Vertical articulated robot and method for assembling a vertical articulated robot

Abstract

This invention provides a vertical articulated robot capable of improving operational performance, and a method for assembling a vertical articulated robot. [Solution] The fifth arm 225 has a housing 100, a first bevel gear 300, and a second bevel gear 400, and a flange 500, a reduction gear 510 connected to the flange 500 that amplifies the force received and drives the flange 500, and a fitting member 520 inserted into the reduction gear 510 and detachably fitted to the connection portion 411 of the second shaft portion 410.

Description

Technical Field

[0001] The present invention relates to a vertical articulated robot and a method for assembling a vertical articulated robot.

Background Art

[0002] Patent Document 1 discloses a configuration of a robot in which a bevel gear provided on one side of a transmission shaft meshes with a bevel gear on an input shaft. The bevel gear has an input bevel gear and an output bevel gear. A speed reduction mechanism that functions as a speed reducer is arranged on one side of the output bevel gear.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the configuration described in Patent Document 1 above, when adjusting the tooth contact between the input bevel gear and the output bevel gear, the output bevel gear deflects due to the weight of the speed reducer, resulting in a problem that the backlash between the input bevel gear and the output bevel gear, that is, the gap between the gears increases.

Means for Solving the Problems

[0005] The vertical articulated robot comprises a root arm member having a motor, a first arm member provided on the root arm member and rotating around a first axis, and a second arm member provided on the first arm member and rotating around a second axis intersecting the first axis, wherein the first arm member has a first opening and a second opening provided at a different position from the first opening, and the first opening and the second opening are connected internally, a first shaft portion extending along the first axis, an input portion provided at one end of the first shaft portion for receiving force from the motor, and a first bevel gear provided at the other end of the first shaft portion, and a first bevel gear inserted into the first opening, The second bevel gear is inserted into the second opening and has at least one first bearing that rotatably supports the first shaft portion relative to the housing, a second shaft portion extending along the second shaft, a second bevel tooth portion provided at one end of the second shaft portion that receives force by meshing with the first bevel tooth portion, and a connecting portion provided at the other end of the second shaft portion. The second arm member has a flange, a reduction gear connected to the flange that amplifies the received force to drive the flange, and a fitting member inserted into the reduction gear and detachably fitted to the connecting portion of the second shaft portion.

[0006] A method for assembling a vertical articulated robot comprises a root arm member having a motor, a first arm member provided on the root arm member and rotating around a first axis, and a second arm member provided on the first arm member and rotating around a second axis intersecting the first axis, wherein the first arm member has a first opening and a second opening provided at a different position from the first opening, and the first opening and the second opening are connected internally, a first shaft portion extending along the first axis, an input portion provided at one end of the first shaft portion and receiving force from the motor, and a first bevel gear provided at the other end of the first shaft portion, inserted into the first opening, at least one first bearing that rotatably supports the first shaft portion with respect to the housing, a second shaft portion extending along the second axis, a second bevel gear provided at one end of the second shaft portion and receiving force by meshing with the first bevel gear, and the second A method for assembling a vertical articulated robot, comprising: a connecting portion having a projection with a screw hole provided at the other end of the shaft portion, a second bevel gear inserted into the second opening, and at least one second bearing that rotatably supports the second shaft portion with respect to the housing, the second arm member comprising: a flange, a reduction gear connected to the flange and driving the flange by amplifying the force received, and a fitting member inserted into the reduction gear and having a through hole and a recess provided in the through hole that is detachably fitted to the projection of the second shaft portion, the method comprising: meshing the first bevel gear and the second bevel gear; fitting the projection of the second bevel gear and the recess of the fitting member together while the first bevel gear and the second bevel gear are meshed; and fastening the fitting member and the second bevel gear by passing a fixing screw through the through hole of the fitting member into the screw hole of the second shaft portion and tightening it. [Brief explanation of the drawing]

