KR970010618B1 - Base structure of vertical multi-articulated robot - Google Patents

Abstract

With the bracket the cable(6) transmitted from the controller(5) is mounted inside the housing(2) by a bracket. The cable that is required for the drive is passed toward the hollow part of the rotative axis(3) and attached on the circular backup member(8) to be installed in the upper part of the rotative axis(3) to make it possible to rotate. By connecting the cable with the corresponding position, the processing work of the cable is finished at the adaptor(25) of the rotative member(20). Subsequently the twisting force applies on the cable, as a adaptor(25) turns round along the spherical surface of the spherical joint, thus the twisting force is reduced, preventing the damage of the cable.

Description

Base Structure of Vertical Articulated Robot

1 is a partial cross-sectional side view showing a base portion of a vertical articulated robot according to the present invention;

2 is a partial ablation cross-sectional view showing an extract of the moving member shown in FIG.

FIG. 3 is an enlarged partial view of a partial ablation of the buffer and backlash control means shown in FIG.

* Explanation of symbols for the main parts of the drawings

1 Base 2 Housing

3: rotating shaft 4: hollow part

5: controller 6: cable

7: fixing member 8: circular supporting member

9: motor 11: rotating shaft

12: Drive side bevel gear 13: Driven side bevel gear

20: rotating member 21: support rod

22: Link Ball 23: spherical coupling portion

24: male thread 25: adapter

26: female thread 27: cable tie

30 cushioning and backlash adjusting means 31: leaf spring

32: adjuster

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertical articulated robot, and more particularly, to a base articulated structure of a vertical articulated robot that has improved power transmission structure and cable processing structure of a base part.

In the case of the conventional medium or larger vertical articulated robot, since the motor for driving each joint is directly connected coaxially with the rotating part installed vertically in the base part, the cable connected to each joint does not pass through the center of the rotating part. The cable is processed by winding the base structure or installing a separate cable tray device.

However, in the case of the conventional vertical articulated robot for welding, the size of the cable to be placed is smaller than the size of the robot. However, in the case of the small vertical articulated robot, the size of the cable to be processed is compared to the size of the robot. Since the size is large, the cable cannot be wound around the base structure as in the prior art, and it is difficult to use a separate cable tray to maintain the robot's rotability.

In addition, since the motor is installed coaxially to the rotating part installed vertically in the base part, the height of the base part is increased, thereby limiting the lower work capacity of the robot and structurally unstable.

In addition, since the motor is located inside the base part, it is difficult to repair and replace the motor. Since the motor is directly connected to the rotating part, the motor is directly affected by the impact generated at the end of the robot, thereby damaging the motor.

In addition, if the cable is wound around the base part, the cable is twisted during the rotation of the base part, which not only damages the cable but also damages the hall of the robot. When using the cable tray device, the base part becomes complicated and Due to the cable tray device, the size of the robot is increased so much that it is difficult to mold.

The present invention has been made in view of the above-described problems, and it is easy to repair and replace the cable processing work and the motor, to maximize the lower work capacity, structurally stable, can protect the motor from impact It is an object of the present invention to provide a base structure of a vertical articulated robot, which is improved so that it can

The present invention to achieve the above object, the base housing; A rotation shaft installed vertically on the upper surface of the housing and having a hollow portion through which a cable passes; A motor installed on the side of the housing; A driving side bevel gear installed on the rotating shaft of the motor; A driven side bevel gear installed on the rotation shaft and engaged with the driving side bevel gear; It is installed inside the housing to support the cable rotatably in all directions, the support rod is fixed to the housing, one end of the screw is screwed to the support rod is formed on the other end of the spherical coupling portion A rotating member including a link ball having a male screw rotatably coupled thereto, and an adapter having a female thread screwed on the male screw of the link ball formed at one end thereof and having the cable fixed to the other end by a cable tie; It is provided on both sides of the drive side bevel gear and provides a base structure of a vertical articulated robot having buffer and backlash adjusting means for mitigating shock and vibration transmitted from the driven bevel gear and controlling backlash. There is this.

The present invention is a buffer and backlash control consisting of a leaf spring is installed to be in contact with each of the both sides of the drive side bevel gear on the drive side of the drive-side bevel gear, and the adjustment mechanism for adjusting the elasticity of the leaf spring at the same time fixing the leaf spring There is another feature in that the means are provided.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The base part structure of the vertical articulated robot according to the present invention, as shown in Figures 1 to 3, the rotating shaft (3) is rotatable by the bearing on the upper surface of the housing (2) of the base part (1) The hollow portion 4 is formed on the rotating side 3.

The plurality of cables 6 drawn from the controller 5 are connected to each joint (not shown) through the hollow portion 4 of the rotational shaft 3 and the inside of the housing 2, and the The rotating member 20 is installed therein to rotatably support the cable 6 in all directions.

As shown in FIG. 2, the pivot member 20 has a support rod 21 fixedly installed in the housing 2, one end of which is screwed to the support rod 21, and a spherical coupling at the other end thereof. A portion 23 is formed and a link ball 22 having a male screw 24 rotatably coupled to the spherical coupling portion 23 and a female screw 26 for screwing the male screw 24 of the link ball 22. ) Is formed at one end thereof and at the other end thereof is provided with an adapter 25 to which the cable 6 is fixed by a cable tie 27.

