JPH01252387A - Driving mechanism - Google Patents

Abstract

PURPOSE:To enable a shaft to be secured at the position as it is even when a driving means is removed by letting a pressure contacting means pressing contacting force to an output shaft be pressed on an output means at the time of removing a driving means, and thereby preventing the output means from actuating rotating motion. CONSTITUTION:When a driving means 1 is removed to the axial direction, a brake which has been pressed by a spring 10 to the direction of an output shaft 6, is moved linearly to the axial direction so as to be integrally pressed in contact with a gear 3. And since the gear 3 is firmly fastened to a connecting shaft 5 which can not be moved to the axial direction because of bearings 13 and 14, when the gear is subjected to the pressure from the brake, it is brought into a condition where no rotation can be allowed at the position of the time so that the movement of a transmitting shaft 2 is also suspended via a spur gear 4. And when the driving section 1 is removed, the inner portions of a driving mechanism are concurrently locked so that no free movement is allowed at all therein. This permits the shaft position of a robot arm at the time of removing to be maintained constant even at the time for the maintenance and inspection of the driving shaft 1. This constitution can thereby eliminate the adjustment of the robot arm in position after the driving section 1 has been mounted, thereby improving working efficiency by a robot.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to robots and the like.

(Prior art) The drive mechanism of the robot has a drive unit 114+1 (5 & gas parts side such as a motor) and a covered part @ part side (5 times) in order to be able to perform 5 times each time. The drive mechanism shown in Figure 4 is a combination of these drive parts and the driven It is also a force that can be separated into 1 meter on the part side.Allocation 9 for electric parts such as motors] The large drive part 31 has an output surface 36 in the housing 37 with a human-shaped collar. The output surface 36 has a fixed key (not shown) for connection and connection.
1135 and output I 36 are 3 in comparison, Kakukiri, 3
1's output surface 36')) Rotation J! ! The book is
Lf gear 33
Torque transmission will be carried out. This is a dog house, $ + [331 sweets, 1 gear 341 gears, 18 differences (from @32,
The power of the drive unit 31 is transmitted to a robot arm (not shown) and the like.

In the structure like a sword, the driving part 31 can be easily removed from the driven part (the part that is separated by the casing 37 and 38).
Since it can be removed, it is possible to maintain and save the drive section and the break/drive section separately.

A high efficiency ratio has been achieved.

However, in the drive mechanism of this shaft with @ part 31 removed, there is no means to fix it to gears 33, 34 and transmission part 32, resulting in free operation of these parts. . Therefore, when attaching the first part 31r of the body again,
Transmission・The position of the robot arm attached to 11132 (
There is a necessity to perform It14 adjustment, which greatly affects the robot's work q.

[Sara-ko, Robot Ryo-mun] For example, in a battle where there is a lot of damage.

As soon as it disengages from the drive unit 31, free movement occurs, potentially causing harm to people working nearby.

(The remonstrance that Seimei tries to solve) As mentioned above, in the conventional φ case, yA-mechanism small drive th
l! ] When the part is removed, the driven part moves freely, and the robot arm has to be adjusted vertically and vertically every time it is moved. It needed to be done.

The present invention aims to improve upon these points, and aims to provide a drive mechanism in which the driven part does not move freely even if the drive part is broken and removed.

[Structure of the invention]

(Means for Solving Section @) In order to achieve the objectives as described above, the present invention includes a driving means and an output of the driving means. ! i
This layer is fixed in a removable state, and has a hollow output means partly made of a gear, and both sides are provided so as to engage with the gear of the output means, and output to the outside via the V-tooth RL. The output 111 is pressed from inside the hollow part of the output means to a drive mechanism consisting of a transmission means for transmitting the force, and the free I['ffL is set only in the direction of compression, and the output means force-cutting means and the circle JD surface facing the
A surface having a shape that fits with the D cedar shape was placed opposite to it. A pressure welding means was provided.

(Function) By adopting a rigid structure, the pressure contact means that had been giving an E contact to the output shaft when the drive means is removed is now compressed by the output means, and the force transmission movement of the output means is reduced. prevent. Therefore, even if the drive means is removed, the axis position I at that time (1) is always
A drive mechanism capable of dividing f into N sections is realized.

(actual martyrdom) The present invention will be explained in detail below with reference to one drawing.

Figure 1 is a partial sectional view of the driving machine couple showing the first force m row of the invention. Drive unit l, which is a drive means consisting of a motor etc.
, with the output 6 inserted into the housing 8,
ES! The output of the part fixed in the J state is 61 and 7 is
1 connection 1til 5 via key (not shown) to M
The output/phase 6 is connected to the housing 1, and the connection tth5 is rotatably held against the housing 8 by bearings 13 and 14. And the output of the moving part is 1%.
If 6 i) The rotation interlock is solid at the end of the connecting shaft 5.
Torque is transmitted to VM gear 3. stiff + gear 3 and 1 concubine d
Rib 5 purchases the output p stage if.

The area near the center of rotation is hollow. Mafko.

