KR20140049746A

KR20140049746A - Industrial robot structure

Info

Publication number: KR20140049746A
Application number: KR1020120115937A
Authority: KR
Inventors: 김봉성
Original assignee: 현대중공업 주식회사
Priority date: 2012-10-18
Filing date: 2012-10-18
Publication date: 2014-04-28

Abstract

The present invention relates to an industrial robot structure, comprising: a reducer housing (20) installed on a base (10) and laterally open to have an inner space (21) and a motor shaft (not shown) disposed at the center thereof; The reducer 30 mounted on the motor shaft of the reducer housing 20 and the reducer cover 41 rotated together with the reducer 30 in a coupled state covering the outside of the reducer 30 are provided. In the industrial robot structure comprising a rotating body 40, the bending preventing member for minimizing the bending moment applied to the reducer 30 and the reducer housing 20 by the load of the rotating body 40 50 is provided.
Therefore, in the industrial robot having a structure in which the reducer cover coupled to the reducer is inserted into the inner space of the reducer housing having an inner space that is laterally opened, the bending prevention member is disposed between the reducer housing and the reducer cover. Therefore, the bending moment applied to the reducer and the reducer housing can be minimized by the load of the rotating body which is integrally extended with the reducer cover, and as a result, the working efficiency can be improved according to the smooth operation of the rotating body. In addition, the failure of the reducer is minimized, and as a result, the life expectancy of the reducer can be expected.

Description

Industrial robot structure

The present invention relates to an industrial robot structure, and more particularly, in an industrial robot having a structure in which a reducer cover is inserted into and fitted into an inner space of a reducer housing having an inner space that is laterally opened. By arranging the bend preventing member between the reducer cover, the bending moment applied to the reducer and the reducer housing can be minimized by the load of the rotating body which is integrally extended with the reducer cover. As a result, the operation of the rotating body is smoothed. It is possible to improve the work efficiency according to, and also to the industrial robot structure that can be expected to extend the life of the reducer as a result of minimizing the occurrence of failure of the reducer.

In general, an industrial robot is a handling machine that can be programmed for a number of axes of motion, especially with respect to orientation, position and progression, with tools suitable for the purpose of automatically handling the object. .

As an example, a schematic view of an industrial robot structure of the prior art includes a base disposed on the ground, an inner space installed on the base and opening in the horizontal direction, and an external motor shaft protrudingly disposed at the center thereof. And a reducer housing, a reducer mounted on the motor shaft of the reducer housing, and a reducer cover configured to cover the outside of the reducer and a reducer cover rotated along with the reducer in a coupled state. .

The industrial robot structure of the prior art having such a configuration is capable of performing a predetermined operation while being rotated up and down with respect to the reducer housing by the external motor rotating power transmitted through the reducer.

However, in such a prior art industrial robot structure, a predetermined bending moment is applied to the reducer and the reducer housing by the load of the rotating body which is integrally extended with the reducer cover, and means for responding to the applied bending moment is provided. Since it is not provided at all, in some cases, the reducer housing is twisted by the load of the rotating body, and as a result, the operation of the rotating body is not smoothly performed.

In addition, while the load of the rotating body is also transmitted to the reducer, it acts as a cause of failure of the reducer, resulting in a reduction in the life of the reducer.

The present invention has been made to solve the above problems, the reducer housing and the reducer in the industrial robot of the structure in which the reducer cover is inserted into the inner space of the reducer housing having an inner space in the horizontal direction is inserted and mounted. By disposing the bending preventing member between the covers, the bending moment applied to the reducer and the reducer housing can be minimized by the load of the rotating body which is integrally extended with the reducer cover. The purpose of the present invention is to provide an industrial robot structure capable of improving work efficiency and minimizing the occurrence of breakdown failures and consequently extending the life of the reducer.

Industrial robot structure of the present invention for achieving the above object is a reducer housing is installed on the base and open in the transverse direction has an internal space and the motor shaft is disposed in the center; A speed reducer mounted on a motor shaft of the speed reducer housing and rotated by an axis; And a rotor having a reducer cover which is axially rotated together with the reducer in a coupled state covering the outside of the reducer, wherein the reducer and the reducer housing are mounted to the reducer and the reducer housing by the load of the rotor. Characterized in that the bending prevention member is further provided to minimize the applied bending moment.