A motor 9 is installed at the side of the housing 2, and a driving side bevel gear 12 is installed at the rotary shaft 11 connected by the motor 9 and the drive unit 10. A driven side bevel gear 13 engaged with the driving side bevel gear 12 is provided on the rotation shaft 3 having the hollow portion 4 through which 6) passes.

In addition, the rotation shaft 11 of the motor 9 buffers and backlash adjusting means 30 to alleviate the shock and vibration transmitted from the driven side bevel gear l3 to the driving side bevel gear 12 and to adjust the backlash. Is provided.

As shown in FIG. 3, the buffer and backlash adjusting means 30 are installed on the rotating shaft 11 of the driving side bevel gear 12 so as to be in contact with both side surfaces of the driving side bevel gear 12, respectively. The spring 31 and the fixing spring 32 is fixed to the leaf spring 31 and at the same time to adjust the elasticity of the leaf spring 31 is configured.

And the plate spring 31 is formed in a plate shape, the control opening 32 is made of a lock nut, the plate-shaped plate springs are installed in pairs to face each other.

And the cable 6 of the site | part adjacent to the said controller 5 is fixed to the housing 2 by the horseshoe-shaped bracket as the fixing member 7, and the hollow part 4 of the said rotating shaft 3 is fixed. The cable 6 drawn out through is fixedly installed on the circular support member 8 made of synthetic resin, and the circular support member 8 is rotatably installed on the upper end of the rotation shaft 3.

The base structure of the vertical articulated robot according to the present invention configured as described above is subjected to cable processing and power transmission as follows.

First, the cable treatment fixes the plurality of cables 6 drawn out from the controller 5 to the inside of the housing 2 with a horseshoe-shaped bracket primarily as the fixing member 7.

Then, a plurality of cables necessary for driving the joints of the plurality of cables 6 are passed through the hollow portion 4 of the rotation shaft 3, and then the cable 6 passing through the hollow portion 4 is passed through the circular support member ( 8), and a circular support member 8 having a cable fixed thereto is rotatably installed on the upper portion of the rotation shaft 3.

Then, a plurality of cables 6 passing through the hollow portion 4 of the rotational shaft 3 are connected to the corresponding positions of each joint not shown, and then the cables are transferred into the housing 2 with the cable ties 27. The cable work is completed by fixing to the adapter 25 of the rotating member 20 rotatably installed in the direction.

Therefore, when the torsional force acts on the cable when the pivot shaft 3 rotates, the adapter 25 of the pivot member 20 pivots along the spherical surface of the spherical coupling portion 23 of the link ball 22. As it reduces the torsional force transmitted to the torsion, it is possible to prevent damage due to the torsion of the cable, to facilitate the processing of the cable, and the appearance of the robot is beautiful.

The power transfer is performed by driving the bevel gear 12 and the driving bevel gear 12 driven by the power generated by the driving of the motor 9 installed in parallel with the installation surface of the housing 2 on the side of the housing 2. It is transmitted to the rotating shaft (3) through the driven side bevel gear (13) engaged with the rotating shaft (3).

As a result, the height of the base can be lowered compared to the method in which the motor is directly connected to the rotational shaft and the coaxial, thereby improving the lower work capacity, and since the robot's center of gravity is located below the structure, the motor becomes structurally stable. Is installed on the side of the housing, making it easy to repair and replace the motor.

And the vibration and shock transmitted from the driven side bevel gear 13 to the driving side bevel gear 12 by the leaf spring 31 as a buffer and backlash adjusting means 30 provided on the rotating shaft 11 of the motor 9. As it is alleviated, it is possible to prevent damage to the motor 9 due to shock and vibration.

When the axial force is generated in the driving side bevel gear 12, the elasticity of the leaf spring 31 is adjusted by the lock nut as the adjusting mechanism 32 to minimize the occurrence of backlash, and when the drive between the gears is not smooth. The backlash is adjusted by releasing the lock nut as one side control mechanism 32 and adjusting the position of the driving side bevel gear 12, and then tightening the lock nut to fix the leaf spring 31.

According to the base structure of the vertical articulated robot configured as described above, the cable processing work and the maintenance and replacement of the motor are easy, the lower work capacity can be maximized, structurally stable, and the motor can be protected from impact. There are advantages such as being able to.

Claims (3)

A base housing; A rotation shaft installed vertically on the upper surface of the housing and having a hollow portion through which a cable passes; A motor installed on the side of the housing; A driving side bevel gear installed on the rotating shaft of the motor; A driven side bevel gear installed on the rotation shaft and engaged with the driving side bevel gear; It is installed inside the housing to support the cable rotatably in all directions, the support rod is fixed to the housing, one end of the screw is screwed to the support rod is formed on the other end of the spherical coupling portion A rotating member including a link ball having a male screw rotatably coupled thereto, and an adapter having a female thread screwed on the male screw of the link ball formed at one end thereof and having the cable fixed to the other end by a cable tie; A base part structure of a vertical articulated robot provided on both sides of the driving side bevel gear and having a buffer and a backlash adjusting means for alleviating the shock and vibration transmitted from the driven side bevel gear and controlling the backlash. The method of claim 1, wherein the buffer and the backlash adjusting means is installed on the drive shaft of the drive bevel gears to be in contact with both side surfaces of the drive bevel gear, respectively, and at the same time fixing the leaf spring and the elasticity of the leaf spring Base structure of the vertical articulated robot, characterized in that it comprises a control mechanism for adjusting. 3. The base portion structure of a vertical articulated robot according to claim 2, wherein the leaf spring is formed in a dish shape and the control mechanism is made of a lock nut.