JPS6048285A - Power gearing structure of built-up robot - Google Patents
Power gearing structure of built-up robotInfo
- Publication number
- JPS6048285A JPS6048285A JP15482283A JP15482283A JPS6048285A JP S6048285 A JPS6048285 A JP S6048285A JP 15482283 A JP15482283 A JP 15482283A JP 15482283 A JP15482283 A JP 15482283A JP S6048285 A JPS6048285 A JP S6048285A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- tension
- transmission
- robot
- pulley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、ロボットの動力伝動に係り、伝動装置の構造
を簡略化し、好適で安価な、ロボットの構造に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to power transmission in a robot, and relates to a robot structure that simplifies the structure of a transmission device and is suitable and inexpensive.
従来のロボットの構造を第１図及び第２図により説明す
る。１は本体、２は第１腕、３は第２腕、８は第２腕回
転軸、４は第２腕駆動モーター、６は第１段原動プーリ
ーであり、第１段従動プーリー７と第２段原動プーリー
９は中間回転軸５に配置されており、１０は第２段従動
プーリーで第２腕回転軸８と一体に第２腕３に固定され
、第１段プーリーと第２段プーリーを伝動ベルト１３ａ
、１３ｂを介して連結され、原動側から従動側へ動力を
伝動される。The structure of a conventional robot will be explained with reference to FIGS. 1 and 2. 1 is the main body, 2 is the first arm, 3 is the second arm, 8 is the second arm rotation shaft, 4 is the second arm drive motor, 6 is the first stage driving pulley, the first stage driven pulley 7 and the second arm A two-stage driving pulley 9 is arranged on the intermediate rotating shaft 5, and a second-stage driven pulley 10 is fixed to the second arm 3 integrally with the second arm rotating shaft 8. The transmission belt 13a
, 13b, and power is transmitted from the driving side to the driven side.
この様に構成する従来のロボットでは、伝動ベルト１．
３ａ、１．３ｂの張力を適正に調整するためにテンショ
ンプーリー１６もしくはアイドラープーリーのいづれか
又は両方同時に使用していたので、伝動装置の構造が複
卸になる欠点があり、合せて、テンションプーリー１６
及びアイドラープーリ一部で伝動ベルト１３が激しく摩
耗するため伝動ベルト１３の寿命が約１／／２に減少す
る欠点があった。In the conventional robot configured in this way, the transmission belt 1.
3a, 1.3b, either the tension pulley 16 or the idler pulley, or both were used at the same time, so there was a drawback that the structure of the transmission device was duplicated, and in addition, the tension pulley 16
Also, the transmission belt 13 is severely worn in a part of the idler pulley, resulting in a shortened lifespan of the transmission belt 13 by about 1/2.
一方、他の従来のロボットでは、伝動ベルト１３の長さ
及び張力を調整するため、有継目の伝動ベルト１３の両
端のベルト歯を２〜３山引掛けて、締付は固定した張力
調整器１７を使用して、有継目の伝動ベルト１３を輪状
に形成すると同時に伝動ベルトの張力を適正に調整する
構造を採っていたので伝動装置が複雑で高価になる欠点
があり、合わせて、張力調整器１７のベルト継目部がち
ぎれるなどの寿命的欠陥があった。On the other hand, in other conventional robots, in order to adjust the length and tension of the transmission belt 13, two to three belt teeth at both ends of the jointed transmission belt 13 are hooked, and tightening is done using a fixed tension adjuster. 17 to form the jointed transmission belt 13 into a ring shape and at the same time properly adjust the tension of the transmission belt, the transmission device has the disadvantage of being complicated and expensive. There were life-long defects such as the belt joint of container 17 breaking.
本発明の目的は、ロボットの動力伝動装置の構造を簡略
化して、安価なロボットを提供することにある。An object of the present invention is to simplify the structure of a power transmission device of a robot and provide an inexpensive robot.
