JPH0557659A - Arm connecting device for industrial robot - Google Patents

Abstract

(57) [Abstract] [Purpose] The purpose is to reduce the weight of the base arm and joint arm of an industrial robot, simplify the structure and simplification of processing, and reduce the number of assembly steps. [Structure] A joint arm 5 is rotatably attached to an output side surface of a mounting flange 8 of a speed reducer 7 via a rotary bearing 6, and an input side surface of a mounting flange 8 of the speed reducer 7 is attached to a base arm 1. Since the structure for mounting from the front side of the base arm 1 does not require a housing for mounting the rotary bearing extending to the base arm 1, the weight of the base arm 1 and the joint arm 5 can be reduced, and the structure can be simplified. Further, since the mounting surface of the speed reducer 7 becomes the front surface of the basic arm 1, the processing of the mounting surface can be simplified and the number of assembling steps can be reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an arm connecting device for an articulated industrial robot.

[0002]

2. Description of the Prior Art A conventional articulated industrial robot arm connecting device has a structure as shown in FIG.

The structure will be described below with reference to FIG. As shown in the figure, two rotary bearings 24 and 25 are mounted in the housing 22 of the foundation arm 21,
The joint arm 23 is attached to the two rotary bearings 24 and 25.
Is rotatably supported. The output shaft of the speed reducer 26 is connected to one end of the joint arm 23, and the rotating arm 27 is connected to the other end. A motor 28 is connected to the input shaft of the speed reducer 26, and is mounted on the inner surface of the base arm 21 by a flange 29. The output shaft is connected to the joint arm 23 by mounting the speed reducer 26. In this way, the rotating arm 2
Reference numeral 7 is rotatably connected to the base arm 21.

Incidentally, one cross roller bearing may be used in place of the two rotary bearings 24 and 25.

[0005]

In such a conventional arm connecting device for an industrial robot, since the rotary bearings 24 and 25 are mounted in the housing 22, the speed reducer mounting portion to the rotary bearing mounting portion are mounted. There is a problem that the length becomes long, the weight of the joint arm 23 and the base arm 21 increases, and the structure becomes complicated.

Further, the rotary bearings 24, 2 of the foundation arm 21
The mounting portion of No. 5 must be processed from the front surface, and the mounting portion of the speed reducer 26 must be processed from the inner surface, and the latter processing is very difficult. Further, the speed reducer 26 has to be mounted from the inner surface of the base arm 21, which causes a problem that the work is very difficult.

The present invention solves the above problems, and reduces the weight of the base arm and the joint arm, simplifies the structure, simplifies the processing, and reduces the number of assembling steps. The purpose is to provide a coupling device.

[0008]

In order to achieve the above object, the present invention provides a base arm which is connected to an arm and is swingable about a horizontal axis, and a rotary arm which is rotatably connected to the base arm. A movable arm, a wrist arm swingably connected to a tip end of the rotating arm, and a tool gripping portion swingably connected to a tip end of the wrist arm, A joint arm rotatably connected to the arm is rotatably mounted on the output side surface of the mounting flange of the speed reducer via a rotary bearing, and a motor for rotating the rotary arm is input to the speed reducer. The input side surface of the mounting flange of the speed reducer is attached to the basic arm from the front of the basic arm to rotatably connect the rotary arm to the basic arm. Is.

[0009]

According to the present invention, as described above, the joint arm is rotatably mounted on the output side surface of the reduction gear mounting flange via the rotary bearing, and the input side surface of the reduction gear mounting flange is used as a base. Since the arm is mounted from the front side, the weight of the arm and the joint arm can be reduced by eliminating the housing of the arm, and the structure can be simplified. Further, since the mounting surface of the speed reducer is the front surface of the basic arm, the processing of the mounting surface can be simplified and the number of assembling steps can be reduced.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

As shown in the figure, the base arm 1 is rotatably connected by arms 3 and 4, and a rotary arm 2 is rotatably connected to the tip end thereof. A swingable wrist arm (not shown) and a rotatable tool gripping portion for the wrist arm are connected to the tip of the rotary arm 2.

The rotating arm 2 is attached to one end of a joint arm 5, and the other end of the joint arm 5 is rotated via a cross roller bearing 6, which is a rotary bearing, to the output side surface of a mounting flange 8 of a reduction gear 7. It is movably connected to the output shaft of the speed reducer 7. In addition, 9 and 10 are holding members for holding the rotary bearing 6.

A motor 10 for rotating the rotating arm 2 via the speed reducer 7 and the rotating arm 5 is mounted on the input side of the speed reducer 7.

In the above structure, the rotary unit formed integrally with the joint arm 5, the mounting flange 8, the speed reducer 7 and the motor 10 has the input side surface of the mounting flange 8 from the front side of the base arm 1. The base arm 1 is attached by abutting on the mounting surface thereof. And the motor 10 is the base 1
Is disposed inside.

As described above, according to the arm connecting device for the industrial robot of the embodiment of the present invention, the joint arm 5 is rotatable about the output side surface of the mounting flange 8 of the reduction gear 7 via the rotary bearing 6. Therefore, as shown in the conventional example, it is not necessary to mount the rotary bearing on the housing of the base arm. Therefore, the housing can be eliminated and the joint arm can be shortened. As a result, the foundation arm 1 and the joint arm 5
This has the effect of reducing the weight and simplifying the structure.

Further, since the input side surface of the mounting flange 8 of the speed reducer 7 is mounted from the front side of the basic arm 1, as shown in the conventional example, the mounting portion of the rotary bearing is mounted on the front surface of the basic arm. Therefore, it is not necessary to machine the mounting portion of the reduction gear from the inner surface of the base arm, and it is sufficient to machine only the contact surface of the mounting flange 8 of the base arm 1 from the front surface. This has the effect of reducing man-hours.

[0017]

As is apparent from the above description of the embodiments, according to the present invention, the joint arm is rotatably mounted on the output side surface of the mounting flange of the reduction gear via the rotary bearing, By mounting the input side surface of the mounting flange of the reducer from the front of the base arm, the weight of the base frame and joint arm can be reduced by eliminating the base arm housing, and the structure can be simplified. .
Also, since the mounting surface of the reducer becomes the front surface of the basic arm,
It is possible to provide an arm mounting device for an industrial robot that can simplify the processing of the mounting surface and reduce the number of assembly steps.

[Brief description of drawings]

FIG. 1 is a side sectional view of an essential part of an arm mounting device for an industrial robot according to an embodiment of the present invention.

[Figure 2] Side view of an industrial robot

FIG. 3 is a side sectional view of a main part of an arm mounting device for a conventional industrial robot.

[Explanation of symbols]

 1 Foundation Arm 2 Rotating Arm 5 Joint Arm 6 Rotating Bearing 7 Reduction Gear 8 Mounting Flange 10 Motor

Claims (2)

[Claims] 1. A base arm which is connected to an arm and is swingable about a horizontal axis, a rotary arm which is pivotally connected to the base arm, and a pivotally connected end of the rotary arm. A wrist arm that is rotatably connected to the tip of the wrist arm, and a joint arm that rotatably connects the rotary arm to the base arm for mounting a speed reducer. The output side surface of the flange is rotatably mounted via a rotary bearing, the motor for rotating the rotating arm is mounted on the input side of the speed reducer, and the motor on the input side of the mounting flange of the speed reducer is mounted. An arm connecting device for an industrial robot, wherein a surface is attached to the base arm from the front of the base arm and the rotating arm is rotatably connected to the base arm. 2. The industrial robot arm coupling device according to claim 1, wherein the motor is provided in the base arm.