JPH0480800B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a rotating arm robot drive mechanism suitable for preventing or minimizing the scattering of mechanical dust.

[Background of the invention]

Regarding the configuration of the robot's drive device, wrist, joints, and other rotational mechanisms, please refer to Japanese Patent Application Laid-open No. 55-5209 and No. 58.
-10476 publication, 58-51087 publication, 58-
Publication No. 94987, Publication No. 58-94991, Publication No. 58-102694
It is stated in the issue bulletin etc. However, these techniques do not recognize the problem of mechanical dust generated from the rotating mechanism being scattered into the robot working environment.

[Purpose of the invention]

In view of the above-mentioned circumstances, an object of the present invention is to provide a rotation mechanism configured such that an arm member fixed to a shaft whose both ends are rotatably supported can be rotated with high rigidity by a drive motor via a reduction gear. Provided is a rotating arm robot drive mechanism that prevents or minimizes the scattering of dust generated in the bearing part that supports the shaft into the working environment and maintains a clean atmosphere. It's about doing.

[Summary of the invention]

In order to achieve the above object, the present invention provides a base member in which a first protrusion and a second protrusion disposed opposite the first protrusion are implanted, and a first protrusion of the base member. by the first bearing on the protrusion of the
a shaft rotatably supported at both ends by second bearings on the second protrusion of the base member; and a first shaft fixed to the shaft so as to be rotatable about the shaft. an arm member extending outward from between the protruding part and the second protruding part; and an arm member installed coaxially with the shaft on a surface of the first protruding part of the base member opposite to the arm member. A drive motor is disposed in a sealed space on a side opposite to the arm member with respect to the first bearing of the first protrusion of the base member, and an input shaft is coupled to the output shaft of the drive motor. At the same time, a small gap is formed between a reducer having an output shaft coupled to the input end of the shaft and a surface of the first protrusion on the arm member side, so that the arm member side of the first bearing is connected to the reducer. A microscopic seal is formed between a flange-like sealing member installed on the first bearing side of the arm member to form a labyrinth-type sealing structure and a shaft to seal both sides of the second bearing at the second protrusion. A sealing member installed to form a gap-shaped sealing structure with a space between the first and second bearings is connected to a suction/exhaust means so as to be able to suction and exhaust dust generated in the first bearing and the second bearing. and a conduit formed in the first and second protrusions so as to communicate with a second bearing, and the drive motor rotates the arm member fixed to the shaft via the speed reducer. In the arm robot drive mechanism, the first and second bearing parts are made negative pressure, and the minute gap between the sealing member and the first protrusion is
The air in the atmosphere where the arm member is present is first introduced through the small gap between the sealing member and the shaft.
By forcibly sucking the air into the second bearing part, the sucked air is exhausted outside the working environment, preventing or minimizing the scattering of dust into the working environment, and can be applied in a clean atmosphere. It is characterized by the fact that it is possible to do so.

[Embodiments of the invention]

Next, one embodiment of the present invention will be explained with reference to the drawings. The figure is a longitudinal sectional view of a rotating part of a robot to which the present invention is applied.

First, the overall configuration will be described. In Figure 1, the output of a motor 2 fixed to a base 1 is transmitted to a shaft 8 via a harmonic drive 4, and an arm 1 is
5 is shown.

The motor 2 is fixed to a base 1, and an output shaft 3 of the motor 2 is engaged with a wave generator 4a of a harmonic drive 4 by a screw 5.
The circular spline 4b of the harmonic drive 4 is fixed to the base 1 with screws 6, and the flexspline 4c is engaged with the shaft 8 with screws 7. The shaft 8 has bearings 9, 10, 2
0, is engaged with the arm 15 by a key 16, and supports the weight of the arm 15 by a washer 18 and a nut 19. 17 is arm 15
This is a fixing screw between the shaft 8 and the shaft 8. Part 11 is
It is fixed to the base 1 with screws 12, and a part (flange-shaped sealing member) 13 is fixed to the arm 15 with screws 14, and is paired with the part 11 with a gap (minimal gap) in the diametrical and axial directions. It forms a labyrinth-type sealing device with Further, a component (sealing member) 21 is fixed to the base 1 with screws 22, forming a linear gap type sealing device having a gap with respect to the outer periphery of the shaft 8. A component (sealing member) 23 is fixed to the base 1 with screws 24.

Further, the base 1 is provided with pipe lines 25, 26, and 27, and a pipe 29 engaged with a pipe joint 28 is connected to an exhaust device (not shown).

The labyrinth type sealing device formed by the parts 11 and 13 has a structure that prevents dust generated from rotating parts such as the motor 2, harmonic drive 4, and bearings 9 and 10 from coming out of the labyrinth type sealing device. It's summery. Furthermore, the linear gap type sealing device formed by the component 21 and the shaft 8 is configured such that dust from the bearing 20 is difficult to come out of the sealing device.

Dust generated in the space between the motor 2 and the component 13 and dust generated in the space between the component 21 and the component 23 are transferred to the pipes 26 and 2, respectively.
7, 25 and a pipe 29, the air can be exhausted to the outside of the working environment by a suction/exhaust means (not shown). Note that the exhaust gas is discharged into an environment free from obstructions caused by dust.

According to this embodiment, dust generated from the rotation mechanism of the robot body is not scattered into the work environment in which the robot body is placed.

〔Effect of the invention〕

As described above, according to the present invention, the arm member fixed to the shaft whose both ends are rotatably supported by the first and second protruding parts of the base member is driven by the drive motor through the reducer to achieve high rigidity. In a rotary arm robot drive mechanism that can rotate stably, dust generated at the first and second bearing parts that support both ends of the shaft is prevented or minimized from scattering into the working environment. This has the effect of keeping the air in the working environment clean.

[Brief explanation of the drawing]

The figure is a longitudinal sectional view of a rotating part of a robot to which the present invention is applied. 1... Base, 2... Motor, 3... Motor output shaft, 4... Harmonic drive, 8... Shaft,
9, 10...Bearing, 11, 13, 21, 23
...Parts, 15...Arm, 25, 26, 27...Pipe line, 28...Pipe joint, 29...Pipe.

Claims (1)

[Claims] 1 a base member having a first protrusion and a second protrusion disposed opposite to the first protrusion;
A first bearing on the first protrusion of the base member and a second bearing on the second protrusion of the base member.
a shaft rotatably supported at both ends by bearings; and a first shaft fixed to the shaft so as to be rotatable about the shaft.
an arm member extending outward from between the protruding part and the second protruding part; and an arm member installed coaxially with the shaft on a surface of the first protruding part of the base member opposite to the arm member. A drive motor is disposed in a sealed space on a side opposite to the arm member with respect to the first bearing of the first protrusion of the base member, and an input shaft is coupled to the output shaft of the drive motor. At the same time, a small gap is formed between a reducer having an output shaft coupled to the input end of the shaft and a surface of the first protrusion on the arm member side, so that the arm member side of the first bearing is connected to the reducer. A microscopic seal is formed between a flange-like sealing member installed on the first bearing side of the arm member to form a labyrinth-type sealing structure and a shaft to seal both sides of the second bearing at the second protrusion. a sealing member installed to form a gap-shaped sealing structure with a gap between the first bearing and the second bearing;
The first bearing is connected to a suction and exhaust means and communicates with the first bearing and the second bearing so as to be able to suction and exhaust dust generated in the bearing.
and a conduit formed in the second protrusion.