JPH0441283B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a shaft coupling device for an industrial robot that directly connects a motor and rotation transmission means.

Structure of conventional example and its problems A conventional robot in which the transmission means is directly connected and driven by a motor is shown in FIG. That's 10
1 is a pulley which is one of the transmission means, and 10
It has a hole into which the output side 103 of the second motor is fitted. 104 is a wedge, and the tightening bolt 10
By tightening or loosening 5, the motor output shaft 103 and the pulley 101 can be connected or vice versa. Second
The figure is a cross-sectional view of the wedge 103 taken along a plane perpendicular to the motor shaft 103.

Further, an encoder 106 provided integrally with the motor 102 detects the amount of rotation of the pulley 101 and performs a positioning operation.
It becomes necessary to accurately adjust the relationship between the output signals of 06.

Conventionally, the motor 1 integrated with the encoder 106
02, and in that state adjust the rotational position of the motor shaft 103 while watching the output signal of the encoder 106. Meanwhile, adjust the rotational position of the pulley 101 separately, and while keeping it in that state, gently rotate the motor shaft 103. 1 Install as shown in Figure 1, and tighten the mounting bolts 107.
He was working on a way to conclude the agreement. However, when inserting the motor shaft 103 into the pulley 101, one of them becomes misaligned in the rotational direction, and it is very time-consuming because the motor shaft 103 must be removed and readjusted again.

OBJECT OF THE INVENTION The present invention overcomes the above-mentioned conventional drawbacks.

Structure of the Invention The present invention has a hole that fits the shaft of this motor with an encoder provided with a groove that fits a driver at the shaft end, and communicates with the hole and penetrates to the end face on the opposite side to the motor side. When the transmission means is rotatably supported and has a hole, the motor shaft and the transmission means are comprised of a shaft coupling means capable of fixing the motor shaft and the transmission means at any position in the rotational direction, and the motor shaft and the transmission means are fitted together. The mutual rotational positions can be adjusted in this state, and the motor shaft and transmission means can also be connected in this state, which is extremely advantageous in terms of assembly and repair.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on FIGS. 3 and 4.

In the figure, 1 is an encoder, 2 is a motor body integrally equipped with this encoder, 3 is a robot body, 4 is a pulley of a transmission means, and 5 is rotatably supported by the main body 3 via a bearing. There is. The pulley 4 is provided with a hole into which the motor shaft 6 is fitted, and a hole 7 that communicates with this hole and penetrates to the opposite side.

On the other hand, the motor shaft 6 is provided with a groove 8 into which a driver is fitted, and 9 is a bolt for fastening the robot body 3 and the motor body 2 together.

The connection between the motor shaft 6 and the pulley 4 is as follows:
Wedge fastening bolt 22 for wedges 21a and 22b
By fastening, it can be easily and reliably moved to any position in the rotational direction.

In the device having the above configuration, the wedge fastening bolt 2
Instead of tightening only 2, assemble as shown in Fig. 3 and completely tighten bolt 9. In this state, if the relative positional relationship in the rotational direction of the pulley 4 and the motor shaft 6 is not the desired positional relationship, that is, the desired output signal is not output from the encoder 1 at a certain position in the rotational direction of the pulley 4. If so, insert a screwdriver through the through hole 7 and into the groove 8 that fits the driver on the motor shaft 6, fix the pulley 4, and turn the screwdriver to generate the output of the echoda 1, which is attached integrally with the motor body 2. the signal changes,
When the driver is removed from the groove with the desired signal output and the wedge fastening bolt 22 is fastened, the motor shaft 6 and pulley 4 are completely connected at that position by the wedges 21a and 22b. Thereafter, the rotation amount of the pulley 4 and the output signal of the encoder 1 are maintained in a one-to-one relationship.

Effects of the Invention As described above, according to the present invention, the encoder output signal can be adjusted very easily after completing the assembly of the motor and pulley. It goes without saying that the present invention has similar effects not only on pulleys but also on transmission means such as gears. In addition, even if the rotational position of the pulley and motor shaft is misaligned, it can be easily readjusted, which is highly effective in terms of robot assembly, repair, and readjustment.

[Brief explanation of the drawing]

FIG. 1 is a partial cross-sectional front view of a conventional shaft coupling device, FIG. 2 is a cross-sectional view of the wedge portion in FIG. 1, and FIG. 3 is a partial cross-sectional view of a shaft coupling device according to an embodiment of the present invention. The front view and FIG. 4 are cross-sectional views of the wedge portion in FIG. 3. 1... Encoder, 2... Motor body, 4...
Transmission means, 6...Motor shaft, 7...Through hole, 8...
...Groove, 21...Wedge, 22...Wedge fastening bolt.

Claims (1)

[Claims] 1. A motor with an encoder that has an adjustable groove on the shaft end so that it can rotate, and a hole that fits into the shaft of this motor, communicates with the hole, and penetrates to the end face opposite to the motor side. A shaft coupling device comprising: a rotatably supported transmission means having a shaft; and a shaft coupling means capable of fixing the shaft of the motor and the transmission means at any position in the rotational direction.