JPH0436839B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an industrial robot, and more particularly to a rotating device for a rotating shaft in an industrial robot whose rotating shaft can be manually rotated.

(Prior art) Industrial robots are fixed to the floor, wall, or ceiling, or are attached to a base that can move along the floor, and the θ-axis is rotatably provided on the base. , a swingable W attached to the θ axis
A swingable U-axis installed at the tip of the W-axis, U
It consists of a wrist attached to the tip of the shaft.

A drive motor is attached to each rotating shaft, and the rotational force of the drive motor is transmitted to each arm via a rotation transmission mechanism such as a speed reduction mechanism, causing each arm to rotate.

By the way, multiple industrial robots of this type are installed side by side along a production line and are configured to process products one after another as they flow through the line, but if one of these robots breaks down, Each arm of the robot must be removed from the line and returned to its origin, for example. In such a case, in order to isolate the robot from the control system of other operating robots and turn off the power, the drive motors that drive each rotation axis stop rotating, and the rotation axis It is locked and cannot be rotated. In such cases, the flange of the drive motor, which is usually screwed, is removed, the motor is rotated together with the flange, and the rotation is transmitted to the rotation transmission mechanism to manually rotate each arm of the robot.

(Problems to be Solved by the Invention) Industrial robots are not always installed horizontally, but are often installed upside down or sideways, such as ceiling-mounted or wall-mounted robots. Therefore, gravity may be applied in a direction away from the rotation transmission mechanism. In such a case, the drive motor may fall away from the robot body together with the pinion of the rotation transmission mechanism.

Therefore, an object of the present invention is to provide a novel system that enables smooth manual rotation of the drive motor without separating it from the robot body, regardless of the state in which the robot is installed. An object of the present invention is to provide a turning device for a turning shaft.

(Means for Solving the Problems) According to the present invention, in a robot that transmits the rotational force of a drive motor to a rotation shaft of the robot via a rotation transmission mechanism to drive the robot, a base supporting the drive motor and a base supporting the drive motor are provided. , a drive motor that has a rotational force applying section that has a regular polygonal periphery and is provided along a plane perpendicular to the rotational axis, and is rotatably held with respect to the base; and rotation of the drive motor. A turning device for a turning shaft is provided, which is characterized by having a fitting hole that can be fitted into and removed from a force applying part, and a turning jig having a rotating handle.

(Function) In the present invention, the mounting flange of the drive motor can be removed from the base, and the flange is loosely held against the base by a holder so that it can be rotated manually. Even if the flange bolt is removed to manually rotate the drive motor, the flange is supported by the boulder, so the drive motor will not fall even when hung upside down or on its side.The pinion drives the deceleration mechanism and the rotation axis Manual operation is performed.

(Example) Next, an example of the present invention will be described in detail using the drawings.

FIG. 1A is a top view of a drive motor illustrating an embodiment of a turning device for a rotating shaft according to the present invention, FIG. 1B is a side view thereof, and FIG. 3 is an example of an industrial robot incorporating this embodiment. FIG.

In Fig. 3, 1 is the θ-axis fixed side (fixed side) of the industrial robot fixed to the base 2, and the θ-axis movable side (movable side), which can rotate within a predetermined rotation range, is attached above it. )3 is installed. Inside the θ-axis fixed side 1, a drive motor 4 that drives the rotation of the θ-axis movable side 3, a deceleration mechanism 5, a turning device to be described later, etc. are built in, and the shoulder 11 of the fixed side 1 is built-in. A window 12 is provided for maintenance of the various devices and manual turning operation described below.

Further, a W-axis 6 that can swing within a predetermined rotation angle is attached to the θ-axis movable side 3, and a U-axis 7 that can swing within a predetermined rotation angle is provided at the tip of the W-axis 6. Furthermore, a wrist 8 is provided at the tip of the U-shaft 7.

In FIG. 1, the drive motor 4 is attached to a hollow disc-shaped flange 9 with a fixing screw 42 with its output shaft 41 facing downward.
A pinion 43 that meshes with the gear of the reduction mechanism 5 is fitted to the tip of the gear. At the upper end of the drive motor 4, there is formed a rotational force applying section 44 whose side surface has a regular octagonal shape and is provided along a virtual plane orthogonal to the rotation axis 43 of the drive motor 4.

The outer periphery of the flange 9 has a flange 91 as shown in cross section in FIG.
It is tightened with a plurality of flange bolts 92 in contact with the recess 22 provided in the upper plate 21.

As a result, the drive motor 4 is attached to the upper plate 21 of the base 2 with flange bolts 92 via the flange 9, and the reduction mechanism 5 is driven by the pinion 43, so that within a predetermined rotation angle θ It is now possible to drive the movable side of the shaft.

