JPS59142079A - Drive for turning of arc welding robot - Google Patents
Drive for turning of arc welding robotInfo
- Publication number
- JPS59142079A JPS59142079A JP1088383A JP1088383A JPS59142079A JP S59142079 A JPS59142079 A JP S59142079A JP 1088383 A JP1088383 A JP 1088383A JP 1088383 A JP1088383 A JP 1088383A JP S59142079 A JPS59142079 A JP S59142079A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- base
- fixed
- motor
- swing drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/108—Bearings specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は多関節型−アーク溶接ロゼツト、特に溶接作業
をロボット″により行う多関節型アーク溶接ロボットに
関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an articulated arc welding rosette, and more particularly to an articulated arc welding robot in which welding work is performed by a robot.
アーク溶接は母材と被溶接部材との結合部の機械的特性
が優れているため各種製造部門において広く利用されて
いる。Arc welding is widely used in various manufacturing sectors because the mechanical properties of the joint between the base metal and the welded member are excellent.
近年、溶接箇所の機械的特性の均一化、及び溶接作業の
省力化を図るために、ロゼツトによる溶接が盛んに行わ
れており、このような溶接ロボットとしては溶接トーチ
を溶接箇所に応じて縦横に移動することができる多関節
型のアーク溶接ロゼツトが採用されている。。In recent years, welding using rosettes has become popular in order to equalize the mechanical properties of the welding location and to save labor in welding work, and such welding robots are capable of moving the welding torch vertically and horizontally depending on the welding location. An articulated arc welding rosette that can be moved is used. .
第１図には従来の多関節型アーク溶接ロゼットの要部構
成が示され、基礎基盤１０には固定台１２がポル）１４
により固定されており、こめ固定台１２は上方に伸長さ
れた筒状壁を有してい′る。そしてこの固定台１２には
旋回駆動モータ１６がその中心部に設けられており、こ
のように旋回駆動モータ１６を固定台１２に内蔵するこ
とにより装置の小型化が図られている。FIG. 1 shows the main part configuration of a conventional multi-joint arc welding rosette, in which a fixed base 12 is attached to a base plate 10 (pol) 14.
The temple fixing base 12 has a cylindrical wall extending upward. A swing drive motor 16 is provided at the center of the fixed base 12, and by incorporating the swing drive motor 16 into the fixed base 12, the device can be made smaller.
この旋回駆動モータ１６の駆動軸は減速装置１８に連結
されており、旋回駆動モータ１６０回転がこの減速装置
１８により所望の回転速度に減速される。前記減速装置
１８の出力軸は旋回台２０に連結されており、これによ
り旋回台２０は軸受部２１において前記固定台１２に対
して旋回駆動モータ１６の所望回転方向に対応して旋回
を行うこととなる。The drive shaft of the swing drive motor 16 is connected to a reduction gear 18, and the rotation of the swing drive motor 160 is reduced to a desired rotational speed by the reduction gear 18. The output shaft of the reduction gear device 18 is connected to a rotating base 20, so that the rotating base 20 can rotate relative to the fixed base 12 at a bearing portion 21 in accordance with a desired rotation direction of the rotating drive motor 16. becomes.
前記旋回台２０には図示されていない多関節のロゼツト
アームが装着されており、この口Ｉットアームの先端部
には溶接トーチが設けられており、さらにロボットアー
ムには各関節軸を駆動する関節モータが設けられている
。A multi-joint rosette arm (not shown) is attached to the swivel base 20, and a welding torch is provided at the tip of this arm.Furthermore, the robot arm is equipped with a joint motor that drives each joint axis. is provided.
前記旋回駆動モータ１６及び図示されていない関節モー
タは固定台１２０基部に設けられたケーブルジヨイント
２２から図示されていない枢回ケーブルによって配線接
続されている。The swing drive motor 16 and the joint motor (not shown) are connected by wiring from a cable joint 22 provided at the base of the fixed base 120 by a pivot cable (not shown).
従って制御回路からの制御ケーブルをケーブルジヨイン
ト２２に接続するととｋより駆動ケーブルを介して対応
する各モータに電力か供給され、所望のモータを駆動す
ることにより旋回台２０及びロボットアームの所定部位
が旋回或いは移動し溶接トーチを溶接箇所に対応させて
所望の位置に移動することが可能となる。Therefore, when the control cable from the control circuit is connected to the cable joint 22, electric power is supplied from k to each corresponding motor via the drive cable, and by driving the desired motor, a predetermined portion of the swivel base 20 and the robot arm is controlled. The welding torch can be moved to a desired position corresponding to the welding location by rotating or moving.
