JPS635230B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] This invention relates to an industrial robot, and more specifically, a bed equipped with a fixed gear on the outer periphery, and a robot placed on the bed and engaged with the fixed gear. a pivot table pivoted with mating pivot gears;
This invention relates to an industrial robot comprising a group of links that are supported by a pedestal mounted on a revolving table and provide a terminal output section with multiple degrees of freedom of movement.

[Prior art]

Figure 1 shows the overall configuration of a conventional device of this type.
A turning table 2 is rotatably placed on the bed 1, and a first servo motor 3 serving as a driving source is mounted on the turning table 2. A pedestal 4 housing the first servo motor 3 and connected to the turning table 2 rotates on the bed 1 in the direction of arrow A via the turning table 2 and the first servo motor 3. The frame 4 has a second servo motor 5 and a third servo motor 5.
servo motors 6 are mounted facing each other, and one end of a first link 7, which is swung in the direction of arrow B by the second servo motor 5, is supported by the frame 4. The second link 8 has shaft portions at both ends, and is rotatably supported by the first link 7 approximately at its center. An upper end of a third link 9 is connected to the rear end of the second link 8, and a fourth link 10, one end of which is supported on the frame 4, is connected to the lower end of the third link 9.
The other end is connected. With these link mechanisms, the second servo motor 6 is driven.
Link 8 is swung in the direction of arrow C. A fourth servo motor 11 is mounted on the side of the rear end of the second link 8. Opposed to this fourth servo motor 11, a fifth servo motor 12 is mounted on the second link 8.
It is attached to the rear end of the. A sixth servo motor 13 is attached to the upper rear end of the second link 8 . A first box body 14 is rotatably supported at the tip of the second link 8.
It is driven in the direction of arrow D by the fourth servo motor 11 via a drive shaft (not shown) in the link 8 and a speed reduction mechanism. The first box 14 has a second box 1
5 is rotatably supported, and the second box body 15
is connected to the fifth servo motor 1 via a drive shaft (not shown) in the second link 8 and a speed reduction mechanism (not shown).
2 in the direction of arrow E. Second box body 1
A terminal output shaft 16 is rotatably supported on the terminal 5, and the terminal output shaft 16 is driven in the direction of arrow F by a sixth servo motor 13.

With the above configuration, first, the rotation of the fourth servo motor 11 causes the first box 14 to rotate in the direction of arrow D, and the rotation of the fifth servo motor 12 causes the second box 15 to rotate in the direction of arrow E. The sixth
The terminal output shaft 16 is rotated by the rotation of the servo motor 13.
rotates in the direction of arrow F. In this way, the terminal output shaft 16 can move in the directions of arrows D and E while rotating in the direction of arrow F, and can perform movements with three degrees of freedom.

Next, the rotation of the second servo motor 5 causes the first
The link 7 swings in the direction of arrow B, and the second link 8 is displaced together with the first link 7. Further, due to the rotation of the third servo motor 6, the second link 8 swings in the direction of arrow C via the third link 9 and the fourth link 10. Further, due to the rotation of the first servo motor 3, the pedestal 4 rotates together with the turning table 2.

As a result of the above, the terminal output shaft 16 is
With the addition of motion in the C direction, motion with six degrees of freedom is allowed.

The mechanism shown in FIG. 2 has been proposed as a drive mechanism for a turning table in an industrial robot having such a configuration. That is, a fitting hole 2a is formed in the turning table 2, and the first servo motor 3
A fitting portion 17a of the gear case 17, which is coupled to the gear case 17 and houses a speed reducer (not shown), is fitted into the fitting hole 2a. The output shaft 18 of the reduction section is connected to the gear case 17 via a bearing 19 consisting of a tapered roller bearing.
The bearing 19 is supported by the bolt 2 with a bearing holder 20.
1 in the gear case 17. A turning gear 22 is fixed to the lower end of the output shaft 18 by a nut 23, and a ring-shaped fixed gear 24, which the turning gear 22 meshes with, is fixed to the bed 1 by a bolt 25.
is fixed. A ring-shaped bearing seat 26 is coupled to the upper surface of the bed 1, and a bearing 27, which is a cross roller bearing concentric with the fixed gear 24, is fitted into the bearing seat 26 and disposed outside the fixed gear 24. There is. The bearing 27 is held in ring-shaped bearing holders 28, 29, and 30.
2 are respectively fixed to the turning table 2.
The gear case 17 is coupled to the turning table 2 by bolts 33.

With such a configuration, when the output shaft 18 rotates through the reduction unit due to the rotation of the first servo motor 3, the turning gear 22 rotates, and since the turning gear 22 meshes with the fixed gear 24, the rotation of the fixed gear 24 The rotating table 2 rotates on the bed 1 together with the gear case 17, the first servo motor 3, etc.

However, the conventional device having the above configuration, especially the drive mechanism of the rotating table 2, is not suitable for the rotating table 2 when adjusting the engagement between the fixed gear 24 and the rotating gear 22.
It is necessary to remove the gear, and when assembling, it is necessary to fix the fixed gear 24 and then attach the rotating table 2 including the rotating gear 22, etc., which requires a lot of man-hours and is difficult to assemble and adjust. There was a drawback. Further, the bearing 27 is connected to the turning gear 2.
Since the bed 1 and the rotary table 2 are disposed outside the bed 1 and the rotary table 2, the outer diameters of the bed 1 and the rotating table 2 become large, which inevitably leads to an increase in the size of the device.

[Summary of the invention]

This invention attempts to eliminate the above-mentioned drawbacks of the conventional device, and by integrally forming the fixed gear mounting part located inside the rotating table and protruding upward from the bed, the rotating table can be easily attached when adjusting the gear. The object of the present invention is to provide an industrial robot in which there is no need to remove gears and gears can be easily maintained.

Another object of the present invention is to make the fixed gear mounting portion integral with the bed protrude above the rotating table, and to make the inner diameter of the rotating table smaller than the outer diameter of the fixed gear, thereby significantly simplifying assembly. It is an object of the present invention to provide an industrial robot that is easy to use and has a small turning table and the entire device.

A further object of the present invention is to reduce the diameter of the bearing by disposing the bearing interposed between the rotating table and the bed directly below the output shaft to which the rotating gear is fixed, and to reduce the size of the device. The objective is to provide an industrial robot that can realize the

[Embodiments of the invention]

FIG. 3 shows an embodiment of the present invention, in which the reduction section 3
A rotating gear 22 is fixed to the lower end of the output shaft 18 which is connected to the first servo motor 3 via the base 1. Fixed gear mounting portion 1a integrally protruding above the rotating table 2
It is fixed to the upper end of the inner circumference by a bolt 36. The diameter of the inner periphery 2 a of the annular turning table 2 is smaller than the diameter of the outer periphery 35 a of the fixed gear 35 . The bearing 27 interposed between the turning table 2 and the bed 1 is a cross roller bearing, which is disposed across the output shaft 18 and is fixed to the bed 1 with a bolt 37 and a ring-shaped bearing holder 38 and a bolt. An annular bearing holder 40 fixed to the rotating table 2 by 39
It is maintained by The rotating table 2 is integrally formed with a rising wall 2b surrounding the fixed gear 35 and the rotating gear 22, and a gear case 41 containing a speed reducer 34 is attached to the upper part of the rising wall 2b.

With the above configuration, when assembling, the rotating table 2 and bearing holder 4 of the rotating table part are
0 to the bed 1 via the bearing 27, a ring-shaped fixed gear 35 is attached to the fixed gear mounting portion 1a of the bed 1 through the hole in the upper surface of the rotating table 2 with the bolt 3.
Install in step 6, then servo motor 3, output shaft 1
8 may be mounted on the turning table 2 using the rising wall 2b.

