CN-121986015-A - Robot and method for assembling the same

Abstract

A robot includes a plurality of motors, a speed reducer that reduces rotation of any one of the motors, a first member that fixes each of the motors and the speed reducer, and a second member that is fixed to the speed reducer, the speed reducer including an annular housing portion and a shaft portion that is rotatably supported around a central axis of the housing portion on a radial inner side of the housing portion, the first member including an internal space that accommodates a drive gear of each of the motors and two or more openings that open the internal space to the outside and are blocked by each of the motors, the housing portion being fixed to the second member, the shaft portion being fixed to the first member by a fastener that is fastened in the internal space via each of the openings in a state of opening after the motors are detached.

Inventors

• NAGAYAMA TOMOAKI

Assignees

• 发那科株式会社

Dates

Publication Date

20260505

Application Date

20231017

Claims (5)

1. 1. A robot is characterized by comprising: A plurality of motors; a speed reducer that reduces the rotation of any one of the motors; a first member for fixing each of the motors and the decelerator, and A second member fixed to the decelerator, The speed reducer includes an annular housing portion, and a shaft portion rotatably supported around a central axis of the housing portion on a radially inner side of the housing portion, The first member includes an internal space for accommodating the drive gear of each motor, and two or more openings for opening the internal space to the outside and closing the internal space by each motor, The housing portion is secured to the second member, The shaft portion is fixed to the first member by a fastener that is fastened in the internal space through each of the opening portions in a state where the opening portions are opened after the motors are removed.
2. 2. The robot of claim 1, wherein the robot is configured to move the robot body, The shaft portion includes a central hole penetrating along the central axis at a position including the central axis, The robot includes one or more drive shafts which are inserted into the central hole in a penetrating state and are rotatably supported around the central axis, The drive gear is engaged with an input gear of the speed reducer and one or more driven gears provided at a base end of the drive shaft in the internal space.
3. 3. The robot according to claim 1 or 2, wherein, Each of the openings has a fitting inner surface of a cylindrical inner surface in which each of the motors is fitted in a positioned state, and at least one of the fitting inner surfaces is spaced apart from the central axis by a distance different from that of the other fitting inner surfaces.
4. 4. A robot according to any one of claim 1 to 3, Each of the opening portions is arranged so that a position of the fastener in the inner space can be seen when viewed from the outside of the first member in the direction of the central axis.
5. 5. A robot assembly method is characterized in that, The second member is fixed to the annular housing portion of the reduction gear, The input gear of the speed reducer is arranged in an inner space of a first member, and a shaft portion of the speed reducer and the first member rotatably supported around a central axis of the housing portion are fixed on a radial inner side of the housing portion by fastening a fastener in the inner space through an opening portion of the inner space to an outside, A drive gear of a motor is inserted into the internal space from the opening, the drive gear is engaged with the input gear, and the motor is fixed to the first member at a position closing the opening.

Description

Robot and method for assembling the same Technical Field The invention relates to a robot and an assembly method thereof. Background Patent document 1 discloses an articulated robot. In this articulated robot, a motor support member to which the motor is attached, a gear transmission, and an arm portion that rotates at a rotation speed reduced by the gear transmission are arranged in a row along an axis of the arm portion. The gear transmission includes an outermost annular internal gear member and a carrier disposed inside the internal gear member and rotatably supported about an axis of the arm portion with respect to the internal gear member. In patent document 1, an internal gear member of a gear transmission is fixed to an arm portion, and a bracket is fixed to a motor support member. By fixing the internal gear member disposed radially outward of the bracket to the arm portion, the outer diameter of the arm portion can be increased, and the rigidity of the arm portion can be secured to be high. Prior art literature Patent literature WO2009/098945 booklet Disclosure of Invention Problems to be solved by the invention However, a bracket is fixed to a flange-like portion of the front end of the motor support member, which flange-like portion protrudes outward from the side surface of the motor support member. Therefore, the side surface of the bracket is located further outside than the motor support member, and the outer surface of the internal gear member is disposed further outside. In fact, the motor is larger than shown in the drawings, and therefore, the motor support member will be larger, and the gear transmission having the carrier larger than the motor support member and the internal gear member larger than the carrier will become larger. Therefore, it is desirable to prevent enlargement of a reduction gear constituting the gear transmission and a joint shaft including the reduction gear. Solution for solving the problem The robot according to one aspect of the present invention includes a plurality of motors, a decelerator that decelerates rotation of any one of the motors, a first member that fixes each of the motors and the decelerator, and a second member that is fixed to the decelerator, wherein the decelerator includes an annular housing portion, and a shaft portion that is rotatably supported around a central axis of the housing portion on a radial inner side of the housing portion, the first member includes an internal space that accommodates a drive gear of each of the motors, and two or more openings that open the internal space to the outside and are blocked by each of the motors, the housing portion is fixed to the second member, and the shaft portion is fixed to the first member by a fastener that fastens in the internal space via each of the openings in a state in which each of the motors is opened after being detached. Another aspect of the present invention is a robot assembling method, wherein a second member is fixed to an annular housing portion of a speed reducer, an input gear of the speed reducer is disposed in an inner space of a first member, a shaft portion of the speed reducer supported rotatably around a central axis of the housing portion on a radial inner side of the housing portion and the first member are fixed by fastening a fastener in the inner space through which an opening portion of the inner space is opened to the outside, a drive gear of a motor is inserted into the inner space from the opening portion and the drive gear is engaged with the input gear, and the motor is fixed to the first member at a position closing the opening portion. Drawings Fig. 1 is a side view of a robot according to an embodiment of the present invention. Fig. 2 is a partial longitudinal sectional view schematically showing an internal structure of a base of a second arm of the robot of fig. 1. Fig. 3 is a partial rear view of the rear face of the second arm of the disassembly robot of fig. 1, as seen in the direction of the fourth axis. Fig. 4 is a partial rear view as seen in the direction of the fourth axis for the rear surface in a state in which the motor is detached from the second arm of fig. 3. Fig. 5 is a partial longitudinal sectional view schematically showing an internal structure of a base of a second arm of the robot of fig. 2. Fig. 6 is a partially exploded longitudinal sectional view illustrating one process of the assembling method of the robot of fig. 1. Fig. 7 is a partially exploded longitudinal cross-sectional view illustrating the process subsequent to fig. 6. Fig. 8 is a partially exploded longitudinal cross-sectional view illustrating the process subsequent to fig. 7. Detailed Description Next, a robot 1 according to an embodiment of the present invention will be described with reference to the drawings. The robot 1 of the present embodiment is, for example, a vertical six-axis multi-joint robot. As shown in fig. 1, the robot 1 includes a base 2 fixed to a s