In addition, in the industrial robot structure according to an embodiment of the present invention, the bending preventing member, the outer ring portion which is disposed in close contact with the inner peripheral surface of the inner space of the reduction gear housing; An inner ring portion closely coupled to an outer circumferential surface of the front end portion of the reducer cover inserted into an inner space of the reducer housing in a state in which the outer circumferential portion of the reducer is closely covered; And a plurality of bearing balls disposed between the outer and inner ring portions to allow the inner ring portion to axially rotate with respect to the outer ring portion.

In addition, in the industrial robot structure according to an embodiment of the present invention, a seating portion is further provided on one side of the inner space of the reducer housing to prevent the bending preventing member from being excessively entered into the inner space so as to be disposed in a proper position. It may be.

In addition, in the industrial robot structure according to an embodiment of the present invention, the seating portion may be in the shape of a ring protruding toward the central portion over the entire inner circumferential surface of the reducer housing.

In addition, in the industrial robot structure according to an embodiment of the present invention, the front end of the bending preventing member and the edge of the reducer cover covering the front edge of the reducer housing is disposed between the edge of the reducer housing and Sealing member for sealing between the edge contact portion of the reducer cover may be further provided.

As described above, in the industrial robot structure of the present invention, the reducer housing and the reducer cover of the industrial robot having a structure in which the reducer cover is inserted into the inner space of the reducer housing having an inner space that is laterally opened. By arranging the bend preventing member therebetween, it is possible to minimize the bending moment applied to the reducer and the reducer housing by the load of the rotating body which is integrally extended with the reducer cover. The work efficiency can be improved, and the occurrence of the reducer failure can be minimized. As a result, the life of the reducer can be expected to be extended.

1 is a perspective view showing an industrial robot structure according to an embodiment of the present invention.
2 is an exploded perspective view showing main parts of an industrial robot structure according to an embodiment of the present invention;
Figure 3 is an exploded perspective view of the back side of the industrial robot structure according to an embodiment of the present invention.
Figure 4 is a main cross-sectional view showing a state in which the bending preventing member of the industrial robot structure is installed in accordance with an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

As shown in Figures 1 to 4, the industrial robot structure according to an embodiment of the present invention is installed on the base 10 and laterally open to have an internal space 21 and a motor shaft (not shown) in the center thereof. The reducer housing 20 is disposed on the motor shaft of the reducer housing 20 and the reducer 30 which is mounted on the motor shaft of the reducer housing 20 and covers the outside of the reducer 30. In the industrial robot structure comprising a rotating body 40 is provided with a reduction gear cover 41 is rotated along the shaft, the reducer 30 and the reducer housing 20 by the load of the rotating body 40 The bending preventing member 50 for minimizing the bending moment applied to the configuration is provided.

Here, the bending preventing member 50 is the outer ring portion 51 in close contact with the inner circumferential surface of the inner space 21 of the reducer housing 20 and the outer circumferential portion of the reducer 30 in close contact with the state. The outer ring part is disposed between the inner ring part 52 and the outer and inner ring parts 51 and 52 that are tightly coupled to the outer circumferential surface of the front end of the reducer cover 41 inserted into the inner space 21 of the reducer housing 20. And a plurality of bearing balls 53 which allow the inner ring portion 52 to axially rotate with respect to 51.

In addition, a mounting portion 22 is provided at one side of the inner space 21 of the reducer housing 20 to prevent the bending preventing member 50 from excessively entering the inner space 21 so as to be disposed at a proper position. have.

Here, the seating portion 22 has a ring shape protruding toward the center portion over the entire inner circumferential surface of the inner space 21 of the reduction gear housing 20.

The front end of the bending preventing member 50 and the edge contact portion 41a of the speed reducer cover 41 covering the front edge of the reducer housing 20 are disposed between the front edge of the reducer housing 20. And a ring-shaped sealing member 60 for sealing between the edge contact portion 41a of the reduction gear cover 41 is provided.