[0007] [Figure 1] A side view showing the configuration of a vertical articulated robot. [Figure 2] A cross-sectional view showing the configuration of the tip of a vertical articulated robot. [Figure 3]Figure 2 shows a magnified cross-sectional view of section A of the vertical articulated robot. [Figure 4] A flowchart showing how to assemble a vertical articulated robot. [Figure 5] A perspective view showing how to assemble a vertical articulated robot. [Figure 6] A perspective view showing how to assemble a vertical articulated robot. [Figure 7] A cross-sectional view showing the assembly method of a vertical articulated robot. [Figure 8] A perspective view showing how to assemble a vertical articulated robot. [Figure 9] A cross-sectional view showing the assembly method of a vertical articulated robot. [Figure 10] A cross-sectional view showing the configuration of a modified vertical articulated robot. [Modes for carrying out the invention]

[0008] The configuration of the vertical articulated robot 1 and the method of assembling the vertical articulated robot will be explained below with reference to the drawings. In the following diagrams, the three mutually orthogonal axes will be described as the X-axis, Y-axis, and Z-axis. The direction along the X-axis will be called the "X direction," the direction along the Y-axis will be called the "Y direction," and the direction along the Z-axis will be called the "Z direction." The direction of the arrow is the + direction, and the direction opposite to the + direction is the - direction. Viewing from the +Z direction or -Z direction is also called a planar view or planar perspective.

[0009] First, the configuration of the vertical articulated robot 1 will be explained with reference to Figure 1.

[0010] As shown in Figure 1, the vertical articulated robot 1 comprises a robot body 2 and a controller 10 that controls the driving of the robot body 2.

[0011] The vertical articulated robot 1 is, for example, a 6-axis robot having 6 drive axes. The vertical articulated robot 1 has a base 21 fixed to the floor and a robot arm 22 connected to the base 21.

[0012] The robot arm 22 includes a first arm 221, a second arm 222, a third arm 223, a fourth arm 224 as a base arm member, a fifth arm 225 as a first arm member, and a sixth arm 226 as a second arm member.

[0013] The first arm 221 is connected to the base 21 and rotates relative to the base 21 around the pivot axis J1. The second arm 222 is connected to the first arm 221 and rotates relative to the first arm 221 around the pivot axis J2. The third arm 223 is connected to the second arm 222 and rotates relative to the second arm 222 around the pivot axis J3. The fourth arm 224 is connected to the third arm 223 and rotates relative to the third arm 223 around the pivot axis J4. The fifth arm 225 is connected to the fourth arm 224 and rotates relative to the fourth arm 224 around the pivot axis J5, which acts as the first axis. The sixth arm 226 is connected to the fifth arm 225 and rotates relative to the fifth arm 225 around the pivot axis J6, which acts as the second axis. An end effector 24 is connected to the tip of the sixth arm 226.

[0014] The robot body 2 includes a first drive mechanism 231, a second drive mechanism 232, a third drive mechanism 233, a fourth drive mechanism 234, a fifth drive mechanism 235, and a sixth drive mechanism 236.

[0015] The first drive mechanism 231 rotates the first arm 221 relative to the base 21 around the pivot axis J1. The second drive mechanism 232 rotates the second arm 222 relative to the first arm 221 around the pivot axis J2. The third drive mechanism 233 rotates the third arm 223 relative to the second arm 222 around the pivot axis J3. The fourth drive mechanism 234 rotates the fourth arm 224 relative to the third arm 223 around the pivot axis J4. The fifth drive mechanism 235 rotates the fifth arm 225 relative to the fourth arm 224 around the pivot axis J5. The sixth drive mechanism 236 rotates the sixth arm 226 relative to the fifth arm 225 around the pivot axis J6.

[0016] The controller 10 independently controls the drive mechanisms 231 to 236 to cause the robot body 2 to perform a predetermined operation. The controller 10 is composed of, for example, a computer and includes a processor that processes information, a memory communicably connected to the processor, and an external interface. Various programs executable by the processor are stored in the memory. The processor can read and execute various programs and the like stored in the memory.

[0017] Next, referring to FIGS. 2 and 3, the configuration of the tip arm, specifically, the fourth arm 224 to the sixth arm 226 will be described.

