JPS58223581A - Drive apparatus in industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a drive M position for driving an arm or the like of an industrial robot.

For example, in an articulated industrial robot as shown in FIG. 1, the arm 2 can rotate in the direction shown by the arrow with respect to the swivel base 1, which is attached with a mounting number so as to be rotatable with respect to the base B. An electric or hydraulic motor is used to drive the arm 2. A drive device conventionally used for rotating the arm 2 is shown in FIG. , an arm 2 as an industrial robot component is rotatably attached. A large bevel gear 4, which is fixed to the support shaft 3 and serves as a follower gear, meshes with a small bevel gear 7, which serves as a drive gear, and is attached to a drive unit main body 6 that drives the motor 5 and the reducer to the right. , the drive unit/main body 6 is attached to the arm 2 with bolts 8. Therefore, when the small bevel gear 7 is rotated by driving the motor 5,
Since the small bevel gear 7 revolves around the large bevel gear 4, a rotation of 1v of the arm 2 is achieved.

Moreover, FIG. 3 is a mechanical diagram showing another articulated industrial robot, in which the swivel base 1 is attached so as to be able to rotate with respect to the base B ().
A first arm (upper arm) 2a is rotatably attached to the swivel base 1, and a 27th arm (forearm) 2b is further rotatably attached to the first arm 2a.

A hand (wrist) 9 is further rotatably attached to the second arm 2b, and the driving of the first arm 2a is as follows.
The rotation of the motor 1OA attached to the swivel base 1 is controlled by the bevel gear 4.
The second arm 21) is driven by transmitting the rotation of the motor 1ob attached to the first arm 2a to the first arm 2a via the bevel gears 4b and 7b. 21).

The hand 9 is driven by a motor 10c via a bevel gear /Ic, 7c.

In the industrial robot shown in Figures 1 and 2, the gear 7 on the driving side is attached to the arm 2 that rotates. A gear 4a on the driven side of the covering arm 2a, 2b or hand 9,
4b and 4c are installed.In the articulated industrial robots 1 to J3, there are both types mentioned above, and in both cases, the gear mechanism allows the robot to be used for industrial purposes such as arms. The driving force is transmitted.

When using such a gear mechanism to drive an arm, etc., in order to increase the accuracy of the rotation angle of the arm, it is necessary to adjust the backlash between the bevel gears on the driving and driven sides when assembling the robot. Furthermore, it is necessary to adjust the backlash caused by the wear of the tooth surface of the bevel gear on the sliding door that drives the robot for a predetermined period of time. To adjust this backlash, conventionally, as shown in FIG. 2, the drive unit main body 6 was attached to the arm 2 via a spacer S, and the backlash was adjusted by replacing the spacer S with a different thickness.

However, in such conventional drive fill devices, it is necessary to provide a large number of spacers of a predetermined thickness in order to maintain the distance between the shafts of the bevel gear as designed when assembling the robot, and it takes time to assemble the drive unit. It takes. In addition, if backlash occurs after a long period of use, there is a problem in that in order to adjust the backlash, it is necessary to remove the drive unit from the arm and replace the subaly.

The present invention has been made by focusing on the problems of the prior art, and it forms a female thread on the outer periphery of the drive unit main body in which the motor that drives the drive side tooth width is installed, and the other industrial type The above-mentioned prior art is achieved by forming a female thread screwed into the male thread C on the inner periphery of a ring to be attached to the robot assembly, and attaching the drive unit body to the other industrial robot assembly via the ring. The purpose is to solve the problems of

Next, an embodiment of the present invention shown in FIG. 4.5 will be explained. 3 and 4 show, as in the case of FIG. 2, the drive of an arm 12 as an industrial robot component rotatably mounted on a swivel base 11 as an industrial robot component.
It is a diagram showing a drive device for the second embodiment, in which a support shaft 13 mounted on a swivel base 11 of an industrial robot is connected via a bearing 19.
An arm 12 is rotatably attached.