本発明は、ロボットの腕駆動力を伝動する伝動ベルトの
張力を適正に調整するため使用されていたテンションプ
ーリー１６又は張力調整器１７を除去し、中間回転軸５
及び伝動プーリー９を一体に、駆動軸４と伝動プーリー
６を一体に摺動させて、原動軸と従動軸の軸間距離を変
化させ、伝動ベルト１３の張力を適正に調整することが
出来、伝動装置の構造を簡単に描成しコスＩ・低減を図
る、〔発明の実施例〕
以下、本発明の一実施例を第３図及び第４図により説明
する。２は本体１に載設された第１腕、４は第１腕１に
内蔵した第２腕駆動モーターで同軸に第１段原動プーリ
ー６を固定しである。又、第１段従動プーリー７及び第
２段原動プーリー９を一体に固定して中間回転軸５に配
置し、８は第２腕回転軸で第２腕３及び第２段従動プー
リー１０を一体に固定し、第１段原動プーリー６と第１
段従動ブーＵ −７及び第２段原動プーリー９と第２段
従動プーリー１０を各々伝動ベルＩ−１，３ａ及び１３
ｂを介して連結し、これら回転軸、伝動プーリー及び伝
動ベルトなどが動力伝動装置を構成している。The present invention eliminates the tension pulley 16 or tension adjuster 17 that was used to properly adjust the tension of the transmission belt that transmits the arm driving force of the robot, and
By sliding the transmission pulley 9 integrally, the driving shaft 4 and the transmission pulley 6 integrally, the distance between the driving shaft and the driven shaft can be changed, and the tension of the transmission belt 13 can be adjusted appropriately. Embodiment of the Invention in which the Structure of a Transmission Device is Easily Delineated to Aim at Reduction of Cost I. Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 3 and 4. 2 is a first arm mounted on the main body 1, and 4 is a second arm drive motor built into the first arm 1, which coaxially fixes the first stage driving pulley 6. In addition, the first stage driven pulley 7 and the second stage driving pulley 9 are fixed together and arranged on the intermediate rotating shaft 5, and 8 is the second arm rotating shaft, and the second arm 3 and the second stage driven pulley 10 are integrally fixed. and the first stage driving pulley 6 and the first
The stage driven booby U-7, the second stage driving pulley 9 and the second stage driven pulley 10 are connected to the transmission bells I-1, 3a and 13, respectively.
These rotating shafts, transmission pulleys, transmission belts, etc. constitute a power transmission device.
この様に構成されるロボットに於いて、第２腕駆動モー
ター４を運転すると動力は原動プーリー６より伝動ベル
） １３ａ及び１３ｂを介して、第２段従動プーリー１
０を回転させ、第２腕回転軸８及び第２腕３を駆動し、
第２腕３を動作させる。In the robot configured in this manner, when the second arm drive motor 4 is operated, the power is transferred from the drive pulley 6 to the second stage driven pulley 1 via the transmission bell 13a and 13b.
0 and drive the second arm rotation shaft 8 and the second arm 3,
Operate the second arm 3.
本実施例のロボットによれば、第２腕駆動モーター取付
台１１と第１腕に一体成型した第１腕周囲フランジを結
合させる調整ボルト１２を板上げると第２腕駆動モータ
ー取付台１１は第１腕２に一体成型したガイドレール１
８に沿って摺動し、該取付台１１に載設する第２腕駆動
モーター４とそれに固定した第１段原動プーリー６が摺
動して更に伝動ベルト１３ａで連結された中間回転軸５
及び同軸に配置された。第１段従動プーリー７それに一
体の第２段原動プーリー９がガイドレール１８に沿って
摺動するので、前記調整ボルト１２の捩込量の程度によ
り、伝動ベルト１３ａ及び１３ｂの張力を自在に張るこ
とが出来、適正な張力に調整出来るので、従来例に見ら
れた。テンションブーＵ −１６又は張力調整器１７を
全く必要としなくて済み、伝動装置を簡単で安価に構成
出来る効果がある。更に１本実施例によれば、調整ボル
ト１２を捩」ユげて伝動ベルト１３の張力を調整する際
第１段従動ブーＩＪ −７の中間回転軸固定ねじ１５に
対応する位置に設けた従動プーリー貫通穴１４を通して
、中間回転軸固定ねじ１５を締付け、中間回転軸５を固
定出来るので、伝動ベルト１３の張力調整作業はすべて
、腕」１方の一方向から行うことが可能となる効果があ
る。According to the robot of this embodiment, when the adjustment bolt 12 that connects the second arm drive motor mounting base 11 and the first arm circumferential flange integrally molded on the first arm is lifted, the second arm drive motor mounting base 11 becomes the second arm drive motor mounting base 11. Guide rail 1 integrally molded on 1 arm 2
8, the second arm drive motor 4 mounted on the mounting base 11 and the first stage driving pulley 6 fixed thereto slide along the second arm drive motor 4, and the intermediate rotating shaft 5 is further connected by a transmission belt 13a.