The child gear 3 has one F gear 4, and the transmission rod 2, which is fixed with the four rotating shafts of the F motor vehicle in the same position, is attached to the bearing 15.16 against the corpse 9. The output means 110) is provided with a brake 7, which is a pressure contact means, and a spring 1 on the side facing the drive section 1.
0 is standing. This brake 7 presses the output force 6 from inside the hollow part of the output means 11 by the pressure of the spring 1o provided in the gap with the casing 9, and since the C moving part 1 is fixed, it is flat. Equally spaced gaps exist between the tooth i3 and the brake 7'7). Between the brake 7 and the housing 9.

A guide groove (not shown) is provided so that the brake 7 can be used to increase the output power and speed. Most of the faces facing the flat wheel 3 and the brake 7 are semi-linear, but (2) an aperture is provided in the center, and the 'lF gear 3 is also provided with a taper that fits into this. It is being

In the awn book implementation sequence as shown in this example, when the drive unit l is removed from its axial side, the output shaft 69 is moved by the spring l0Ic.
The brake, which was under pressure ``r:'', moves in its axial direction along a line of 1M and is crimped together with the gear 3.The 1,000 wheels jμ3 move in the same axial direction due to the bearing 13.141. +1+ 5- Due to the solidified force, when the plate is received from above, it becomes warped and becomes unable to rotate.
The movement of the motor will also stop.

In the main drive machine beak, movement such as ζ force occurs.

At the same time as the cutting part 1 is removed (9), the small motor holder is locked and cannot be freely interlocked.

Therefore, when performing maintenance and maintenance of the drive unit 2.

+qb of the robot arm when it was removed
tn 1 shift is -1 and f is 50. It is no longer necessary to move the drive unit l's ↓ Q monk r & l of the robot arm's erect lIL, A ridge, etc., and the working power efficiency of the robot is improved. Mafko, the robot arm raises the free L4g and poses a danger to nearby workers! I don't want to give you I
It is also possible to prevent the situation from happening. Furthermore, by providing a taper like the actual force, the contact area during pressure 1D is widened and the braking effect is improved.

In Figure 42, the second (/) real first row 2 of the I drive is overconfident and the force is cut off II'ffi. In this embodiment, the pressure layer surfaces of the spur gear 3 and the brake 72J are positive surfaces, and there are no distinct shapes that interlock with each other.

Although the braking effect is inferior to the implementation train of ■1', the spur gear 3 and brake 7 can be manufactured exclusively.Therefore, the transmission shaft 21 This is suitable for cases where the external force causing the change is relatively small, or where the drive mechanism is relatively small.

FIG. 3 is a partial cross-sectional view showing a 3D accurate watch 12. In this train, a reduction gear part 18 is provided at the bottom of the four 1Pm cars to increase the output torque of the two transmission shafts, and is fixed to the housing 9.

By setting the horizontal force like ζ, the force output torque from the transmission shaft 2ρ) can be made relatively large.
However, since the torque at Ffi!t3 can be made into a relatively small force, a sufficient braking effect can be obtained without increasing the pressing force of the brake 7 and the soil layer surface accordingly.

As mentioned above, the pressure surfaces of the first table 3 and the brake 7 can be of any shape as long as they are shaped so that they collide with each other during pressure welding. 2) The larger the contact area, the better the braking effect. Furthermore, it is also effective to make the impression surface '1g rough and increase the coefficient of friction. In addition, in the case of one real/M row, two spur gears were used, but 2J was used, but more spur gears were used, and the percentage was better, and the spur gear was used as 2J. You may use gears other than the 11th Army.
All of these are related to Honnuma Akitsubo, and the same effect can be obtained.

[Seimei (2) Effect] As described above, according to the present invention, a drive mechanism is realized which can always reduce the SIJ to the 16th position even if the body means is removed.

[Brief explanation of the drawing]

Figures 1 to 3 show the main illumination array.
+'k is a partial cross-sectional view, and FIG. 4 is a partial front view of a conventional drive mechanism. l...Image detection means (drive part), 2...Sakaji lottery, 3.4
...Output HL, 5...Holding, 6...Output location, 7...Brake. 8.9...1 body, 10...spring, ll...output move=, 12...1mu j+stage, 13,14.15,1
6...Bearing, 7...Earth contact means, 18...Reduction part. Rapid 1/■2

Claims (2)

[Claims] (1) a drive means; a hollow output means which is removably fixed to the outer periphery of the output shaft of the drive means, and a portion of which is made of a gear; and the output shaft is pressed into contact with the output shaft from within the hollow portion of the output means; , a pressure contact means that has a degree of freedom only in the pressure contact direction and has a surface having a shape that fits with the shape of a surface of the output means facing the drive means, and is arranged to face the gear; and the gear of the output means. A drive mechanism comprising a gear that meshes with the gear, and a transmission means that transmits an output to the outside via the gear. (2) The drive mechanism according to claim 1, wherein opposing surfaces of the output means and the pressure contact means are flat.