しかしながらこの種の装置においては、旋回駆動モータ
１６が固定台１２に内蔵されている結果、この旋回駆動
モータ１６が故障した場合には固定台１２から旋回駆動
モータ１６を取り出して修理しなければならないという
面倒な作業を強いられていた。However, in this type of device, since the swing drive motor 16 is built into the fixed base 12, if the swing drive motor 16 breaks down, the swing drive motor 16 must be taken out from the fixed base 12 and repaired. They were forced to do this tedious work.
従って旋回駆動モータ１６の故障時にはその修理に長時
間を要するため、溶接製造ラインが長時間に渡って停止
するという不都合があった。Therefore, when the swing drive motor 16 breaks down, it takes a long time to repair it, resulting in the inconvenience that the welding production line is stopped for a long time.
本発明は前述した従来の課題に鑑みなされたものであり
、さの目的は旋回駆動モータの修理を迅速に行５ことが
可能であり、またこの旋回駆動モータによりｏＪノット
動を高精度により行５ことができるアーク溶接ロボット
の旋回駆動装置を提供することにある。The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to quickly repair the swing drive motor, and also to enable the swing drive motor to perform oJ knot motion with high precision. 5. It is an object of the present invention to provide a swing drive device for an arc welding robot that can perform the following functions.
上記目的を達成するために本発明は、固定台に回動自在
に設けられた旋回台と、旋回台に装着され先端に設けた
溶接トーチを所望位置に移動するロゼツトアームと、旋
回台を旋回駆動する旋回駆動モータとを含み、旋回駆動
モータの回転により旋回台に連動して口２ットアームを
所望方向に旋回するアーク溶接ロボットの旋回駆動装置
において、固定台の外周部には固定歯列が周設されてお
り、パ旋回駆動モータは旋回台の外壁部に固定されてお
りそのモータギヤと固定歯列間にはアイドラギヤが設け
られて旋回台駆動用の駆動系歯車列が形成され、またモ
ータギヤと固定歯列間にはノ々ツクラツシ抑止歯車が設
けられて前記駆動系歯車列とは別系列の／々ツクラッシ
抑止歯車列が形成されていることを特徴とする。In order to achieve the above object, the present invention provides a rotating base that is rotatably provided on a fixed base, a rosette arm that is attached to the rotating base and that moves a welding torch provided at the tip to a desired position, and a rotating drive that drives the rotating base. In the swing drive device for an arc welding robot, the swing drive motor includes a swing drive motor that rotates the rotary arm in a desired direction in conjunction with the swing base by the rotation of the swing drive motor. The swivel drive motor is fixed to the outer wall of the swivel base, and an idler gear is provided between the motor gear and the fixed gear train to form a drive system gear train for driving the swivel base. The present invention is characterized in that a crushing prevention gear is provided between the fixed tooth rows, and a crushing preventing gear train is formed in a different series from the drive system gear train.
以下、図面に基づいて本発明の好適な実施例を説明する
。Hereinafter, preferred embodiments of the present invention will be described based on the drawings.
第２図には本発明に係るアーク溶接ロボットの旋回駆動
装置の断面構成が示され、従来装置と同一部材忙は同一
符号を付し、その説明を省略する。FIG. 2 shows a cross-sectional configuration of a swing drive device for an arc welding robot according to the present invention, and the same members as those in the conventional device are given the same reference numerals, and their explanations will be omitted.
本発明において特徴的なことは、旋回駆動モータを旋回
台の外部に設け、旋回駆動モータの修理を容易に行うこ
とができるようＫすると共に、この旋回駆動モータによ
る旋回台の旋回駆動を駆動系歯車列とノ々ツクラッシ抑
止歯車列とを設けて高ある。
、／本実施例においては、固定台１２の外周
面に固定歯列２４が周設されている。A characteristic feature of the present invention is that the swing drive motor is provided outside the swing base so that the swing drive motor can be easily repaired, and that the swing drive motor is configured to drive the swing base by the drive system. A gear train and a notch crush prevention gear train are provided.
,/In this embodiment, a fixed tooth row 24 is provided around the outer peripheral surface of the fixed base 12.
一方、旋回台２０の外壁部には旋回駆動モータ１６が固
定されている。この旋回駆動モータ１６の出力軸は減速
装ｆＭ、１ｇ、本実施例においてはハーモニックドライ
ブコンポネントによる減速装置を介して減速されその出
力軸にはモータギヤ２６が設けられている。前記モータ
ギヤ２６は固定台１２に設けられた固定歯列２４と噛み
合い配設されており、この結果、旋回駆動モータの所望
方向の回転により前記モータギヤ２６と固定歯列２４と
の噛み合いにより旋回駆動モータは固定台１２に対して
公転し、旋回台２０の旋回駆動が行われる。On the other hand, a swing drive motor 16 is fixed to the outer wall of the swing table 20. The output shaft of the swing drive motor 16 is decelerated via a reduction gear fM, 1g, which in this embodiment is a harmonic drive component, and a motor gear 26 is provided on the output shaft. The motor gear 26 is arranged to mesh with a fixed tooth row 24 provided on the fixed base 12, and as a result, when the swing drive motor rotates in a desired direction, the motor gear 26 and the fixed tooth row 24 mesh, and the swing drive motor is rotated. revolves around the fixed base 12, and the rotating base 20 is driven to rotate.
