JPH05194B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION FIELD OF INDUSTRIAL APPLICATION The present invention relates to an industrial robot in which a drive source is attached parallel to a fixed base and the overall length of the robot is shortened.

Conventional structure and its problems Conventionally, the bearing at the end of the ball screw shaft was fixed by placing two nuts on top of each other and pressing the inner ring of the bearing.
In addition, when the drive source is installed parallel to the fixed base, and the motor side pulley is fixed to the shaft end of the motor that is the drive source, and the ball screw is driven via a belt, the ball screw side pulley is fixed using the ball screw. A keyway was provided at the end of the shaft, and the ball screw side pulley was fixed with a key and set screw.

However, in the above configuration, there are many parts,
Another disadvantage is that the end of the ball screw shaft becomes long, making the entire orthogonal coordinate system robot long. Furthermore, since the ball screw side pulley is fixed with a key, there is also a drawback that the position of the motor side pulley cannot be easily aligned.

OBJECTS OF THE INVENTION The present invention solves the above-mentioned drawbacks, and provides an industrial robot that has a reduced number of parts, facilitates assembly and adjustment, is inexpensive, and has a short overall length.

Structure of the Invention The industrial robot of the present invention includes a fixed base, a movable base that can slide on the fixed base, a ball screw that drives the movable base, and a bearing that supports the shaft end of the ball screw. A ball screw side pulley which has a female thread that is screwed into a male thread provided near the tip of the ball screw, and which presses the inner ring of the bearing by tightening the female thread and is fixed to the shaft end of the ball screw with a wedge. , a motor that is attached parallel to the fixed base and is a drive source for driving the ball screw side pulley, a motor side pulley that is fixed to the shaft end of this motor, and the motor side pulley and the ball screw side pulley. It is composed of an interlocking belt.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.
This will be explained based on the diagram.

Reference numeral 1 denotes a fixed base having a straight groove 1a to which a bearing 2 can be transferred. 3 is a moving base;
It is fixed to the nut portion 4a of the ball screw 4.
Furthermore, the movable base 3 has a circulating portion 3a of a bearing 2, and can slide on the fixed base 1 via the bearing 2 by driving a ball screw 4. Reference numeral 5 denotes a bearing, which holds the ball screw 4 and can facilitate rotational driving of the ball screw 4. Reference numeral 6 designates a ball screw side pulley, which has a female thread 6b that engages with a male thread 4c provided near the tip of the ball screw 4. By tightening the female thread 6b, the inner ring of the bearing 5 is pressed by the end surface 6a. Apply preload to the shaft end 4 of the ball screw 4
b by a wedge 7. A bearing case 8 houses the bearing 5. Reference numeral 9 denotes a motor as a drive source, which is fixed to the shaft end 9a of the motor 9 by a wedge 7 with a motor-side pulley 10, and the rotational drive of the motor 9 is transmitted via a belt 11 to a ball screw 4.
can be conveyed to. Further, the motor 9 is fixed to the bearing case 8 in parallel to the fixed base 1, so that the motor 9 and the ball screw 4 are arranged parallel to each other and in the same direction with one end surface aligned.

In the orthogonal coordinate system robot configured as described above, the rotational drive of the motor 9, which is the drive source, is transmitted to the ball screw 4 via the belt 11, and the moving base 3 fixed to the nut portion 4a of the ball screw 4 is rotated. can slide on the fixed base 1.

As described above, according to this embodiment, the ball screw 4
A bearing 5 is provided at the shaft end of the ball screw 4, a male thread 4c is provided near the tip of the ball screw 4, a female thread 6b provided on the ball screw side pulley 6 is screwed into the male thread 4c, and the female thread 6b is tightened. A drive that presses the inner ring and is fixed to the shaft end of the ball screw 4 with a wedge 7, and a drive that is attached parallel to the fixed base 1 via a belt 11 and drives the ball screw pulley 6. By providing a motor 9 as a power source and a motor-side pulley 10 fixed to the shaft end 9a of the motor 9 by a wedge 7, the length of the ball screw shaft end can be shortened.
The total length of the orthogonal coordinate system robot can be shortened. In addition, the number of parts is small, and assembly and adjustment are easy.

Effects of the Invention As described above, in the industrial robot of the present invention, a bearing is provided at the end of the ball screw shaft, the inner ring of this bearing is pressed by the ball screw side pulley, and the ball is fixed to the end of the ball screw shaft with a wedge. By providing a screw side pulley, a motor that is a drive source that drives the ball screw side pulley arranged parallel to the fixed base via a belt, and a motor side pulley fixed to the end of this motor shaft, the ball screw shaft Since the end length can be shortened, the total length of the orthogonal coordinate system robot is shortened, and when the orthogonal coordinate system robot is installed on an assembly line, etc., it does not take up much space, and its practical effects are great. It also has the advantage that the number of parts is small and assembly and adjustment can be easily performed.

[Brief explanation of the drawing]

FIG. 1 is a sectional front view of a main part of an embodiment of the present invention, and FIG. 2 is a view taken along the line A-A' in FIG. 1... Fixed base, 3... Moving base, 4...
Ball screw, 4b...Shaft end of ball screw 4, 4c
... Male thread, 5 ... Bearing, 6 ... Ball screw side pulley, 6b ... Female thread, 7 ... Wedge, 9 ... Motor, 9a ... Shaft end of motor 9, 10 ... Motor side pulley, 11 ... …belt.

Claims (1)

[Scope of Claims] 1. A fixed base, a movable base that can slide on the fixed base, a ball screw that drives the movable base, a bearing that supports the shaft end of the ball screw, and a bearing that supports the shaft end of the ball screw. The ball screw side pulley has a female thread that is screwed into the male thread provided near the tip, and applies preload to the inner ring of the bearing by tightening the female thread, and is fixed to the shaft end of the ball screw with a wedge. , an industrial motor comprising a motor as a drive source arranged parallel to the fixed base, a motor-side pulley fixed to the shaft end of the motor, and a belt that interlocks the ball screw-side pulley and the motor-side pulley. Robot. 2. The industrial robot according to claim 1, wherein the motor and the ball screw are arranged in parallel with one end face aligned in the same direction.