JPH03234494A - Steel band driving device of robot arm - Google Patents

Abstract

PURPOSE:To facilitate the installation of a steel belt by laying two steel belts between rotating drums in double level, fixing the respective end parts to the respective drums by mounting members to reciprocate the steel belts, and providing a means for clamping the mounting members by the tension of the steel belts. CONSTITUTION:A mounting member 22 is brought up by the tension of a steel belt 20, whereby a mounting member projection 24 is brought into contact with the recessed part 25 of a drum 21 to clamp the steel belt 20. Thus, the installation of the steel belt 20 is facilitated, and the cut of an attaching screw part 23 in the weakest part can be prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a steel band drive device for a robot arm having a drive steel band.

[Background Art] In recent years, various types of horizontal articulated direct drive robots (hereinafter abbreviated as DD robots) have been developed in the robot industry. A steel belt is used to drive this robot arm.

An example of driving the conventional robot arm described above will be described below with reference to the drawings.

FIG. 2 shows a plan view of a conventional DD robot. 1 is the main body. 2 is a first arm; a first driving means 15 having a first motor and an encoder built into the main body;
It is directly connected and rotates (as shown in Figure 3).

A second arm 3 is rotatably provided at the other end of the first arm 2. A rotary drum 4 is directly connected to a second drive means 16 having a second motor and an encoder built into the main body 1, and is rotatable with respect to the first arm 2. Reference numeral 5 denotes a driven drum, which is directly connected to the second arm 3. Reference numeral 6 denotes a steel belt A, which is fixed to the rotary drum 4 by a mounting member a9 with screws 10 and 11 (the fourth
(shown in figure). The other end is similarly secured to the driven drum 5 with a screw (not shown) using a pick-up member b12.

Reference numeral 7 denotes a steel belt B, which is fixed to the rotary drum 4 by a screw (not shown) with a mounting member c13 at a step difference from the steel belt A6. Similarly, the other end is the material member d1
4 is fixed to the driven drum 5 with screws (as shown in FIG. 5).

FIG. 4 is a partially enlarged view showing two steel belts each fixed to a drum by a strip member. A steel belt A6 is sandwiched at the boundary between the covering members 9 that can be fitted into the recesses of the rotary drum 4, and tightened with screws 10 and 11.

Two steel belts A6 configured as above. B
7, its driving operation will be explained below based on FIG.

steel bell) A6, when the rotary drum 4 fixed with the mounting member a9 rotates in the direction of the arrow (clockwise), the driven drum 5
Since the other end is fixed along the outer periphery of the drum 5 with the mounting member C12, the driven drum 5 rotates in the direction of the arrow (counterclockwise) due to tension. The drum 5 and the fixed second arm 3 rotate.

On the other hand, when the driven drum 5 fixed by the mounting member d14 is rotated in the direction of the arrow (counterclockwise), the other end of the steel belt B7 is attached to the mounting member c13 along the outer circumference of the rotary drum 4.
Because it is fixed in place, tension acts on the rotating drum 4.
will rotate in the direction of the arrow (clockwise).

Next, the action of returning the second arm 3 clockwise is performed by rotating the rotating drum 4 counterclockwise, thereby causing the steel belt B
A tension is applied to the side 7 to rotate the driven drum 5 clockwise.

[Problem to be Solved by the Invention] However, in the configuration of the prior art as described above, when tension is applied to the steel belt, a lifting force is generated in the material member, and the steel belt is cut at the weakest threaded part. Therefore, in order to prevent this, the number of mounting screws must be increased and the tightening force must be increased.

SUMMARY OF THE INVENTION In order to solve the problems of the prior art described above, it is an object of the present invention to provide a steel band drive device for a robot arm, which is tightened and fixed using the tension of a steel belt.

[Means for Solving the Problems] In order to achieve the above object, the steel band driving device for a robot arm of the present invention includes a main body incorporating a first driving means and a second driving means, and a first driving means of this main body. a first arm that is directly connected to the body and rotates about the same axis, a second arm that is rotatably provided at the other end of the first arm, and a second drive of the main body that rotates the second arm. A rotary drum directly connected to the means is rotatably coaxial with the first driving means, and a driven drum is provided at the other end and directly connected to the second arm, and two driven drums are provided between the rotary drum and the rotary drum. The present invention is characterized in that the steel belts are hung in different steps, each end of which is fixed to each drum by a material member, and is moved back and forth, and means is provided for biting and tightening the material member by the tension of the steel belt.

