JPS62130187A - Lifting gear for tool shaft of robot - Google Patents
Lifting gear for tool shaft of robotInfo
- Publication number
- JPS62130187A JPS62130187A JP26613885A JP26613885A JPS62130187A JP S62130187 A JPS62130187 A JP S62130187A JP 26613885 A JP26613885 A JP 26613885A JP 26613885 A JP26613885 A JP 26613885A JP S62130187 A JPS62130187 A JP S62130187A
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- tool shaft
- spline
- robot
- tool
- 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
Landscapes
- Manipulator (AREA)
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】
（産業上の利用分野）
本発明はロボットの作業アーム先端に取り付けられたツ
ール軸Ａ、降装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a tool shaft A and a lowering device attached to the tip of a working arm of a robot.
（従来技術）
ロボットのアーム先端部に取り付けられるツール軸昇降
装置としては、第２図に示す如く。(Prior Art) A tool axis lifting device attached to the tip of a robot arm is as shown in FIG.
アーム１０１先端部にブラケット１０２を固若し、該ブ
ラケット１０２の上端部１０３に固定配置されるモータ
ー１０４にボールネジ１０５を連結し、該ボールネジ１
０５に螺合されるナツト１０６にボールネジ１０５と平
行に配設されたスプライン軸１０７を連結し、該スプラ
イン軸１０７の下端部にエアーチャック等の作業工具１
０８を連結してなり、モーター１０４の回転でボールネ
ジ１０５に螺合するナラ１−１０６を上下動させ、同時
にスプライン軸１０７を昇降できるようにしたものが知
られている。A bracket 102 is fixed to the tip of the arm 101, and a ball screw 105 is connected to a motor 104 fixed to the upper end 103 of the bracket 102.
A spline shaft 107 arranged parallel to the ball screw 105 is connected to a nut 106 that is screwed onto the ball screw 105, and a work tool 1 such as an air chuck is attached to the lower end of the spline shaft 107.
08 are connected to each other, and the rotation of the motor 104 moves the nut 1-106 screwed into the ball screw 105 up and down, and at the same time, the spline shaft 107 can be raised and lowered.
（発明が解決しようとする問題点）
ところで上記従来技術に於てはボールネジ１０５ｉびに
スプライン軸１０７の２軸を要する為、部品点数が多い
ことに加え、装置自体が重く、大型になり、作業アーム
の動きを悪化する要因となっていた。(Problems to be Solved by the Invention) However, since the above-mentioned conventional technology requires two axes, the ball screw 105i and the spline shaft 107, in addition to the large number of parts, the device itself is heavy and large, and the work arm This was a factor that worsened the movement of
（問題点を解決するための技術手段）
本発明は上記問題点に着目してなされたもので、作業ア
ーム先端にモーターを固定し、中空モーター軸内にツー
ル軸を嵌挿して両者を螺合し、ツール軸下部に形成した
スプライン部を作業アームと一体に固定したスプライン
軸受に挿通したことを特徴とし、装置自体を小型・軽量
化し、作業アームへの負担を防止して動きを円滑にする
ことを目的としている。(Technical Means for Solving the Problems) The present invention has been made in view of the above-mentioned problems, and involves fixing a motor to the tip of a working arm, fitting a tool shaft into a hollow motor shaft, and screwing the two together. The spline part formed at the bottom of the tool shaft is inserted into a spline bearing that is fixed integrally with the work arm, which reduces the size and weight of the device itself, prevents strain on the work arm, and allows smooth movement. The purpose is to
（実施例）
以下、図示した実施例に基づいて具体的に説明する。１
は作業アームで先端にケース２を固定し、ケース２内上
部にモーター３を固定しである。このモーター３のモー
ター軸４を中空とし、該中空モーター軸４の上下部に螺
子４ａ、４ｂを刻設し、中空モーター軸４内にツール軸
５を嵌挿し、該ツール軸５の上部に刻設した螺子５ａを
前記中空モーター軸４の螺子４ａ、４ｂと螺合し、ツー
ル軸５下部に形成したスプライン５ｂを作業アーム１先
端に固定したケース２下部に固定したスプライン軸受６
に挿通し上下動自在に軸支している。ケース２上部には
リミットスイッチ７．８を固定し、ツール軸５上部にス
イッチ作動突片９を取り付けである。(Example) Hereinafter, a detailed explanation will be given based on the illustrated example. 1
The case 2 is fixed to the tip of the work arm, and the motor 3 is fixed to the upper part of the case 2. The motor shaft 4 of this motor 3 is hollow, screws 4a and 4b are carved into the upper and lower parts of the hollow motor shaft 4, a tool shaft 5 is inserted into the hollow motor shaft 4, and screws 4a and 4b are carved into the upper part of the tool shaft 5. The provided screw 5a is screwed together with the screws 4a and 4b of the hollow motor shaft 4, and the spline 5b formed at the lower part of the tool shaft 5 is fixed to the tip of the working arm 1.The spline bearing 6 is fixed to the lower part of the case 2.
