JPS62287985A - Backlash regulating mechanism of speed reducer in industrialrobot - 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 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to the improvement of industrial robots, and particularly to the improvement of industrial robots between the upper arm, forearm, or between the forearm and the robot wrist at the tip thereof. The present invention relates to an improved structure of a backlash adjustment mechanism in a staggered gear type reduction mechanism built in a transmission mechanism provided between the two.

[Prior art]

It is well known that the arm joints and wrist joints that constitute the movable parts of industrial robots are equipped with a transmission mechanism to transmit the driving force from the drive source to the operating arm or wrist. The transmission mechanism has a built-in speed reducer, and it is also known that the speed reducer is formed by a staggered gear mechanism.

Such a staggered gear mechanism has a pair of gear elements having staggered axes, such as a spiroid gear.
id gears), the axes of each element are staggered to maintain the meshing state between the pinion element and the large gear element. This is achieved by displacement in the direction.

[Problems to be solved]

In this case, the conventional backlash adjustment method is to temporarily assemble the small gear element to the gear box of the reduction mechanism so that it can move in the axial direction using a bushing member, and then to use the bushing member and the gear By inserting a shim between the gear box and the gear box to ensure proper backlash, and then screwing the bushing member to the gear box, the small gear element is fixedly positioned at the proper backlash position relative to the large gear element. be. Therefore, this type of backlash adjustment method is also adopted in the reduction gear built into the transmission mechanism of industrial robots, which makes the work when assembling industrial robots cumbersome and is one of the causes of a decrease in assembly efficiency. It becomes. Therefore, it is an object of the present invention to provide a backlash adjustment mechanism for a reduction gear in an industrial robot that can eliminate such problems.

[Means of solution and action]

According to the present invention, in a backlash adjustment mechanism that finely adjusts the backlash of a staggered gear reducer built in a transmission mechanism of an industrial robot, a pair of small gears and a large gear forming the staggered gear reducer A bushing member is provided which supports the pinion movably in the axial direction with respect to the reducer box via a bearing, and the bushing member is connected to an adjusting screw portion screwed to the reducer box and an adjusting operation of the adjusting screw portion. a cylindrical guide portion for linearly guiding the bushing member in the axial direction, and a lock nut attached to the adjustment screw portion of the bushing member to fix the adjusted bushing member to the reducer box. ,
Provided is a buff-crash adjustment mechanism for a reducer in an industrial robot configured to allow buff-crash adjustment of the small gear relative to the large gear by screw adjustment using the bushing member, This method secures an appropriate amount of backlash adjustment, then tightens the lock nut to fix the bushing member to the gear box in a double-nut state, thereby positioning the small gear element in a fixed position under the appropriate backlash relative to the large gear element. be. Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

〔Example〕

First, the structure of a reduction gear for an industrial robot equipped with a conventional backlash adjustment mechanism will be explained with reference to FIG.

Figure 3 shows an example of a reducer in an industrial robot.
A speed reduction mechanism consisting of a staggered gear device 16 installed in a speed reduction box 14 between the upper arm 10 and the forearm 12 is shown. By providing the staggered gear device 16, an appropriate opening (
This discrepancy is due to the fact that the space that passes through the hole formed in the center of the large gear 20 that meshes with the small gear 18 through the forearm 12 can be used as a wiring and piping space. Using the gear device 16 for transmission and deceleration,
The rotary driving force from the motor M through the coupler 24 is transmitted at a reduced speed from the small tooth 4 [18] to the large gear 20, and rotationally drives the forearm 12 in the direction shown by arrow A. At this time,
The pinion 18 has its shaft portion held by a bushing member 22 via a bearing 26, and the bushing member 22 itself is attached to the reducer box 1.
4 with screws 27, and a plurality of shims 28 are inserted between the end face of the reducer box 14 and the flange 22a of the bushing member 22, and the number of shims 28 is
Conventionally, there is a mechanism that adjusts the thickness and adjusts the axial position of the bushing member 22 to ultimately adjust the backlash of the small gear of the staggered gear device 16 in the direction of arrow B with respect to the large gear 20. This is the structure that was used.

