JPH02198789A - Body structure for industrial robot - Google Patents

Abstract

PURPOSE:To easily and efficiently perform maintenance and check of a motor and its reducer without removing a body or its upper structure body by installing the motor and its reducer removably from above on each upper face of shelf parts and a bottom wall of a lower body through an opening of an intermediate body connecting the upper and lower bodies. CONSTITUTION:A body 11 consists of a lower body 14 being concentric with axis of an output shaft 50 of a motor 22 and an upper body 16 supporting an upper structure body 20 which relatively operates relative to the lower body, and being eccentric with axis of the lower body. On the upper part of an intermediate body 18 connecting the upper body 16 to the lower body 14, an opening part 42 is formed. Through the opening part 42, a motor 22 and a reducer 24 are installed removably on each upper face of shelf parts 32 and a bottom wall 30 of the lower body 14 with screws 40, 46. As a result, the motor and the reducer can be easily and efficiently removed and checked, then carried in and installed through the opening without removing the body and its upper structure body 20.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to the structure of a torso of an industrial robot having a torso that is rotated relative to a base portion.

[Prior art] Among industrial robots, many of the robots used for welding, handling, etc. adopt a vertically articulated or cylindrical coordinate type mechanism, but in these robots, the entire mechanism is The lower mounting has a structure for pivoting movement relative to the base part. In this case, the drive system for performing the turning operation does not use transmission elements such as belts or gears, and the motor and reducer are placed at the center of the turning, from the viewpoint of improving rigidity, high reliability, and reducing costs. , a structure is adopted in which the fuselage is directly rotated relative to the base by a reduction gear.

(Problem to be solved by the invention) However, in the case of the above-mentioned structure, the motor and reducer are arranged inside the base part and the body,
During maintenance and inspection of motors and reducers, the upper part of the fuselage must be separated from the base, and this requires the use of large-scale work equipment such as a crane, which reduces work efficiency. bad.

Therefore, in order to solve the problem, the present invention aims to provide a fuselage structure that allows easy and efficient maintenance and inspection of the fuselage drive motor and reduction gear.

[Means to solve the problem]

In view of the above object, the present invention provides an industrial robot having a body that is driven to swing directly relative to a base portion by a speed reducer directly connected to the output shaft of a motor, wherein the body includes:
a lower body concentric with the central axis of the output shaft of the motor; and an upper body supporting an upper structure that operates relative to the body and eccentric with respect to the central axis; An opening through which the motor and the reducer can be inserted and removed is formed in the upper part of the intermediate fuselage that connects the upper fuselage and the lower fuselage, and the reducer is inserted into the upper surface of the bottom wall of the lower fuselage from above. Industrial use, characterized in that the motor is removably attached with a fastening member, and further the motor is removably attached to the upper surface of the shelf of the lower body from above with another fastening member at a position above the reducer. Provide the body structure of the robot.

[For production]

Since the upper part of the fuselage is eccentric from the rotation center axis of the motor and reducer, an opening for inserting and removing the motor and reducer can be provided in the middle part of the fuselage, which is the upper part of the motor and reducer.

On the other hand, since both the motor and the reducer are removably attached to the upper surfaces of the shelf and bottom wall of the fuselage, it is possible to remove and take out the motor and reducer from the opening, and to attach them again.

[Example] The present invention will be described in more detail below based on an example shown in the accompanying drawings. FIG. 1 is a longitudinal sectional view of a base portion 10 and a body 11 of an industrial robot according to the present invention. The fuselage 11 is composed of a lower fuselage 14, an upper fuselage 16, and an intermediate fuselage, which are integrated. The lower body 14 of this body 11 is connected to the base portion 1 through a bearing 12.
0, and is configured to be rotatable about the central axis CI. The lower body 14 has an annular bottom wall 30 having a hole through which the lower part of the reducer 24 can pass, and an annular shelf 32 at a predetermined position above the bottom wall 30.

The flange-like casing portion 28 of the reducer 24 is connected to the threaded part 3
4 is fastened from the upper surface side of the bottom wall 30 of the lower body 14, and the output shaft 26 is fastened from above by a conventional screw part 40 so as to be fixed to the base part 10. A bracket 36 is attached to the top of the reducer 24 and is fastened to the upper surface of the shelf 32 by a screw part 46.
is fixed, and a flange 39 of the motor 22 is fastened to the bracket 36 from above by another threaded part 38. The motor 22 and the reduction stage 24 are installed so that their respective rotation center axes coincide with the aforementioned center axis C1, and the output shaft 50 of the motor 22 is inserted into the reducer 24 from above as an input shaft of the reducer 24. has been done. Therefore, when the output shaft 50 of the motor 22 is rotationally driven, rotational power is transmitted to the output shaft 26 of the reducer 24.
Since the output shaft 26 is fastened and fixed to the base portion 10, the casing portion 28 rotates together with the body 11. That is, the fuselage 11 is configured to be directly rotationally driven by the reduction gear 24.

As mentioned above, the fuselage 11 includes a lower fuselage 14, an intermediate fuselage 18,
The intermediate fuselage 18 is inclined with respect to the lower fuselage 14, and the tip thereof is the upper fuselage 16, and the upper fuselage 16 is connected to the fuselage 11. This is the part to which the upper structure 20, such as an arm, which performs a rotational operation, etc., is attached. Therefore, the upper structure 20 such as the arm is eccentric from the rotation center axis C1 of the motor 22, etc., and an opening 42 in the upper part of the intermediate fuselage is large enough to allow the motor 22 and reducer 24 to be inserted and removed. A cover member 44 is normally attached. That is, the opening 42 is for maintenance and inspection of the motor 22 and the reducer 24, and as mentioned above, the motor 22 and the reducer 24 are each attached from above with screw parts. Take out the motor 22 and reducer 24 through the opening 42,
After inspection, it can be delivered and installed.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, when maintaining and inspecting the motor and reducer in the body of an industrial robot, it is possible to easily and without removing the body or its upper structure. Able to work efficiently.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view of the body and base of the industrial robot according to the present invention. 1o...base part, 11...body, 14.
...Lower fuselage, 16...Upper fuselage, 18...
- Intermediate fuselage, 20... Upper structure, 22...
Motor 24...Reducer, 42...Opening, 50...Output shaft of motor, CI...Rotation center axis.

Claims (1)

[Claims] 1. In an industrial robot having a body that is swing-driven directly relative to a base portion by a reducer directly connected to the output shaft of the motor, the body is concentric with the central axis of the output shaft of the motor. an intermediate body that connects the upper body and the lower body; an opening through which the motor and the reducer can be inserted and removed, the reducer is removably attached to the upper surface of the bottom wall of the lower body with a fastening member from above, and the motor is A fuselage structure for an industrial robot, characterized in that the fuselage structure is removably attached to the upper surface of the shelf of the lower fuselage from above with another fastening member at a position above the reducer.