Further, a plurality of holders 10 are attached to the periphery of the recess 22 provided in the upper plate 21 with holder screws 101, and are configured to loosely press against the upper surface of the flange 91 of the flange 9. For this reason,
When the above-mentioned flange bolts 92 are loosened and removed from the upper plate 21, the drive motor 4 is held by the boulder 10 without coming off from the upper plate 21, and further,
When a rotating force is manually applied to the outer periphery of the drive motor 4, the flange 91 is rotated between the boulder 10 and the upper plate 21.
are in sliding contact, and the drive motor 4 and pinion 43 rotate.

FIG. 2 is an explanatory diagram showing the relationship between the drive motor and the rotation jig. Since the outer periphery of the drive motor 4 forms an octagonal prism, the rotation jig 11 has an octagonal fitting hole 13. is engaged with the drive motor 4. After the engagement, grasp the handle 12 and turn the drive motor 4.
It is configured so that it can be rotated. Although the fitting hole 13 of the rotation jig 11 is a regular octagon, it is not limited to this, and may be any regular polygon.

Next, to explain the operation of this embodiment with such a configuration, when an industrial robot is operating in a factory,
For example, when returning the θ-axis movable side 3 of the robot to its predetermined origin due to a malfunction, the power is turned off, so the drive motor 4 is locked and cannot rotate, and the predetermined operation of the θ-axis movable side 3 is disabled. It is possible.

At this time, using the window 112 provided in the shoulder 111 of the θ-axis fixed side 1, loosen and remove the flange bolts 92 fixing the flange 9, and attach the rotation jig 11 to the drive motor 4. At the same time, the pinion 43 is manually rotated together with the drive motor 4, and the θ-axis movable side 3 is rotated via the deceleration mechanism 5.

Through this series of operations, even if the rotation shaft of the drive motor 4 is locked, the flange 9 is supported by the holder 10 provided on the upper plate 21 and rotates in sliding contact, so that the pinion 43 rotates. The θ-axis movable side 3 can be rotated to a predetermined position.
Furthermore, since the flange 9 is supported by a plurality of holders 10, even in the case of a ceiling-mounted or wall-mounted robot, the drive motor does not come off or the pinion does not become disengaged with the speed reduction mechanism.

Although the present invention has been described by way of one embodiment, various modifications can be made within the scope of the gist of the present invention, and these are not excluded from the scope of the present invention.

(Effects of the Invention) As described in detail above, the present invention enables the mounting flange portion of the drive motor that drives the rotation axis of the robot to be removed from the base, and the flange is loosely held against the base with a holder. , rotation jig 11
The fitting hole 13 is connected to the rotational force applying section 44 of the drive motor 4.
Since the drive motor can be manually rotated by fitting it into the robot and turning the handle 12 of the rotation jig, if the robot breaks down, the robot can be disconnected from the control system of other robots in operation. To turn off the power, the motor that drives the rotation axis stops rotating, so the rotation axis of the motor is locked and cannot rotate.In such cases, fit a rotation jig to the drive motor and manually rotate the rotation axis. The drive motor can be rotated to rotate via the speed reduction mechanism, and the rotating side can be rotated to a predetermined position.

Furthermore, in the case of a ceiling-mounted or wall-mounted robot, even if the drive motor is hung upside down or in a horizontal position and the flange bolts are removed, the drive motor is held down by the boulder, so the drive motor does not fall. This has the advantage that the shaft and pinion do not come off from the reduction mechanism, and the pivot shaft can be easily rotated by manual rotation operation.

[Brief explanation of drawings]

FIG. 1A is a top view of a drive motor illustrating an embodiment of a turning device for a turning shaft according to the present invention, FIG. 1B is a sectional view thereof, FIG. The figure is a perspective view of an example of an industrial robot incorporating this embodiment. 1... θ-axis fixed side, 2... Base, 3... θ-axis movable side, 4... Drive motor, 5... Reduction mechanism, 9...
...Flange, 10...Holder, 43...Pinion.

Claims (1)

[Claims] 1. In a robot that transmits the rotational force of a drive motor to a rotation axis of the robot via a rotation transmission mechanism to drive the robot, the base supporting the drive motor and the periphery thereof are formed into a regular polygon and are orthogonal to the axis of rotation. A drive motor having a rotational force application section provided along a virtual plane and rotatably held with respect to the base, and a fitting hole that can be freely fitted into and removed from the rotational force application section of the drive motor. 1. A turning device for a turning shaft for an industrial robot, comprising a turning jig having a rotating handle.