In order to eliminate the problems associated with the conventional buff-crush adjustment mechanism described above, the present invention adopts the configuration shown in FIG. 2. That is, in the present invention, the staggered gear device 36 is also used as a speed reduction and transmission device, and at this time, when adjusting the backlash between the small gear 38 and the large gear 40, the small gear 38
There is no change in the fact that it is displaced in the axial direction (arrow B).

Further, the pinion 38 has its support shaft 38a held by a bushing member 42 via a bearing 45, and the bushing member 42
remains fixed to the reducer box 34. However,
The bushing member 42 of the present invention has an opening 34a in the reducer box 34.
A cylindrical guide surface 44 that fits smoothly into the reducer box 3
The bushing member 42 is screwed onto the reducer box 34 using the outer flange part, and the bushing member 42 can be accurately screwed into the reducer box 34. can be moved back and forth. In this way, by moving the bushing member 42 back and forth, the small gear 38 can be operated to adjust the backlash relative to the large gear 40 via the support shaft 38a. In other words, by the guidance of the cylindrical guide surface 44, the support shaft 38a can be moved back and forth without sideways vibration, and the small gear 38 can be displaced minutely relative to the large gear 40, thereby ensuring optimal backlash adjustment. In addition, after adjusting the bar crash 8 times, the lock nut 50 that has been engaged with the adjusting screw part 46 of the 8 bushing member 42 is inserted into an appropriate one-shaft member or spacer member 5.
2 is inserted and tightened toward the end face of the reducer box 34, a double locking effect is applied to the bushing member 42, and the bushing member 42 is immovable in the axial direction with respect to the reducer box 34. Can be locked.

As is clear from the above explanation, it is convenient that the buff-crash adjustment in the staggered gear device 36 can be achieved simply by the screw tightening action of the bu-noche member 42, thus improving work in the assembly process of industrial robots. This can lead to higher efficiency.

FIG. 2 shows the appearance of an example of an industrial robot incorporating the above-mentioned reduction gear backlash adjustment mechanism.
The upper arm 10 is provided with a wrist 54 at the tip thereof, and the upper arm 10 is provided with a vertical wrist 56.
The vertical version 56 is provided with a swivel base 58.
It is provided so that it can rotate around a vertical axis. The swivel table 58 is attached to a fixed base 60.

〔Effect of the invention〕

According to the present invention, the backlash adjustment of the reducer of an industrial robot is facilitated, resulting in higher efficiency in the robot manufacturing process.In addition, the accuracy of the backlash adjustment itself is improved by improving workability. further improve,
The operational performance of the movable parts within the robot can be improved.

[Brief explanation of the drawing]

FIG. 1 is a partially enlarged view showing the configuration of a backlash adjustment mechanism for a reducer in an industrial robot according to the present invention, FIG. 2 is an external view of an example of an industrial robot equipped with the same backlash adjustment mechanism, and FIG. The figure is a partial cross-sectional view showing the configuration of a buff-crash adjustment mechanism for a reducer in an industrial robot according to the prior art. 34... Reducer box, 36... Staggered gear device, 38
... Small gear element, 40... Large gear element, 42...
Bush member, 44...Cylindrical guide part, 46...Adjustment screw part, 48...Flange part, 50...Lock nut.

Claims (1)

[Scope of Claims] 1. In a backlash adjustment mechanism that finely adjusts the backlash of a staggered gear reducer built in a transmission mechanism of an industrial robot, a pair of small gears and a large gear forming the staggered gear reducer. A bushing member is provided which supports the pinion movably in the axial direction with respect to the reducer box via a bearing, and the bushing member has an adjusting screw portion screwed to the reducer box, and an adjusting screw portion for adjusting the adjusting screw portion. a cylindrical guide portion that guides the bush member in a straight line in the axial direction according to the operation, and a lock that is attached to an adjustment screw portion of the bush member to fix the adjusted bush member to the reduction gear box; A backlash adjustment mechanism for a speed reducer in an industrial robot, comprising a nut and configured to adjust the backlash of the small gear relative to the large gear by screw adjustment using the bushing member. 2. The backlash adjustment mechanism for a reducer in an industrial robot according to claim 1, wherein the cylindrical guide portion of the bushing member is loosely fitted into the cylindrical hole formed in the reducer box.