JPS5828491A - Chain tension mechanism of 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 chain tensioner mechanism in a chain drive device that transmits rotation of the wrist of an articulated robot.

Conventionally, there has been a device of this type as shown in FIGS. 1 and 2. , Figure 111 shows the external appearance of an existing articulated robot. (1) is the rotating part, (2) is the upper arm that tilts back and forth, (3) is the forearm that tilts up and down, and (4) is the bending and twisting part. The wrists (6) and (7), which have shafts, are rotation transmission units attached to the upper arm and forearm, respectively, and the rotation of the drive motor (5) on the upper arm (2) is transferred to the rotation transmission units (6) and (7). )
In this articulated robot O, which performs the bending motion of the wrist (4), the conventional rotation transmission unit is shown in Figure 2.
are chain sprockets installed at the joints of the upper arm (2), forearm (3) and wrist (4), (8a) (8b) (8c) (8d)
) i, t (71%z) A chain that engages with the chain block, (98M9b) and (10a) (10b) are bars that connect this chain (8a) and (8b), (8c) and (8d), (6 ) is the joint that connects −10,000 to the chain,
(2) is bar (98), (10 &) each and joint A (ro)
It is a double-threaded bolt located in the middle of the .

Next, the operation of this conventional device will be explained.

Chain sprocket (18a), (1:1lb) engagement % x > (8B) (8b) Ha, bar (9m) (9b)? Through, joint (b) and bar (9a)
Tension is applied by both threaded bolts (2) located in the middle of the . Similarly, chain sprocket (18b) (18c)
Engage + X-n (8G').

(8d) is connected to joint 0 through bars (10a) (10b').
Chain sprocket (180
) A wrist (4) that rotates integrally with the G edge is mounted on the surface, and a wrist bending drive motor (5) that rotates the chain sprocket (18a) connects the rotation transmission unit (6) and (7) to 'C'. The wrist (4) rotates, and the rotation of the wrist (4) and the rotation of the wrist bending single-movement motor (5) must correspond one-to-one. Attach the chain (8a) with the threaded bolt (2).
) (8b) (8C) (8d), Since the conventional chain tension run mechanism has a tension tail structure as described above, the tightening torque for both threaded bolts (6) is within the working range. Depending on the situation, the tensile force of the chain is not constant,
This invention was made to eliminate the above-mentioned drawbacks of the conventional method, such as problems with chain management.The present invention was made in order to eliminate the above-mentioned drawbacks of the conventional method. The purpose is to provide a chain tension run mechanism that maintains a constant flow rate.

An embodiment of the present invention will be described below with reference to the drawings. 8th
In the figure, (14 is a joint B attached to one end of the chain (8&), (15&) is a bar with one end connected to the double threaded bolt (2), a is a spring spring, and Qη is a joint B with one end attached.
Installed on Q41 is the trigger that hooks the above-mentioned flat spring Del, (G) has the above-mentioned spring (to) built in, and one end is attached to the bar (
The box attached to the chain (8) shown in Figure 2
This mechanism, located between &) and (8b), is provided on each chain, and is the same as the chain (8C) in Figure 2 above.
) and (8d), there is also the above bar (15 &
) and bars of different lengths.

Other parts are the same as the conventional mechanism described above.

Next, the operation of one embodiment of the present invention will be described. When rotating both screw bolts υ, the box (to)
Spring force is added to the counter spring α・ by the trigger αη and the trigger αη. Length of the trigger αη between the joint BQ4 and the box (G), assuming that the length of the counter spring (to) where the spring force P# is obtained is 1. 3, by adjusting both threaded bolts (2) and setting the length 8 of the trigger αη between the joint BQ4 and the box) to a predetermined length, the chain (8a) and (
8b) Tension PQ is applied by helical spring Qc9,
Similarly, tension Pkg is applied to chains (8C) and (8d).

In addition, in the above embodiment, a spring (to) is used to provide tension.
However, it is also possible to use a coil spring instead.As described above, according to the present invention, the tension of the chain is generated by a spring, and in the case shown in the figure, the length of the trigger between the joint B and the box is By controlling the threading of the nut and screw in step 3, it is possible to set the spring force and, in turn, the chain tension, so that the chain tension can be maintained at a constant force P without variations depending on the operator adjusting it. There is an effect that can be set to illusion 2

[Brief explanation of drawings]

Fig. 1 is an external view of an articulated robot, Fig. 2 is a front view showing a chain tension run mechanism which is a conventional rotation transmission unit, and Fig. 8 is a partial view showing a chain tension run mechanism according to an embodiment of the present invention. It is. In the figure, (1) is the rotating part, (2) is the upper arm, (3) is the forearm, (
4) is the wrist, (5) is the wrist bending drive motor, (6) is the rotation transmission unit A, (7) is the rotation transmission unit B, (8
m) - (8d) are chains, (9a) (9b) (10
a) (10b) is a bar, αυ is a joint A, Qs6 is a double screw bolt, (18B) (18b) (180) is a chain block/soto, Q4) it joint B, (158X15b)
is a bar, (2) is a spring, (b) is a trigger, and (g) is a box. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Makoto Kuzuno - Figure 1 Figure 2 3 figure 497

Claims (2)

[Claims] (1) A chain is provided between the chain sprocket on the driving source side and the chain sprocket on the driven side such as the wrist, and engages with the treads. A chain tensioner mechanism for a robot, in which a spring is inserted between a pair of joint members that are connected to each other, and tension is applied to the chain by the elastic force of the spring. (2) The above-mentioned chain has a connecting portion using a nut and a bolt, and by adjusting the threading of the nut and bolt, the elastic force of the above-mentioned spring can be adjusted by fζ. A chain tension mechanism for the robot according to scope 1.