Reference numeral 70 denotes a rotary motor disposed outside the reducer housing 20 to axially rotate the motor shaft protruding into the inner space 21 of the reducer housing 20.

Looking at the installation process of the reducer of the industrial robot structure according to an embodiment of the present invention according to this configuration, first, the bending prevention member 50, which is a bearing structure, is disposed in the inner space 21 of the reducer housing 20.

At this time, the bending preventing member 50 is caught in the seating portion 22 of the inner space of the reducer housing 20 so that it is no longer entered so that it is disposed in the correct position.

Then, a separate ring-shaped sealing member 60 is disposed in front of the bending preventing member 50.

On the other hand, the reducer 30 is inserted into the inside of the reducer cover 41 of the rotating body 40 is in a state of being integrally fastened through a separate fastener (not shown).

The reduction motor 30 is covered with the reduction gear unit 30 of the reducer housing 20 by the open end of the reduction gear 30 is a rotary motor protruding toward the center of the inner space 21 of the reducer housing 20. At the same time as the shaft coupled to the motor shaft of the reducer cover 41, the edge close portion 41a of the reducer housing 20 simultaneously covers the leading edge of the reducer housing 20 and the sealing member 60 to assemble the rotating body 40. Complete the installation of the reducer 30 according.

In this state, even if a bending moment is generated by the load of the rotating body 40, the bend preventing member 50 disposed on the inner circumferential surface of the reducer housing 20 can be firmly held against the load. Smooth operation of 40) is achieved.

In addition, oil, such as bearing lubricating oil, may be prevented from leaking to the outside by the sealing member 60 while the rotating body 40 is operating.

As described above, the industrial robot structure according to an embodiment of the present invention is the reducer housing in the industrial robot of the structure in which the reducer cover is inserted into the internal space of the reducer housing having an internal space that is open in the horizontal direction is inserted. By arranging the bending preventing member between the and the reducer cover, the bending moment applied to the reducer and the reducer housing can be minimized by the load of the rotating body which is integrally extended with the reducer cover. It is possible to improve the work efficiency due to the smoothing, and also to minimize the occurrence of the failure of the reducer, as a result can be expected to extend the life of the reducer.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, It should be understood that all of the techniques that can be easily changed and used by those skilled in the art are included in the technical scope of the present invention.

DESCRIPTION OF REFERENCE NUMERALS
10: base 20: reducer housing
21: interior space 22: seating part
30: reducer 40: rotating body
41: reducer cover 50: bending preventing member
51: outer ring 52: inner ring
53: bearing ball 60: sealing member

Claims

A reducer housing installed on the base and open in the transverse direction to have an inner space and a motor shaft disposed at the center thereof;
A speed reducer mounted on a motor shaft of the speed reducer housing and rotated by an axis; And
A rotator including a speed reducer cover axially rotated together with the speed reducer while covering the outside of the speed reducer;
In the industrial robot structure comprising a,
An industrial robot structure, further comprising a bending preventing member for minimizing a bending moment applied to the reducer and the reducer housing by the load of the rotating body.

The method of claim 1,
The bending preventing member,
An outer ring part disposed in close contact with an inner circumferential surface of the inner space of the reducer housing;
An inner ring portion closely coupled to an outer circumferential surface of the front end portion of the reducer cover inserted into an inner space of the reducer housing in a state in which the outer circumferential portion of the reducer is closely covered; And
A plurality of bearing balls disposed between the outer and inner ring parts to axially rotate the inner ring part with respect to the outer ring part;
Industrial robot structure characterized in that the bearing structure is configured to include a.

3. The method of claim 2,
An industrial robot structure, characterized in that the mounting portion is further provided on one side of the inner space of the reducer housing to prevent the bending preventing member from being excessively entered into the inner space so as to be disposed in a proper position.

The method of claim 3,
The seating portion is an industrial robot structure, characterized in that the ring shape protruding toward the center portion over the entire inner circumferential surface of the reducer housing.

The method of claim 1,
A sealing member is disposed between the front of the bending preventing member and the edge contact portion of the reducer cover covering the edge portion of the reducer housing to seal between the edge portion of the reducer housing and the edge contact portion of the reducer cover. Industrial robot structure, characterized in that the