A drive unit body 1G is attached to the end of the arm 12, a motor 15 and a small bevel gear 17 on the drive side are attached to this unit body 16, and a reduction gear is incorporated inside the drive unit body 16. . Note that a harmonic drive is used as the reduction gear. A large bevel gear 14 on the driven side that meshes with a small bevel gear 17 of the main body 16 of the drive unit 1 is fixed to the support shaft 13, and when the small bevel gear 17 is rotated by the motor 15, the small bevel gear 17 is rotated. “Bevel gear 14
The rotation of A is achieved by revolving around it.

A jjE threaded portion 20 is formed on the outer periphery of the drive unit main body 16, and a ring 18 having a female threaded portion 21 that is screwed into the male threaded portion 2o is attached to the arm 1 by a bolt 22.
It is attached to the end face of 2. This ring 18 has a slit portion 23 as shown in FIG. The hole into which the bolt 22 is inserted is larger than the bolt shape.

Next, the procedure for setting the distance between the axes of the small bevel gear 17 and the large bevel gear 14 when attaching the drive unit main body 16 to the arm 12 will be explained with reference to FIG.

First, with the ring 18 removed from the drive unit main body 16, the drive unit 16 is mounted within the end of the arm 12. As shown in FIG. 5(a), the center distance adjustment jig 26 shown in FIG.
and set it to a predetermined distance between the axes. The female thread 21 of the ring 18 and the male thread 20 of the drive unit main body 16 are screwed together until the lower ring 18 in this state comes into contact with the end surface of the arm 12.
At the same time, tighten the ring 18 to the drive unit main body 16 using the bolt 24. Next, the jig 26 is removed, and the assembly of the drive unit/main body 16 is completed.

Also, after using the robot for a long time, the bevel gear 14
．． Explanation of the procedure for adjusting the backlash that occurred between the south faces of the ring 17.Turn around, loosen the bolt 24 to the pole 1, remove the bolt 22, and rotate the ring 18. By forming a gap between the ring 18 and the end face of the arm 12 in this way, the drive unit main body 16 can be moved in the axial direction, and the small bevel gear 17 can be pressed against the large bevel gear 14 in a state where the drive unit body 16 can be moved in the axial direction. Check the contact of the gears. When the gears are in desired contact with each other, the ring 18 is fastened to the end face of the arm 12 with a bolt 22, and the ring 18 is fastened to the drive unit main body 16 with a bolt 24. This completes the backlash adjustment.

As described above, according to the present invention, a male thread is formed on the outer periphery of the drive unit main body in which the motor that drives the drive side gear is provided, and the male thread is formed on the inner periphery of the ring attached to the other industrial robot component. Since a female thread for screwing is formed and the drive unit main body is attached to the other industrial robot component via the ring, the distance between the axes between the gears of the drive device can be reduced when assembling the industrial robot 1-. This has the effect that adjustment is simple, and when backlash occurs, it is easy to adjust.

[Brief explanation of the drawing]

Figure 1 is a perspective view showing an example of a robot for producing intersection shapes, f
Fig. f12 is a sectional view showing a conventional drive device for driving the arm shown in Fig. 1 - Fig. 3 is a mechanical diagram of another type of JiA wholesale industrial robot, Fig. 4 (a) is a cross-sectional view showing one embodiment of the present invention, and FIG.
Fig. 5 (a) is a sectional view showing the first step of assembling the drive unit body;
1)) is a perspective view showing the center-to-center adjustment jig. 11... Swivel base 12... Arm 13... Support shaft 14... Driven side gear 16... Drive unit body 17... Drive side gear 18... Ring 22.24.
··bolt.

Claims (1)

[Claims] One of the industrial robot components that are connected to each other so as to be rotatable about a support shaft is connected to a music support shaft that is integrated with the other industrial robot 4-piece construction. Driving in an industrial robot in which a fixed driven gear engages with a component of the other industrial robot in a direction perpendicular to the driven gear and is driven to rotate. In the device, a male thread is formed on the outer periphery of a drive unit main body in which a motor for driving the drive side gear is provided, and a male thread is screwed onto the inner periphery of a ring that is attached to the structure of the other industrial robot 1. - A drive device for an industrial robot, characterized in that the drive unit body is attached to the other industrial robot component via the ring.