[0018] As shown in FIGS. 2 and 3, the tip of the fourth arm 224 is bifurcated, and between them, the fifth arm 225 is supported in a double-support manner from both sides of the rotation axis J5. The sixth drive mechanism 236 is arranged at the upper tip 224a, and the fifth drive mechanism 235 is arranged at the lower tip 2L4b. By supporting the fifth arm 225 in a double-support manner like this, the rotation accuracy of the fifth arm 225 is improved, and separate arrangement spaces for the fifth drive mechanism 235 and the sixth drive mechanism 236 can be secured.

[0019] The fourth arm 224 has a housing 31 and a cover 32 attached to the housing 31. The base end portion of the housing 31 is rotatably connected to the third arm 223. The tip portion of the housing 31 is rotatably connected to the fifth arm 225.

[0020] In the housing 31, a motor 41 with an encoder built in, a pulley 43 attached to the output shaft of the motor 41, and a power transmission belt 45 wound around the pulley are fixed. Also, in the housing 31, a motor 61 with an encoder built in, a pulley 63 attached to the output shaft of the motor 61, and a power transmission belt 65 wound around the pulley 63 are fixed.

[0021] As shown in Figure 3, the fifth arm 225 includes a housing 100, a first bevel gear 300, a first bearing 350, a second bevel gear 400, and a second bearing 450.

[0022] The housing 100 is provided with a first opening 110 and a second opening 120 located at a different position from the first opening 110. The first opening 110 and the second opening 120 are connected internally.

[0023] The first bevel gear 300 is inserted into the first opening 110. The first bevel gear 300 has a first shaft portion 310 extending along the pivot axis J5 which serves as the first shaft, an input portion 311 provided at one end 310a of the first shaft portion 310, and a first bevel tooth portion 312 provided at the other end 310b of the first shaft portion 310.

[0024] The first shaft portion 310 has a stepped shape in which the diameter increases from the input portion 311 toward the first bevel tooth portion 312. The first bearing 350 has a plurality of first bearings 350A, 350B arranged in accordance with the stepped shape.

[0025] The first bearing 350 rotatably supports the first shaft portion 310 with respect to the housing 100. The first bearing 350 includes a first bearing 350A located on one end 310a of the first shaft portion 310, and a first bearing 350B located on the other end 310b of the first shaft portion 310.

[0026] The second bevel gear 400 is inserted into the second opening 120. The second bevel gear 400 has a second shaft portion 410 extending along the pivot axis J6 which serves as the second shaft, a second bevel tooth portion 412 provided at one end 410a of the second shaft portion 410 which receives force by meshing with the first bevel tooth portion 312, and a connecting portion 411 provided at the other end 410b of the second shaft portion 410.

[0027] The second shaft portion 410 has a stepped shape in which the diameter increases from the connecting portion 411 toward the second bevel tooth portion 412. The second bearing 450 has a plurality of second bearings 450A, 450B arranged in accordance with the stepped shape.

[0028] The second bearing 450 rotatably supports the second shaft portion 410 with respect to the housing 100. The second bearing 450 includes a second bearing 450A located on one end 410a of the second shaft portion 410, and a second bearing 450B located on the other end 410b of the second shaft portion 410.

[0029] As described above, the first shaft portion 310 and the second shaft portion 410 have a stepped shape in which the diameter increases toward the center of the housing 100, making it possible to insert multiple bearings 350A, 350B, 450A, and 450B in sequence, thereby facilitating the assembly of the fifth arm 225.

[0030] The sixth arm 226 includes a flange 500, a reduction gear 510 connected to the flange 500 that amplifies the force received and drives the flange 500, and a fitting member 520 inserted into the reduction gear 510 and detachably fitted to the connection portion 411 of the second shaft portion 410.

[0031] A recess 520a is provided on a part of the fitting member 520, specifically on the side of the connecting portion 411 of the second bevel gear 400. A protrusion 411a is provided on a part of the connecting portion 411 of the second bevel gear 400. The second bevel gear 400 and the fitting member 520 are arranged so that the recess 520a and the protrusion 411a are fitted together.