and arranged coaxially. Since the second stage driving pulley 9 integrated with the first stage driven pulley 7 slides along the guide rail 18, the tension of the transmission belts 13a and 13b can be adjusted freely depending on the screwing amount of the adjustment bolt 12. This was seen in the conventional example because the tension can be adjusted to an appropriate level. There is no need for the tension boob U-16 or the tension regulator 17 at all, and the transmission device can be constructed simply and at low cost. Furthermore, according to this embodiment, when adjusting the tension of the transmission belt 13 by twisting the adjustment bolt 12, a driven member is provided at a position corresponding to the intermediate rotating shaft fixing screw 15 of the first stage driven boob IJ-7. Since the intermediate rotating shaft fixing screw 15 can be tightened through the pulley through hole 14 to fix the intermediate rotating shaft 5, all the tension adjustment work of the transmission belt 13 can be done from one direction of the arm. be.
なお、上記実施例は主として第２腕駆動力伝動装置につ
いて説明したが、第４図に示した、第３腕駆動の動力伝
動についても同様の効果がある。Although the above embodiment mainly describes the second arm driving force transmission device, the same effect can be obtained for the third arm driving power transmission shown in FIG.
本発明によれば、駆動軸及び駆動軸と一体の伝動プーリ
ーを一体成型して設けた腕周囲フランジに配置した調整
ボルトを捩」二げて、腕に一体成型して設けたガイドレ
ールに沿って摺動させることにより駆動、従動回転軸間
距離を変化させて、伝動ベルトの張力を適正に調整する
ことが可能な装置構造にしたので、特別伝動ベルトの張
力を調整するためのテンションプーリーやベルト張力調
整器を必要としない、単純な伝動装置を構成することが
出来、ロボット全体を安価に出来る効果がある。According to the present invention, the adjustment bolt arranged on the flange around the arm, which is provided by integrally molding the drive shaft and the transmission pulley integrated with the drive shaft, is twisted and moved along the guide rail which is integrally molded on the arm. The device structure allows the tension of the transmission belt to be adjusted appropriately by changing the distance between the driving and driven rotation axes by sliding the belt. It is possible to configure a simple transmission device that does not require a belt tension adjuster, which has the effect of making the entire robot less expensive.
第１図は従来のロボットの側面図、第２図は第１図にお
けるロボットの拡大概略図、第３図は本発明の実施例で
あるロボットの側面図、第４図は第３図の概略拡大説明
図。
１、・・・本体、２・・・第１腕、３・・・第２腕、４
・・・第２腕駆動モーター、５・・・中間回転軸、６・
・・第１段原動プーリー、７・・・第１段従動ブーＩＪ
−１８・・・第２腕回転軸、９・・・第２段原動ブーＩ
Ｊ−１１０・・・第２段従動プーリー、１１・・・第２
腕駆動モーター取付台、１２・・・調整ボルト、１３・
・・伝動ベルト、１４・・・伝動プーリー貫通穴、１５
・・・中間回転軸固定ねじ、１６・・・テンショナープ
ーリ２１７・・・張力調整器、１８・・・ガイドレール
。
代理人弁理士 高 橋 明 夫
第１ 図
箭 ３ 日
叢 ４ 図Figure 1 is a side view of a conventional robot, Figure 2 is an enlarged schematic diagram of the robot in Figure 1, Figure 3 is a side view of a robot that is an embodiment of the present invention, and Figure 4 is a schematic diagram of Figure 3. Enlarged explanatory diagram. 1. Main body, 2. First arm, 3. Second arm, 4.