It is inserted into the shaft and is pivoted so that it can move up and down. A limit switch 7.8 is fixed to the upper part of the case 2, and a switch operating protrusion 9 is attached to the upper part of the tool shaft 5.
なお、上述せる螺子４ａ、４ｂは中空モーター軸４の内
面に直接刻設する以外に、ナツト様のものを中空モータ
ー軸４端部に取り付けるようにしてもよい。The above-mentioned screws 4a and 4b may be screwed directly into the inner surface of the hollow motor shaft 4, or nut-like screws may be attached to the end of the hollow motor shaft 4.
次に作用について説明する。モーター３の作動により中
空モーター軸４が回転すると、該モーター軸４の螺子４
ａ、４ｂに螺Ｔ−５０を螺合するツール軸５は、スプラ
イン５ｂをスプライン軸受６に案内され、昇降すること
になる。該ツール軸５の昇降位置は図示せるリミットス
イッチ７．８や、モーター３の回転量にて制御される。Next, the effect will be explained. When the hollow motor shaft 4 rotates due to the operation of the motor 3, the screw 4 of the motor shaft 4
The tool shaft 5, on which the T-50 screws are screwed into a and 4b, is guided by the spline bearing 6 through the spline 5b, and moves up and down. The vertical position of the tool shaft 5 is controlled by a limit switch 7.8 shown in the figure or the amount of rotation of the motor 3.
（効果）
本発明によると作業アーム先端にモーターを固定し、中
空モーター軸内にツール軸を嵌挿して両者を螺合し、ツ
ール軸下部に形成したスプライン部を作業アームと一体
に固定したスプライン軸受に挿通しであるのでモーター
軸とツール軸が同軸で装置全体を小型、軽量化でき、作
業アームの負担が軽減され動きを円滑にできる。(Effects) According to the present invention, the motor is fixed to the tip of the work arm, the tool shaft is inserted into the hollow motor shaft and the two are screwed together, and the spline portion formed at the bottom of the tool shaft is fixed integrally with the work arm. Since it is inserted through the bearing, the motor shaft and tool shaft are coaxial, making the entire device smaller and lighter, reducing the burden on the work arm and allowing smooth movement.
第１図は本発明の一実施例要部切断正面図、第２図は従
来装置の正面図である。
１・・・作業アーム ２・・・ケース３・・・モー
ター ４・・・中空モーター軸４ａ、４ｂ・・・
螺子 ５・・・ツール軸５ａ・・・螺子 ５
ｂ・・・スプライン６・・・スプライン軸受
特許出願人 ぺんてる株式会社
第１図FIG. 1 is a cutaway front view of essential parts of an embodiment of the present invention, and FIG. 2 is a front view of a conventional device. 1...Work arm 2...Case 3...Motor 4...Hollow motor shaft 4a, 4b...
Screw 5... Tool shaft 5a... Screw 5
b... Spline 6... Spline bearing patent applicant Pentel Co., Ltd. Figure 1
Claims (1)
にツール軸を嵌挿して両者を螺合し、ツール軸下部に形
成したスプライン部を作業アームと一体に固定したスプ
ライン軸受に挿通してなるロボットのツール軸昇降装置
。A robot with a motor fixed to the tip of the work arm, a tool shaft inserted into the hollow motor shaft and screwed together, and a spline section formed at the bottom of the tool shaft inserted into a spline bearing fixed integrally with the work arm. tool axis lifting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26613885A JPS62130187A (en) | 1985-11-28 | 1985-11-28 | Lifting gear for tool shaft of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26613885A JPS62130187A (en) | 1985-11-28 | 1985-11-28 | Lifting gear for tool shaft of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62130187A true JPS62130187A (en) | 1987-06-12 |
Family
ID=17426842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26613885A Pending JPS62130187A (en) | 1985-11-28 | 1985-11-28 | Lifting gear for tool shaft of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62130187A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0221503A (en) * | 1988-05-23 | 1990-01-24 | Fusion Syst Corp | Electrodeless lamp rotary apparatus |
| JP2014012034A (en) * | 2012-07-03 | 2014-01-23 | Nidek Co Ltd | Ophthalmologic apparatus |
| US9326680B2 (en) | 2012-07-03 | 2016-05-03 | Nidek Co., Ltd. | Ophthalmic apparatus |
-
1985
- 1985-11-28 JP JP26613885A patent/JPS62130187A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0221503A (en) * | 1988-05-23 | 1990-01-24 | Fusion Syst Corp | Electrodeless lamp rotary apparatus |
| JP2014012034A (en) * | 2012-07-03 | 2014-01-23 | Nidek Co Ltd | Ophthalmologic apparatus |
| US9326680B2 (en) | 2012-07-03 | 2016-05-03 | Nidek Co., Ltd. | Ophthalmic apparatus |
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