[0032] In this way, the recess 520a and the protrusion 411a fit together, allowing the positions of the second bevel gear 400 and the fitting member 520, in other words, the fifth arm 225 and the reduction gear 510 to be determined. Specifically, since the second bevel gear 400 is supported by two second bearings 450A and 450B, even when the reduction gear 510 is attached to the second bevel gear 400, deflection of the second bevel gear 400 can be suppressed. In addition, since the length of the fitting member 520, which has a large outer diameter, can be shortened, material costs can be reduced.

[0033] The fitting member 520 is provided with a through hole 521. The end of the second bevel gear 400 on the connection portion 411 side is provided with a female thread portion 420. The fitting member 520 is supported by the interlocking of its recess 520a and protrusion 411a, and is fixed to the female thread portion 420 of the second bevel gear 400 by a fixing screw 530 that passes through the through hole 521.

[0034] In this way, the fitting member 520 and the second bevel gear 400 are fixed together, allowing the fifth arm 225 on which the second bevel gear 400 is positioned and the reduction gear 510 into which the fitting member 520 is inserted to be easily attached and detached.

[0035] The gear reducer 510 is, for example, a wave gear reducer having a wave generator. A third bearing 540 is positioned on the outer circumference of the fitting member 520 on the side of the sixth arm 226. In this way, the side of the gear reducer 510 to the fifth arm 225 into which the fitting member 520 is inserted is supported by the recess 520a of the fitting member 520 and the protrusion 411a of the second bevel gear 400 fitting together. On the other hand, the side of the gear reducer 510 to the sixth arm 226 into which the fitting member 520 is inserted is supported by the third bearing 540. In other words, the wave generator of the gear reducer 510 has a double-support structure, so that the gear reducer 510 does not become eccentric, and abnormal wear of the tooth surface due to eccentricity is suppressed.

[0036] Next, the assembly method of the vertical articulated robot 1 will be explained with reference to Figures 4 to 9.

[0037] As shown in Figure 4, in step S11 (meshing process), the first bevel gear 300 and the second bevel gear 400 are aligned. Specifically, as shown in Figure 5, the first bevel gear 300 is inserted into the first opening 110 of the housing 100 of the fifth arm 225, and the second bevel gear 400 is inserted into the second opening 120.

[0038] As described above, the first opening 110 opens along the pivot axis J5. As described above, the second opening 120 opens along the pivot axis J6. In the first bevel gear 300, the first bearing 350B is inserted on the side of the first bevel tooth portion 312 of the first shaft portion 310, and the first bearing 350A is inserted on the side of the input portion 311 of the first shaft portion 310. In the second bevel gear 400, the second bearing 450A is inserted on the side of the second bevel tooth portion 412 of the second shaft portion 410, and the second bearing 450B is inserted on the side of the connection portion 411 of the second shaft portion 410.

[0039] The diameter of the first opening 110 decreases as it approaches the center of the housing 100. Similarly, the diameter of the second opening 120 also decreases as it approaches the center of the housing 100. In other words, the first bearing 350A on the surface side of the first opening 110 has a larger diameter than the first bearing 350B on the inner side. Also, the second bearing 450B on the surface side of the second opening 120 has a larger diameter than the second bearing 450A on the inner side. By creating this stepped shape, the bevel gears 300 and 400 can be inserted sequentially, and the fitting distance is shortened, making assembly easier.

[0040] The first bevel gear 300 is inserted into the first opening 110 from the side of the first bevel tooth portion 312. The second bevel gear 400 is inserted into the second opening 120 from the side of the second bevel tooth portion 412. As a result, the first bevel tooth portion 312 and the second bevel tooth portion 412 mesh at the point where the first opening 110 and the second opening 120 of the housing 100 are connected, in other words, at the center of the housing 100.

[0041] In step S12, backlash adjustment is performed. Specifically, as shown in Figure 6, a ring-shaped spacer shim 611 is placed between the first bearing 350A and the fixed plate 621. The fixed plate 621 is fixed by a fixing screw 621a. Also, a ring-shaped spacer shim 612 is placed between the second bearing 450B and the fixed plate 622. The fixed plate 622 is fixed by a fixing screw 622a. With this arrangement, the first bevel gear 300 is pressed towards the first bevel tooth portion 312. The second bevel gear 400 is pressed towards the second bevel tooth portion 412.

[0042] Next, as shown in Figure 7, the position of the connection portion 411 of the second bevel gear 400 is fixed. Then, the input portion 311 of the first bevel gear 300 is rotated to check the amount of play. Next, the number of spacer shims 611 is adjusted according to the amount of play.

[0043] There are no particular limitations on the method for adjusting the thickness of the spacer shim 611, but for example, one method is to increase or decrease the number of spacer shims 611 of the same thickness. Another method is to prepare multiple spacer shims 611 of different thicknesses and select one to use. Furthermore, it is not limited to spacer shims 611, but washers may also be used.

[0044] In this way, the first bevel gear 300 can be pressed with a desired force, and the amount of play between the first bevel teeth 312 and the second bevel teeth 412 can be adjusted to an appropriate amount. This improves the rotational accuracy and rigidity of the first bevel gear 300 and the second bevel gear 400. Furthermore, the first bevel gear 300 and the second bevel gear 400 can be properly aligned before the reduction gear 510 is installed.

[0045] In step S13, the reduction gear 510 is attached to the fifth arm 225. Specifically, as shown in Figure 8, the reduction gear 510 is positioned along the pivot axis J6 and fixed to the fifth arm 225 using the fixing plate 623 and fixing screws 623a.

[0046] In step S14 (fitting process), the recess 520a of the fitting member 520 is fitted onto the protrusion 411a of the second shaft portion 410. Specifically, as shown in Figure 9, the recess 520a of the fitting member 520, to which the third bearing 540 is attached, is fitted onto the protrusion 411a of the second shaft portion 410 of the second bevel gear 400. As a result, the reduction gear 510 has a double-supported structure due to the fitting of the third bearing 540 and the fitting member 520.

[0047] In step S15, the fixing screw 530 is passed through the through hole 521 of the fitting member 520 to the female threaded portion 420 of the second shaft portion 410. Specifically, as shown in Figure 9, the fixing screw 530 is inserted into the fitted second bevel gear 400 and fitting member 520.

[0048] In step S16 (fastening process), the fitting member 520 and the second shaft portion 410 are fastened together. Specifically, as shown in Figure 9, the fitting member 520 and the second bevel gear 400 are fixed together by turning the fixing screw 530. The assembly is then completed by attaching the sixth arm 226 (see Figure 3), which has a flange 500, to the fifth arm 225.

[0049] In this way, the housing 100, the first bevel gear 300, the second bevel gear 400, the mating member 520, and the reducer 510 are integrated into a single unit. Therefore, the unitized structure can be easily attached to and detached from the fifth arm 225 as a whole. In other words, the assembly, adjustment, and maintenance of the robot body 2 become easier.

[0050] Furthermore, since the second shaft portion 410 of the second bevel gear 400 is supported by the housing 100 via the second bearing 450, the second bevel gear can be fixed to the housing whether the reduction gear 510 is connected to the second bevel gear 400 or removed from the second bevel gear 400. Therefore, it becomes possible to adjust the backlash between the first bevel gear 300 and the second bevel gear 400, in other words, to adjust the tooth contact, thereby preventing the gap between the first bevel gear and the second bevel gear from becoming too large. This improves the operational performance of the first arm member and the second arm member.

[0051] As described above, the vertical articulated robot 1 of this embodiment includes a fourth arm 224 having motors 41 and 61, a fifth arm 225 provided on the fourth arm 224 and rotating around a pivot axis J5, and a sixth arm 226 provided on the fifth arm 225 and rotating around a pivot axis J6 that intersects with the pivot axis J5, and the fifth arm 225 has a first opening 110 and is provided at a position different from the first opening 110 A housing 100 is provided with a second opening 120, and the first opening 110 and the second opening 120 are connected internally, a first shaft portion 310 extending along the pivot axis J5, an input portion 311 provided at one end 310a of the first shaft portion 310 which receives force from motors 41 and 61, and a first bevel tooth portion 312 provided at the other end 310b of the first shaft portion 310, and the first is inserted into the first opening 110 The bevel gear 300 includes at least one first bearing 350 that rotatably supports the first shaft portion 310 relative to the housing 100, a second shaft portion 410 extending along the pivot axis J6, a second bevel tooth portion 412 provided at one end 410a of the second shaft portion 410 and receiving force by meshing with the first bevel tooth portion 312, and a connecting portion 411 provided at the other end 410b of the second shaft portion 410, and is inserted into the second opening 120. The sixth arm 226 has a flange 500, a reduction gear 510 connected to the flange 500 and amplifying the force it receives to drive the flange 500, and a fitting member 520 inserted into the reduction gear 510 and detachably fitted to the connection portion 411 of the second shaft portion 410.