[Function] According to the above-described structure of the present invention, the tension member of the steel belt lifts the material member, so that the protrusion of the material member comes into contact with the recess of the drum, thereby pinching and tightening the steel belt.

Therefore, it is possible to easily attach the steel belt, and to prevent the disadvantage that the attaching screw portion is cut at the weakest part.

[Embodiment] A steel band drive device for a robot arm using a steel band according to an embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a partially enlarged plan view showing how a steel belt is attached to a drum in a first embodiment of the present invention. In Fig. 1, 20 is a steel belt, 21 is a drum,
Reference numeral 22 denotes a collecting member; 23 indicates a screw for attaching the collecting member 22 to the drum 21; and 24 indicates the collecting member 2.
A protrusion 25 provided on a part of the drum 2 is a recess provided in the drum, into which the protrusion 24 can almost fit.

The operation of the steel belt attachment means constructed as described above will be explained below with reference to FIG. 1.

There is a basic difference in the operation of the collecting member 9 of the prior art described above. For other parts, see Figure 2, Figure 3,
and FIG. 5, so the explanation will be omitted.

The basic difference is that when the tension of the steel belt 20 is applied in the direction of arrow A, the covering member 22 is lifted up.

For this reason, the protrusion 24 of the pick member 22 comes into contact with the recess 25 provided in the drum 21, and the steel belt 20 sandwiched therebetween is tightened in the direction of the arrow B. The steel belt will not be cut at the weakest part of the mounting screw 23. Therefore, the number of mounting screw portions 23 can be reduced.

[Effects of the Invention] As explained above, according to the steel band drive device for a robot arm of the present invention, there is a main body that incorporates a first drive means and a second drive means, and a coaxial center that is directly connected to the first drive means of this main body. a second arm rotatably provided at the other end of the first arm; and a second arm directly connected to a second drive means of the main body for rotating the second arm. A rotary drum is provided rotatably coaxially with the first driving means, and a driven drum is provided at the other end directly connected to the second arm, and two steel belts are disposed at different levels between the rotary drum and the rotary drum. The steel belt can be easily installed and removed by providing a means for fixing each end to each drum using a pick-up material member and moving it back and forth, and biting and tightening the pick-up member by the tension of the steel belt. This has great effects, such as not cutting the screw at its weakest point.

[Brief explanation of drawings]

FIG. 1 is a partially enlarged plan view showing the attachment of a steel belt driven by a robot arm to a drum in an embodiment of the present invention, FIG. 2 is a plan view of a conventional example and a DD robot to which the present invention is applied, and FIG. 3 2 is a side view of FIG. 2, FIG. 4 is a partially enlarged plan view showing a conventional example in which two steel belts are fixed between each drum with a material member, and FIG.
FIG. 3 is a perspective view showing two steel belts provided between the drums of FIG. 3 and FIG. 2, respectively. 20...Steel belt, 21...Drum, 22.
... material member, 23 ... screw, 24 ... protrusion,
25... recessed part. 1... Robot body 2... First arm 3... Second arm 4... Rotating drum 5... Followed drum 6... Steel belt Figure 1 Figure 2 Figure 3 Figure 4 figure

Claims (1)

[Claims] (1) A main body incorporating a first driving means and a second driving means,
A first arm that is directly connected to the first drive means of the main body and rotates about the same axis; a second arm that is rotatably provided at the other end of the first arm; and a second arm that is rotatable at the other end of the first arm. A rotary drum directly connected to the second drive means of the main body is provided rotatably coaxially with the first drive means, and a driven drum directly connected to the second arm is provided at the other end, so that the rotation Two steel belts are hung at different levels between the belt and the drum, each end of which is fixed to each drum by a mounting member for reciprocating movement, and means is provided for tightening the mounting member by biting into it by the tension of the steel belt. A steel band drive device for a robot arm, which is characterized by: