KR200344977Y1 - Structure for leakage prevention lubricating oil of industrial robot arm - Google Patents

Abstract

The present invention relates to an industrial robot arm structure.

The present invention, by coupling the leakage prevention cover to the contact surface of the robot arm and the reducer, transfers the high-speed rotational power of the drive motor to the robot arm through the reducer to drive the robot arm when the robot arm is driven (eg grease) ) Provides a lubricant oil leakage prevention structure of the industrial robot arm that can more effectively prevent leakage to the outside through the bearing, as well as improve the thickness of the robot arm according to the conventional machining surface.

Description

Structure for leakage prevention lubricating oil of industrial robot arm}

The present invention relates to the structure of the articulated arm of an industrial robot, in particular, the high-speed rotational power of the drive motor is transmitted to the robot arm through the reducer, so that the lubricating oil (eg, grease) filled in the reducer is transferred to the robot arm through the bearing. It relates to a lubricating oil leakage prevention structure of the industrial robot arm to prevent leakage to the outside.

In general, industrial robots used in the production of products should be made exactly as desired, and should be designed so that the accuracy is not affected by the weight or vibration of the object on which the robot works.

The industrial robot is configured to perform a multi-joint operation in which a plurality of joints are connected to perform an accurate operation as desired. Multiple drive motors are used separately for each joint axis.

That is, the motion of the joint shafts connected to each other is composed of a structure controlled by each drive motor.

Therefore, the operation accuracy of the industrial robot, the working range and the limit of the weight that the robot can handle are greatly influenced by the structure of the joint, that is, the connection structure of each axis.

For example, in the conventional articulated robot arm structure, as shown in FIG. 1, a casing of the first reducer 1 is inserted into one housing of the pivot base, and a bracket for fixing the first drive motor 2 is installed in the casing. While assembled, it is bolted to the pivot base.

The first robot arm 3 is fastened to the output shaft of the first reducer 1 by bolts, and the input gear of the first reducer 1 is connected to the first motor shaft 4 of the first drive motor 2. To allow keys to be combined.

Meanwhile, the second robot arm 7 is coupled to the first robot arm 3 through a bolt 5 and a fixing pin 6, and is connected to the second motor shaft 9 of the second driving motor 8. The input gear of the second reduction gear 10 is keyed.

In addition, the friction between the first and second robot arms 3 and 7 moves independently between the second robot arm 7 and the fixing pin 6 in the output shaft of the second reducer 10. The bearing 11 for coupling is coupled to prevent the separation by the fixing nut 12, and the grease (not shown) filled with the lubricating grease is filled in the second reducer 10.

In this case, in order to drive the second robot arm 7, the high speed rotational power of the second driving motor 8 may be reduced by the second reducer 10, and then the power may be transmitted to the second robot arm 7. Done.

In this case, conventionally, since the internal parts of the second reducer 10 are interlocked from the high speed rotation of the second drive motor 8 to perform the high speed rotation, the lubricant filled in the second reducer 10 is in a high pressure state. Switching to the caused a problem of leakage to the outside through the bearing (11).

Accordingly, in order to prevent leakage of the lubricant as described above, as shown in FIG. 1, the second reduction gear (2) does not penetrate the machining surface A to which the second robot arm 7 and the bearing 11 are coupled. The contact surface B of 10) was worked into a closed form.

However, the above-described method is difficult to precisely machine the machining surface A, and the thickness of the second robot arm 7 may also increase because the thickness of the machining surface A must be secured. There are only disadvantages.

Therefore, the present invention has been devised to solve the conventional problems as described above, the present invention, by coupling the leakage prevention cover to the contact surface of the robot arm and the reducer, to transfer the high-speed rotational power of the drive motor to the robot arm through the reducer. Thus, when the robot arm is driven, lubricant oil (eg, grease) filled in the reduction gear can be prevented from leaking to the outside through the bearing more effectively, and the thickness of the robot arm can be improved by processing the conventional machining surface. The purpose is to provide a lubricant leakage preventing structure of an industrial robot arm.

1 is a side cross-sectional view of a conventional industrial articulated robot arm structure.

Figure 2 is a side cross-sectional view of the industrial articulated robot arm structure to which the leakage preventing cover is applied as an embodiment of the present invention.

* Description of the symbols for the main parts of the drawings *

31; A first drive motor 32; 1st motor shaft

13; First reducer 14; 1st robot arm

15; Bolt 16; Push pin

17; Second robot arm 18; 2nd drive motor

19; Second motor shaft 20; Second reducer

21; Bearing 22; Fixing Nut

30; Leakage prevention cover

Hereinafter, a preferred embodiment of the present invention based on the accompanying drawings.

2 is a side cross-sectional view of an industrial articulated robot arm structure to which an oil leakage preventing cover is applied as an embodiment of the present invention.

As shown in FIG. 2, an input gear of the first reducer 13 is coupled to a first motor shaft 32 of the first drive motor 31, and a first is coupled to an output shaft of the first reducer 13. The robot arm 14 is fastened, the second robot arm 17 is coupled to the first robot arm 14 through the bolt 15 and the fixing pin 16, and the second driving motor 18 is formed. 2, the input gear of the second reducer 20 is coupled to the motor shaft 19, and between the second robot arm 17 and the fixing pin 16, the output shaft of the second reducer 20 has a first, In an industrial articulated robot arm structure in which a bearing 21 for reducing friction when two robot arms 14 and 17 are independently moved is coupled to be prevented from being separated by a fixing nut 22,

The second robot arm 17 and the bearing 21 to pass through the machining surface (C) is fastened,

The contact surface (D) of the second robot arm (17) and the second reducer (20) has a leakage preventing cover (30) through the processing surface (C) to prevent external leakage of lubricating oil filled in the second reducer (20). Inserted) is characterized in that the coupling configuration.

That is, in one embodiment of the present invention, as shown in Figure 2,

When the high speed rotation power of the second driving motor 18 is first generated for driving the second robot arm 17, the power according to the high speed rotation is decelerated through the second reducer 20 and then the second robot. Delivered to the arm (17).

In addition, the components included in the second reducer 20 perform a high-speed rotational motion when decelerating the high-speed rotational power of the second drive motor 18, so that the lubricating oil filled in the second reducer 20 is in a high pressure state. Is switched.

At this time, the processing surface (C) to which the second robot arm 17 and the bearing 21 are fastened is penetrated, and the second robot arm 17 and the second reducer 20 through the processing surface (C). The leakage preventing cover 30 is inserted into and fastened to the contact surface D of

The leakage preventing cover 30 is to block the leakage of lubricant in the second reducer 20 is converted to high pressure to the outside through the bearing 21.

As described above, the lubricating oil leakage prevention structure of the industrial robot arm of the present invention combines the leakage preventing cover with the contact surface of the robot arm and the reducer to transfer the high speed rotational power of the driving motor to the robot arm through the reducer to drive the robot arm. When the lubricating oil (eg, grease) filled in the reducer is prevented from leaking to the outside through the bearing more effectively, the thickness of the robot arm according to the conventional machining surface is improved.

The present invention is not limited to the above-described specific preferred embodiment, and any person having ordinary skill in the art to which the present invention pertains may make various modifications without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

Claims (1)

An input gear of a first reducer is coupled to a first motor shaft of a first drive motor, a first robot arm is coupled to an output shaft of the first reducer, and a second bolt is connected to the first robot arm through bolts and fixing pins. The robot arm is coupled, the input gear of the second reducer is coupled to the second motor shaft of the second drive motor, and the first and second robot arms are connected to the output shaft of the second reducer between the second robot arm and the fixed pin. In the industrial robot arm structure in which the bearing for reducing the friction when the independent movement is coupled so that the separation is prevented by the fixing nut, Penetrate the processing surface to which the second robot arm and the bearing are fastened, Lubricating oil leakage prevention of the industrial robot arm, characterized in that the contact surface of the second robot arm and the second reducer is coupled by inserting the leakage preventing cover through the processing surface to prevent external leakage of the lubricant filled in the second reducer. rescue.