JPH04331082A - Thread fastening structure of robot driving motor and removing method thereof - Google Patents

Abstract

PURPOSE:To provide a thread fastening structure of a robot driving motor, making this motor easily removable from a robot body, and preventing any deformation and damage to the robot and the motor. CONSTITUTION:An inner diameter of a second internal thread 3a installed in a flange 3 of a motor 1 is made larger than an outer diameter of a bolt 4 thread-fastening the flange 3 of the motor 1 in an external thread 11a of a robot body 11, removing it from a thread fastening structure serving as a through hole of the bolt 4 and the first internal thread 11a setting up the bolt 4 in the robot body 11 first. Next, a headless bolt 8 is screwed in the first internal thread 11a so as to have the end situated slightly the upper part than the motor's flange, and then another bolt 7 being screwed in the second internal thread 3a is clamped tight, through which the motor 1 is removed from the robot body 11 as its method.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a screw fastening structure for fixing a robot drive motor to a robot body, and a method for removing the motor from the robot body.

0002

[Prior Art] Generally, in a scalar type robot, as shown in FIG.
As shown in the top view and the front view of FIG. 5, robot drive motors 1 and 2 are disposed outside the robot body 11. The reason why the motors 1 and 2 are arranged outside the robot body 11 in this way is to facilitate maintenance such as replacing the brushes of the motors 1 and 2. 1 and 2 can be easily removed from the robot body 11.

[0003] Immediately below the motors 1 and 2, a speed reduction device, etc., typified by a harmonic drive, is provided. In order to prevent dust generation from these reduction gears and to protect the motors 1, 2, etc. from explosion, oil sealing material is applied to the mounting surfaces of the motors 1 and 2 (hereinafter referred to as flanges) and the contact surface of the robot body 11. has been done. Here, the oil seal material is
Highly viscous materials are used to improve dust-proofing and explosion-proofing effects. Therefore, when removing the flanges of motors 1 and 2 from the robot body 11, first
It was difficult to remove the bolts fixing the flanges to the robot body 11, and then apply a strong force to the motors 1 and 2 in the lateral direction.

[0004] Furthermore, simply applying a strong force will not
If it cannot be easily removed, remove motors 1 and 2.
The method used was to insert a flat head screwdriver into the contact surface between the flange and the robot body 11, and use the flat head screwdriver to act as a wedge to remove the motors 1 and 2 from the robot body 11. However, such a conventional removal method has the problem that the edge of the flat head screwdriver may damage the appearance of the robot or deform the motors 1 and 2.

[0005] Another method is to use special members or tools to remove the motors 1 and 2 from the robot body 11, but this would complicate the structure of the robot itself and require special tools. , was hardly ever implemented.

[0006]

SUMMARY OF THE INVENTION The present invention provides a new screw tightening structure for a robot drive motor and a method for removing the same, thereby allowing the motor to be easily removed from the robot body and solving the above-mentioned problems. is the issue.

[0007]

[Means for Solving the Problems] The structure for fixing the robot drive motor to the robot body with screws according to the present invention is such that a first female thread provided on the robot body is connected to a second female thread provided on the flange of the motor. The second internal thread has an inner diameter larger than an outer diameter of the bolt, and is a through hole of the bolt.

[0008] Also, in the method of removing the robot drive motor of the present invention from the robot body, the bolt is first removed from the first female thread provided on the robot body, and then the end is attached to the first female thread. The motor is removed from the robot body by screwing the headless bolt so that the part is located slightly above the bottom surface of the flange of the motor, and then tightening the other bolt that is screwed into the second female thread. How to remove it.

[0009]

[Operation] The inner diameter of the second female thread disposed on the flange of the motor is made larger than the outer diameter of the bolt that screws and secures the flange of the motor to the first female thread of the robot body, and the through hole of the bolt is The motor can be tightened by first removing the bolt from the first female screw disposed on the robot body and tightening another bolt that is screwed into the second female screw. By adopting a method of removing the motor from the robot main body, the motor can be easily removed from the robot main body.

0010

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a screw tightening structure for a robot drive motor and a method for removing the same according to the present invention will be described below with reference to FIGS. 1 to 3. In the scalar type robot according to the present invention, the robot drive motors 1 and 2 are connected to the robot body 11 in the same way as explained in the conventional technology using FIGS.
located outside the

FIG. 1 is a sectional view showing an embodiment of a screw tightening structure for a robot drive motor according to the present invention. In FIG. 1, a motor 1 has a flange 3. 11 is a robot body, and 11a is a first female screw provided on the robot body 11. The flange 3 of the motor 1 is provided with a second internal thread 3a. The motor 1 is screwed to a first female thread 11a provided on the robot body 11 by a headed bolt 4 via a second female thread 3a provided on the flange 3 of the motor 1.

