JPH06328377A - Industrial robot - Google Patents

Abstract

PURPOSE:To provide an industrial robot capable of precisely adjusting tension of a timing belt as well as easily fixing a pulley in a single axis robot actuator. CONSTITUTION:A pair of pulleys 16, 18 is provided on a frame 12, a timing belt 20 is suspended on a pair of the pulleys 16, 18, a roller 38 is provided on a slider 14 free to revolve, the neighbourhood of the one end of the timing belt 20 is wound around the roller 38, and in the state where the direction of the timing belt 20 is reversed, the one end is fixed on the slider 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot,
In particular, it relates to a single-axis robot actuator.

[0002]

2. Description of the Related Art In a conventional single-axis robot actuator, a structure in which a slider slides on a frame of a robot body is as shown in FIG.

That is, the single-axis robot actuator 1
00 inside the frame 102, a pair of pulleys 104,
106 are arranged. Then, the pair of pulleys 10
The timing belt 108 is stretched over the sliders 4, 106, and both ends of the timing belt 108 are slidably attached to the sliders 11.
It is fixed at 0. Then, by rotating the pulley 106 with a motor (not shown), the slider 110
Move along the frame 102.

[0004]

In the single-axis robot actuator 100 having the above structure, the timing belt 1 is used.
In order to adjust the tension of 08, the tension was adjusted by moving the pulley base 112 fixing the pulley 104 with the screw 114.

However, with this structure, the pulley 10
There is a problem in that the means for fixing 4 becomes complicated, and since the screw 114 is used for adjustment, the tension cannot be adjusted accurately.

Therefore, the present invention provides an industrial robot which can easily fix the pulley and can adjust the tension of the timing belt accurately.

[0007]

The industrial robot of the present invention is a single-axis robot actuator having a slider in which a frame is movably provided, and a pair of pulleys is provided on the frame, and a timing belt is provided on the pair of pulleys. A roller is rotatably provided on the slider, and one end portion of one of the timing belts is wound around the roller, and the one end portion of the timing belt is changed in a direction. Is fixed to the slider.

[0008]

[Operation] In the industrial robot having the above structure, when adjusting the tension of the timing belt, the tension is adjusted by pulling one end of the timing belt and rotating the roller. Then, one end of the timing belt is fixed.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A single-axis robot actuator 10 which is an embodiment of the present invention will be described with reference to FIGS.

Reference numeral 12 is a frame, which forms a rectangular parallelepiped. A slider 14 is movably provided along the frame 12.

Reference numerals 16 and 18 are a pair of pulleys provided at both ends inside the frame 12. Pulley 14,
Each of the shafts 18 is pivotally attached to the frame 12.
Further, one pulley 18 is connected to and driven by a motor (not shown).

Reference numeral 20 denotes a timing belt which is wound around a pair of pulleys 16 and 18 inside the frame 12.

Reference numeral 26 is a groove provided in the slider 14. The groove 26 is provided along the moving direction of the slider 14, and the timing belt 20 is movably inserted therein.

Reference numeral 28 is a circular hole provided on the right side of the slider 28. A first groove 30 and a second groove 32 are provided in parallel along the tangential direction of the circular hole 28. The right end portions of the first groove 30 and the second groove 32 are open to the right side surface 14a of the slider 14, and the left end portions thereof are circular holes 28.
It is open to.

Reference numeral 33 is a pressing member provided on the lower surface side of the first groove 30. This pressing member slides in the vertical direction.

Reference numeral 34 is a screw hole provided between the first groove 30 and the lower surface 14b of the slider 14. The upper end of the screw hole 34 opens into the first groove 30 and opens into the lower surface 14 b of the slider 14. A screw 36 is screwed into the screw hole 34. The screw 36 presses the pressing member 33 toward the first groove 30.

Reference numeral 38 is a roller made of rubber or metal that is rotatably provided inside the circular hole 28. This ro
The gap between the la 38 and the inner wall of the circular hole 28 is set to be slightly larger than the thickness of the timing belt 20.

A circular hole 28, a first groove 30, a second groove 32, a roller 38, a screw hole 34 and the like are also provided on the left side portion of the slider 14 as in the right side portion.

A single-axis robot actuator 1 having the above structure
The case of assembling 0 will be described.

The timing belt 20 is stretched over the pair of pulleys 16 and 18.

The right end portion 20a of the timing belt 20
Is inserted into the second groove 32, wound around the roller 38, and folded back into the first groove 30.

The tension is adjusted by pulling the right end portion 20 a of the timing belt 20 protruding from the first groove 30. In this case, since the folded portion of the timing belt 20 is wound around the rotatable roller 38, it can be easily pulled.

By rotating the screw 36, the pressing member 33 is pressed against the right end portion 20 a of the timing belt 20,
It is fixed to the slider 14.

The left end portion 20b of the timing belt 20 is similarly fixed to the slider 14. Accordingly, the tension can be adjusted by pulling the left end portion 20b of the timing belt 20.

Single-axis robot actuator 1 having the above structure
When it is 0, the pulleys 16 and 18 can be easily attached to the frame 12 by simply pivotally attaching the pulleys to the frame 12, and the tension of the timing belt 20 can be adjusted.
All you have to do is to pull the end of 0.

[0026]

As described above, in the industrial robot of the present invention, the tension can be adjusted just by pulling the end portion of the timing belt.

[Brief description of drawings]

FIG. 1 is a perspective view of a slider of a single-axis robot actuator showing an embodiment of the present invention.

FIG. 2 is a plan view of the same single-axis robot actuator.

FIG. 3 is a vertical sectional view of a slider.

FIG. 4 is a plan view of a conventional single-axis robot actuator.

[Explanation of symbols]

 10 Single-axis Robot Actuator 12 Frame 14 Slider 16 Pulley 18 Pulley 20 Timing Belt 28 Circular Hole 30 First Groove 32 Second Groove 34 Screw Hole 36 Screw 38 Roller

Claims (1)

[Claims] 1. A single-axis robot actuator having a slider movably mounted on a frame, wherein the frame is provided with a pair of pulleys, a timing belt is hung over the pair of pulleys, and a roller is rotated around the slider. Industrially characterized in that it is movably provided, and one end portion of one of the timing belts is wound around the roller, and the one end portion is fixed to a slider in a state where the direction of the timing belt is changed. robot.