...Second arm drive motor, 5...Intermediate rotating shaft, 6.
...1st stage driving pulley, 7...1st stage driven boob IJ
-18...Second arm rotation axis, 9...Second stage driving boot I
J-110...Second stage driven pulley, 11...Second
Arm drive motor mounting base, 12...adjustment bolt, 13.
...Transmission belt, 14...Transmission pulley through hole, 15
... Intermediate rotating shaft fixing screw, 16... Tensioner pulley 217... Tension adjuster, 18... Guide rail. Representative Patent Attorney Akio Takahashi 1st drawing 3 Nisso 4th drawing
Claims (1)
た腕駆動モーター（４）の動力を腕回転軸（８）に配置
するブーＵ−（１０）に１段ないしは多段の伝動ベルｈ
（１３）を介して伝動するロボットに於いて、一体成型
して形成した腕（２）のフランジに配設した調整ポル１
−（１２）の回転張力により腕駆動モーター軸（４）及
び中間回転軸（５）を摺動させることにより伝動ベルト
（］、３ａ ）、（］、３ｂ）の張力を調整可能にした
ことを特徴とするロボ・ソトの動力伝動装置構造。 ２、中間プーリーの中間回転軸固定ねじ（１５）に対応
する位置に調整穴を設け、伝動ベルト（１３）張力調整
後、中間回転軸（５）を固定できる構造を特徴とする特
許請求の範囲第１項記載のロボットの動力伝動装置構造
。[Claims] 1. Boo U-(10) in which the power of the arm drive motor (4) mounted on the arm (2) of Robo Soto, which is integrally molded, is placed on the arm rotation axis (8). One-stage or multi-stage transmission bell h
(13) In a robot that transmits power via
- The tension of the transmission belts (], 3a), (], 3b) can be adjusted by sliding the arm drive motor shaft (4) and intermediate rotating shaft (5) using the rotational tension of (12). Characteristic of Robo Soto's power transmission structure. 2. Claims characterized by a structure in which an adjustment hole is provided at a position corresponding to the intermediate rotating shaft fixing screw (15) of the intermediate pulley, and the intermediate rotating shaft (5) can be fixed after adjusting the tension of the transmission belt (13). The power transmission device structure of the robot according to item 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15482283A JPS6048285A (en) | 1983-08-26 | 1983-08-26 | Power gearing structure of built-up robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15482283A JPS6048285A (en) | 1983-08-26 | 1983-08-26 | Power gearing structure of built-up robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6048285A true JPS6048285A (en) | 1985-03-15 |
Family
ID=15592630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15482283A Pending JPS6048285A (en) | 1983-08-26 | 1983-08-26 | Power gearing structure of built-up robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6048285A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011000659A (en) * | 2009-06-17 | 2011-01-06 | Sinfonia Technology Co Ltd | Deceleration mechanism of double-hand robot |
| JP2014151420A (en) * | 2013-02-13 | 2014-08-25 | Nidec Sankyo Corp | Industrial robot |
| JP2016074067A (en) * | 2014-10-08 | 2016-05-12 | セイコーエプソン株式会社 | Robot and adjustment method of robot |
| JP2019068733A (en) * | 2012-04-30 | 2019-04-25 | スレット スペクトラム インコーポレイテッド | Motor driving assembly with resistance to mechanical shock |
-
1983
- 1983-08-26 JP JP15482283A patent/JPS6048285A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011000659A (en) * | 2009-06-17 | 2011-01-06 | Sinfonia Technology Co Ltd | Deceleration mechanism of double-hand robot |
| JP2019068733A (en) * | 2012-04-30 | 2019-04-25 | スレット スペクトラム インコーポレイテッド | Motor driving assembly with resistance to mechanical shock |
| JP2014151420A (en) * | 2013-02-13 | 2014-08-25 | Nidec Sankyo Corp | Industrial robot |
| JP2016074067A (en) * | 2014-10-08 | 2016-05-12 | セイコーエプソン株式会社 | Robot and adjustment method of robot |
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