIG.
The input bevel gear 9 fixed to the reduction gear input shaft 8 is moved so that the input bevel gear 9 and the output bevel gear 4 are disengaged from each other.

When the input bevel gear 9 and the output bevel gear 4 are disengaged from each other, a hexagon wrench 16 is inserted into a hexagonal hole 15 formed in the end of the reduction gear input shaft 8 and rotated. The shaft 8 can be rotated manually and independently of the motor 2, and the speed reducer 5 can be rotated, and thus the robot arm 1 can be rotated.

[0011]

[Effects of the Invention] According to the present invention, the engagement between the input bevel gear and the output bevel gear is reduced by removing the bolts for fixing the bearing holder and bearing case to the rear lid and moving the reduction gear input shaft in the axial direction. It is easy to disconnect the output bevel gear connected to the output shaft of the motor and the input bevel gear of the speed reducer supported by the robot arm that meshes with the output bevel gear at a right angle or at an inclined angle. If the motor body or parts such as the bearings and gears on the motor output shaft cannot be rotated due to a failure, the input shaft of the reduction gear can be easily removed and rotated, and the output side of the reduction gear is rotated. To provide a drive mechanism for an industrial robot that can move the arm of the robot manually.

[Brief description of the drawings]

FIG. 1 is a sectional view of a main part showing a configuration of a drive mechanism of an industrial robot according to an embodiment of the present invention.

FIG. 2 is a sectional view of a main part showing a configuration in which an output bevel gear 4 and an input bevel gear 9 of the drive mechanism of the industrial robot of FIG. 1 are cut off.

FIG. 3 is a sectional view of a main part showing a configuration of a drive mechanism of a conventional industrial robot.

[Explanation of symbols]

 1. . Robot arm 2. . Motor 3. . Motor output shaft . Output bevel gear 5. . Reduction gear 6. . Bearing 7. . 7. Cylindrical roller bearing . 8. Reduction gear input shaft . Input bevel gear 11. . Rear lid 12. . Bearing case 17. . Inner ring of cylindrical roller bearing 19. . Through hole 20. . Reduction gear flange 21. . Inner circumference 22. . Cylindrical roller bearing outer ring

Claims (1)

(57) [Scope of request for utility model registration] 1. An output bevel gear coupled to an output shaft of a motor for driving a robot arm of an industrial robot, and an input bevel gear of a speed reducer supported by a robot arm meshing with the output bevel gear at a right angle or an inclination angle. The input bevel gear is arranged so that it can penetrate the rear cover of the speed reducer.
Is connected to the reduction gear input shaft which is location, the reduction gear input shaft is fixed to the inner ring of the movable cylindrical roller bearing input bevel gear side in the axial direction of the outer ring is fixed to the peripheral the reducer flange The other end is supported by a bearing supported by a bearing case which is in sliding contact with the rear lid through-hole, and the other end of the motor for driving the robot arm or the output of the motor.
In the event of a failure of the power shaft, the bearing pusher fixed to the bearing case
By removing even the input shaft of the reducer
Movable so that the input bevel gear and the output
A drive mechanism for an industrial robot, wherein the engagement with a bevel gear can be easily cut off .