[0052] With this configuration, since the second shaft portion 410 of the second bevel gear 400 is supported by the housing 100 via the second bearing 450, the second bevel gear 400 can be fixed to the housing 100 whether the reduction gear 510 is connected to the second bevel gear 400 or removed from the second bevel gear 400. Therefore, it becomes possible to adjust the backlash between the first bevel gear 300 and the second bevel gear 400, in other words, to adjust the tooth contact, and the gap between the first bevel gear 300 and the second bevel gear 400 can be prevented from becoming too large. This improves the operational performance of the fifth arm 225 and the sixth arm 226.

[0053] Furthermore, in the vertical articulated robot 1 of this embodiment, it is preferable that a recess 520a is provided on a part of the fitting member 520, and a protrusion 411a is provided on a part of the connecting portion 411 of the second bevel gear 400, so that the recess 520a and the protrusion 411a are fitted together. With this configuration, since the recess 520a and the protrusion 411a are fitted together, the positions of the second bevel gear 400 and the fitting member 520, in other words, the position of the reduction gear 510 into which the second bevel gear 400 and the fitting member 520 are inserted can be determined. In addition, since the length of the fitting member 520, which has a large outer diameter, can be shortened, the cost of materials can be reduced.

[0054] Furthermore, in the vertical articulated robot 1 of this embodiment, it is preferable that the fitting member 520 has a through hole 521 and is fixed to the second bevel gear 400 by a fixing screw 530 passing through the through hole 521. With this configuration, since the fitting member 520 and the second bevel gear 400 are fixed using the fixing screw 530, the fifth arm 225 on which the second bevel gear 400 is located and the reduction gear 510 into which the fitting member 520 is inserted can be easily attached and detached.

[0055] Furthermore, in the vertical articulated robot 1 of this embodiment, the reduction gear 510 is a wave reduction gear having a wave generator, and it is preferable that the third bearing 540 is arranged on the side of the sixth arm 226 in the fitting member 520. With this configuration, the wave generator has a double-support structure, so it is possible to suppress eccentricity of the reduction gear 510 and abnormal wear of the tooth surface due to eccentricity.

[0056] Furthermore, in the vertical articulated robot 1 of this embodiment, it is preferable that the second shaft portion 410 has a stepped shape in which the diameter increases from the connecting portion 411 toward the second bevel tooth portion 412, and that the second bearing 450 has a plurality of second bearings 450A, 450B arranged in accordance with the stepped shape. With this configuration, it becomes possible to insert the plurality of second bearings 450A, 450B in sequence, making it easier to assemble the fifth arm 225 and the sixth arm 226.