〔Effect of the invention〕

With the above configuration, the fixed gear attachment part 1a located inside the turning table 2 is arranged on the bed 1, so the fixed gear 35 can be attached to the fixed gear attachment part 1a after the turning table 2 is attached to the bed 1. Therefore, the fixed gear 35 and the turning gear 22
There is no need to remove the rotating table 2 from the bed 1 during tooth contact adjustment, adjustment in the case of gear noise, and other maintenance, which greatly facilitates the work.

Further, by providing the fixed gear mounting portion 1a, the inner diameter of the rotating table 2 can be made smaller than the outer diameter of the fixed gear 35, so the rotating table 2 is made smaller and lighter.

Furthermore, bearing 2, which is a cross roller bearing,
7 is positioned directly below and across the output shaft 18, the outer diameters of the bearing 27, the bed 1, and the rotating table 2 can be made smaller than those of conventional ones, and the overall structure can be made smaller and lighter. Moreover, since the parts can be stacked and assembled sequentially starting from the lower parts, the assembly work becomes easier, and has many effects.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway side view showing the overall configuration of a conventional device, FIG. 2 is a side sectional view of the main part thereof, and FIG. 3 is a side sectional view of the main part of an embodiment of the present invention. 1...Bed, 1a...Fixed gear mounting part, 2...
... Rotating table, 2a ... Inner circumference, 2b ... Rising wall, 3 ... First servo motor, 4 ... Frame, 5
...Second servo motor, 6...Third servo motor, 7...First link, 8...Second link, 9
...3rd link, 10...4th link, 11...
4th servo motor, 12...5th servo motor, 13...6th servo motor, 14...1st servo motor
box body, 15...second box body, 16...terminal output shaft, 18...output shaft, 22...swivel gear, 27...
... Bearing, 34 ... Reduction unit, 35 ... Fixed gear, 3
5a...Outer circumference, 36, 37, 39...Bolt, 3
8, 40...Bearing holder, 41...Gear case. In each figure, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Scope of Claims] 1. A bed, an annular rotating table rotatably mounted on the bed via a bearing, a pedestal mounted on the swivel table, and a terminal output shaft supported by the pedestal. In an industrial robot equipped with a group of links that provide displacement with multiple degrees of freedom, the fixed gear mounting portion is integrally formed with the bed and protrudes from the inside of the ring of the rotary table, and the fixed gear mounting portion is provided with external teeth. a ring-shaped fixed gear attached to the upper end of the inner periphery of the rotary table; a rising wall integrally formed on the outer periphery of the rotating table; a gear case housing the reduction part and mounted on the rising wall; The gear case is characterized by comprising: an output shaft hanging down from a servo motor mounted on a gear case via the reduction unit; and a turning gear fixed to the lower end of the output shaft and meshing with the fixed gear. industrial robots. 2. A bed, an annular turning table rotatably mounted on the bed via a bearing, a pedestal mounted on the swivel table, and a pedestal supported by the pedestal to allow the terminal output shaft to be displaced with multiple degrees of freedom. An industrial robot equipped with a group of links that provides a fixed gear mounting portion that is integrated with the bed and protrudes from the inside of the ring of the rotating table; and an upper inner peripheral end portion of the fixed gear mounting portion that is provided with external teeth. a ring-shaped fixed gear attached to the rotary table; a rising wall integrally formed on the outer periphery of the rotary table, the inner diameter of which is smaller than the outer diameter of the fixed gear; and a reduction unit housed on the rising wall; a gear case mounted on the gear case; an output shaft hanging down from a servo motor mounted on the gear case via the reduction unit; and a turning gear fixed to a lower end of the output shaft and meshing with the fixed gear; An industrial robot comprising: the bearing, which is a cross roller bearing, which is disposed across directly under the output shaft and rotatably supports the rotary table on the bed.