[0012] Here, the inner diameter of the second female thread 3a disposed on the flange 3 of the motor 1 is set larger than the outer diameter of the bolt portion of the bolt 4 with a head. Therefore, the second
The internal thread 3a acts as a through hole for the bolt 4. The flange 3 of the motor 1 is sandwiched between the head of the bolt 4 and the robot body 11, and is fixed to the robot body 11 by screwing the bolt 4 to the first female thread 11a. This point is a structural feature of the present invention.

The highly viscous oil seal material 5 is attached to the motor 1.
The coating is applied to the contact surface (numbered 5) between the flange 3 and the robot body 11. 6 is a gear for a speed reduction device that transmits the driving force of the motor 1. The oil seal material 5 is used to prevent dust from being generated from the speed reduction device, etc., and to protect the motor 1, etc. from explosion. Next, a method for removing the motor 1 having the flange 3 screwed by the screw tightening structure of the robot drive motor of the present invention explained in the embodiment in FIG. 1 from the robot body 11 will be explained in FIGS. I will explain using 3. First, the "headed bolt" 4 is removed from the first female thread 11a by unscrewing it. 2 and 3, only the right half of the figure shows the bolt 4 removed, and the left half of the figure shows the bolt 4 not yet removed. After removing all the bolts 4 including the bolt 4 on the left half, as shown in the right half of FIG. Bolt 7 with this second internal thread 3a.
Tighten the screws. This second female thread 3a corresponds to the entrance end of the first female thread 11a of the robot body 11. Furthermore, when the second female screw 3a is tightened, force is applied in the direction of removing the flange 3 of the motor 1 from the robot body 11, and the motor 1 can be easily removed from the robot body 11.

FIG. 3 shows a method for removing the motor 1 from the robot body 11 while taking into consideration the protection of the end of the first female thread 11a. When removing the motor 1, as shown in Figure 3,
Before tightening the "other bolt with a head" 7 to the second female thread 3a, tighten the "headless bolt" 8, such as a potato screw, to the first female thread 11a of the robot body 11, and then The motor 1 is removed from the robot body 11 by tightening the other bolt 7 with the second female thread 3a. As a result, the other bolt 7 with a head presses the end of the first female screw 11a substantially simultaneously with the headless bolt 8, and it is possible to protect the end of the first female screw 11a.

[0015]

As explained above, in the present invention, the inner diameter of the second female thread provided on the flange of the motor is made larger than the outer diameter of the bolt that screws and secures the flange of the motor to the robot body, Adopting a screw tightening structure in which the bolt is a through hole, and first, the bolt is removed from a first female screw provided on the robot body, and another bolt that is screwed into the second female screw is tightened. By adopting a method for removing the motor from the robot main body, the motor can be easily removed from the robot main body, and furthermore, deformation and damage to the robot and the motor can be prevented during removal. be.

[Brief explanation of drawings]

FIG. 1 is a sectional view of an embodiment of a screw fastening structure for a robot drive motor according to the present invention.

FIG. 2 is a sectional view illustrating a method for removing screws from a robot drive motor according to the present invention.

FIG. 3 is another sectional view illustrating a method for removing a screw from a robot drive motor according to the present invention.

FIG. 4 is a top view of the scalar robot.

FIG. 5 is a front view of the scalar robot.

[Explanation of symbols]

1, 2 Motor 3 Flange 3a Second female screw 4 bolt 5 Oil seal material (adhesive surface) 6 Gear 7 Other bolts 8 Headless bolt 11 Robot body 11a First female screw

Claims (2)

[Claims] Claim 1: A first female thread provided on the robot body is connected to a second female thread provided on the flange of the motor,
In the screw tightening structure of a robot drive motor that is fixed by screwing with a bolt, the inner diameter of the second internal thread is larger than the outer diameter of the bolt, and the second female thread is a through hole of the bolt. Motor screw tightening structure. 2. A robot drive motor, wherein the bolt tightened by the screw tightening structure according to claim 1 is removed from a first female thread provided on the robot body, and the motor is removed from the robot body. In the removal method, first screw a headless bolt into the first female thread so that the end is located slightly above the bottom of the motor flange, and then tighten the other bolt to be screwed into the second female thread. A method for removing a robot drive motor, wherein the motor is removed from the robot body.