[0057] Furthermore, the assembly method of the vertical articulated robot 1 of this embodiment includes a fourth arm 224 having motors 41, 61, a fifth arm 225 provided on the fourth arm 224 and rotating around a pivot axis J5, and a sixth arm 226 provided on the fifth arm 225 and rotating around a pivot axis J6 intersecting the pivot axis J5, wherein the fifth arm 225 is provided with a first opening 110 and a second opening 120 provided at a different position from the first opening 110, and the first opening 110 and the second opening 120 are connected internally to a housing 100, and along the pivot axis J5 A first bevel gear 300 is inserted into a first opening 110 and has a first shaft portion 310 extending in a certain direction, an input portion 311 provided at one end 310a of the first shaft portion 310 and receiving force from motors 41, 61, and a first bevel tooth portion 312 provided at the other end 310b of the first shaft portion 310, at least one first bearing 350 that rotatably supports the first shaft portion 310 relative to the housing 100, a second shaft portion 410 extending along the pivot axis J6, and a second bevel tooth portion 412 provided at one end 410a of the second shaft portion 410 and receiving force by meshing with the first bevel tooth portion 312. The sixth arm 226 has a flange 500, a reduction gear 510 connected to the flange 500 and which amplifies the force it receives to drive the flange 500, and a through hole 521 inserted into the reduction gear 510 and which is detachably fitted into the projection 411a of the second shaft portion 410. A method for assembling a vertical articulated robot 1, comprising a fitting member 520 having a recess 520a provided in a hole 521, the method comprising: a step of meshing a first bevel gear 300 with a second bevel gear 400; a step of fitting the protrusion 411a of the second bevel gear 400 with the recess 520a of the fitting member 520 while the first bevel gear 300 and the second bevel gear 400 are meshed; and a step of fastening the fitting member 520 with the second bevel gear 400 by passing a fixing screw 530 through the through hole 521 of the fitting member 520 to the female thread portion 420 of the second shaft portion 410 and tightening the screw.

[0058] According to this method, since the second shaft portion 410 of the second bevel gear 400 is supported by the housing 100 via the second bearing 450, the second bevel gear 400 can be fixed to the housing 100 whether the reduction gear 510 is connected to the second bevel gear 400 or removed from the second bevel gear 400. Therefore, backlash adjustment, or in other words, tooth contact adjustment, between the first bevel gear 300 and the second bevel gear 400 can be performed without being affected by deflection, and the gap between the first bevel gear 300 and the second bevel gear 400 can be prevented from becoming too large. This improves the operational performance of the fifth arm 225 and the sixth arm 226.

[0059] The following describes some variations of the embodiments described above.

[0060] As described above, the configuration of the first bevel gear 300, the second bevel gear 400, and the mating member 520 may be as shown in Figure 10.

[0061] Specifically, in the modified fifth arm 225A, the first bevel gear 300A has a first bevel tooth portion 312A at its tip, i.e., in the +Z direction, and a first bearing 350C is positioned at a portion of its tip. The second bevel gear 400A has a hollow internal structure S. The fitting member 520A has a through hole 521A, similar to the embodiment. That is, the internal structure S is hollow from the fitting member 520A to the second bevel gear 400A.

[0062] As described above, in the modified vertical articulated robot 1, the first bevel gear 300A has a first bearing 350C positioned at the tip of the first bevel tooth portion 312A, and the second bevel gear 400A has a hollow structure S. With this configuration, the operational performance of the fifth arm 225 and the sixth arm 226 can be improved, similar to the above embodiment.

[0063] As stated above, the first bearing 350 and the second bearing 450 are not limited to two; there may be one or three or more.

[0064] As described above, the flange 500 of the sixth arm 226 is not limited to being closed like a lid, but may have a through hole in the center, and the sixth arm 226, the reducer 510, and the second bevel gear 400 may be fastened together as a single unit with a fixing screw 530. [Explanation of Symbols]

[0065] 1…Vertical articulated robot, 2…Robot body, 10…Controller, 21…Base, 22…Robot arm, 24…End effector, 31…Housing, 32…Cover, 41…Motor, 43…Pulley, 45…Power transmission belt, 61…Motor, 63…Pulley, 65…Power transmission belt, 100…Housing, 110…First opening, 120…Second opening, 221…First arm, 222…Second arm, 223…Third arm, 224…Fourth arm as base arm member, 224a,224b…Tip section, 225,225A…Fifth arm as first arm member, 226…Sixth arm as second arm member, 231…First drive mechanism, 232…Second drive mechanism, 233…Third drive mechanism, 234… 4 drive mechanism, 235…5th drive mechanism, 236…6th drive mechanism, 300, 300A…1st bevel gear, 310…1st shaft section, 310a…one end, 310b…other end, 311…input section, 312, 312A…1st bevel tooth section, 350, 350A, 350B…1st bearing, 400, 400A…2nd bevel gear, 410…2nd shaft section, 410a…one end, 410b…other end 411...connecting part, 411a...protruding part, 412...second bevel tooth part, 420...female thread part, 450,450A,450B...second bearing, 500...flange, 510...reducer, 520...fitting member, 520a...recess, 520A...fitting member, 521,521A...through hole, 540...third bearing, 611,612...spacer shim, 621,622,623...fixing plate.

Claims

1. A base arm member having a motor, A first arm member provided on the base arm member and rotating around the first axis, A second arm member is provided on the first arm member and rotates around a second axis that intersects the first axis, Equipped with, The first arm member is, A housing is provided with a first opening and a second opening located at a different position from the first opening, and the first opening and the second opening are connected internally. A first bevel gear having a first shaft portion extending along the first shaft, an input portion provided at one end of the first shaft portion for receiving force from the motor, and a first bevel tooth portion provided at the other end of the first shaft portion, and inserted into the first opening, The housing includes at least one first bearing that rotatably supports the first shaft portion, A second bevel gear having a second shaft portion extending along the second shaft, a second bevel tooth portion provided at one end of the second shaft portion and receiving force by meshing with the first bevel tooth portion, and a connecting portion provided at the other end of the second shaft portion, and inserted into the second opening, The housing includes at least one second bearing that rotatably supports the second shaft portion, The second arm member is, Flange and, A reduction gear connected to the flange, which amplifies the force it receives to drive the flange, A fitting member inserted into the reduction gear and detachably fitted to the connecting portion of the second shaft, A vertical articulated robot.

2. A vertical articulated robot according to claim 1, A portion of the aforementioned fitting member is provided with a recess, A portion of the connecting part of the second bevel gear is provided with a protrusion, A vertical articulated robot in which the recess and the protrusion are fitted together.

3. A vertical articulated robot according to claim 1, A vertical articulated robot, wherein the fitting member has a through hole and is fixed to the second bevel gear by a fixing screw passing through the through hole.

4. A vertical articulated robot according to claim 1, The aforementioned speed reducer is a wave speed reducer having a wave generator, A vertical articulated robot in which a third bearing is positioned on the side of the second arm member of the fitting member.

5. A vertical articulated robot according to claim 1, The second shaft portion has a stepped shape in which the diameter increases from the connecting portion toward the second umbrella tooth portion. The second bearing is a vertical articulated robot having a plurality of second bearings arranged in accordance with the stepped shape.

6. A vertical articulated robot according to claim 1, The first bevel gear has a first bearing positioned at the tip of the first bevel teeth. The second bevel gear is a vertical articulated robot having a hollow structure.

7. A base arm member having a motor, A first arm member provided on the base arm member and rotating around the first axis, A second arm member is provided on the first arm member and rotates around a second axis that intersects the first axis, Equipped with, The first arm member is, A housing is provided with a first opening and a second opening located at a different position from the first opening, and the first opening and the second opening are connected internally. A first bevel gear having a first shaft portion extending along the first shaft, an input portion provided at one end of the first shaft portion for receiving force from the motor, and a first bevel tooth portion provided at the other end of the first shaft portion, and inserted into the first opening, The housing includes at least one first bearing that rotatably supports the first shaft portion, A second bevel gear having a second shaft portion extending along the second shaft, a second bevel tooth portion provided at one end of the second shaft portion and receiving force by meshing with the first bevel tooth portion, and a connecting portion provided at the other end of the second shaft portion and having a protrusion with a screw hole, and inserted into the second opening, The housing includes at least one second bearing that rotatably supports the second shaft portion, The second arm member is, Flange and, A reduction gear connected to the flange, which amplifies the force it receives to drive the flange, A fitting member having a through hole and a recess provided in the through hole, which is inserted into the reduction gear and is detachably fitted onto the protrusion of the second shaft portion, A method for assembling a vertical articulated robot, comprising: A step of meshing the first bevel gear and the second bevel gear, With the first bevel gear and the second bevel gear meshed together, the process involves fitting the protrusion of the second bevel gear with the recess of the fitting member. The process of fastening the fitting member and the second bevel gear by passing a fixing screw through the through hole of the fitting member into the screw hole of the second shaft and tightening it with a screw, A method for assembling a vertical articulated robot having [a specific feature / feature].

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