この場合において、モータギヤ２６を固定歯列２４と直
接噛み合わせた場合には、製作誤差或いは噛み合い摩耗
等に起因する両者間のノ々ツクラツシによりモータギヤ
の回転量が正しく旋回台２０の旋回量として伝達されな
いため、モータギヤ２６による旋回台２０の高精度の旋
回駆動が困難となる。In this case, if the motor gear 26 is directly meshed with the fixed tooth row 24, the amount of rotation of the motor gear will not be correctly transmitted as the amount of rotation of the swivel base 20 due to the notch between the two due to manufacturing errors or meshing wear. Therefore, it becomes difficult for the motor gear 26 to drive the swivel base 20 to rotate with high precision.
このような不都合を回避するために、本発明においては
、モータギヤ２６と固定歯列２４との間にアイドラギヤ
２８を介在させて旋回台駆動用の駆動系歯車列を形成す
ると共に、他方において前記モータギヤ２６と固定歯列
２４との間にノ々ツクラツシ抑止歯車３０を介在させて
前記駆動系歯車列とは別系列のノ々ツクラツシ抑止歯車
列を形成している。In order to avoid such inconvenience, in the present invention, an idler gear 28 is interposed between the motor gear 26 and the fixed tooth train 24 to form a drive system gear train for driving the swivel base, and the motor gear A knockdown prevention gear 30 is interposed between the fixed tooth train 26 and the fixed tooth train 24 to form a knockdown prevention gear train that is a separate series from the drive system gear train.
前記旋回台駆動用の駆動系歯車列のアイドラギヤ２８は
単一歯車により形成することが可能であるが、本実施例
においては、第４図に示すように、第１のアイドラギヤ
２８ａと第２のアイドラギヤ２８ｂとの重合歯車により
形成されている。従って本実施例によれば、第１のアイ
ドラギヤと第２のアイドラギヤと微少量ずらして両者を
固定することにより、前記モータギヤ２６及び固定歯列
２４の製作誤差によるがたつき噛み合いを防止すること
が可能となり、これによりギヤの製作誤差による精度低
下を防止できる。The idler gear 28 of the drive system gear train for driving the swivel table can be formed by a single gear, but in this embodiment, as shown in FIG. It is formed by an overlapping gear with the idler gear 28b. Therefore, according to this embodiment, by shifting the first idler gear and the second idler gear by a small amount and fixing them, it is possible to prevent the motor gear 26 and the fixed tooth row 24 from rattling and meshing due to manufacturing errors. This makes it possible to prevent a decrease in accuracy due to gear manufacturing errors.
一方ノ々ツクラツシ抑止歯車列におけるノ々ツクラツシ
抑止歯車３０は本実施例において、第１の抑止歯車３０
ａと第２の抑止歯車３０ｂとの重合歯車から成り、モー
タギヤ２６及び固定歯列２４との噛み合い状態において
、一方のノ々ツクラツシ抑止歯車、本実施例においては
第２の抑止歯車３０ｂのトーション軸３２を所定量弾性
ねじり変形させて他方の抑止歯車軸３４に固定している
。On the other hand, in this embodiment, the non-slip suppression gear 30 in the non-slip suppression gear train is the first suppression gear 30.
The torsion shaft of one of the knockdown prevention gears, in this embodiment, the second prevention gear 30b, is made up of an overlapping gear of a and a second prevention gear 30b, and in the meshing state with the motor gear 26 and the fixed gear 24. 32 is elastically torsionally deformed by a predetermined amount and fixed to the other restraining gear shaft 34.
すなわち、第５図及び第６図に示すように、トーション
軸３２の先端部にはビン孔３６が設けられており、一方
第１の抑止歯車３０Ｈの抑止歯車軸３４には前記ビン孔
３６と所定角度ずれた位置にビン固定孔３８が設けられ
ている。従ってトーション軸３２を所定角度弾性ねじり
変形することによりビン孔３６とビン固定孔３８とを一
致することが可能であり、この一致したビン孔３６とビ
ン固定孔３８とにピン４０を挿入することによりトーシ
ョン軸３２は所定量弾性ねじり変形された状態で抑止歯
車軸３４に固定されることとなる。That is, as shown in FIGS. 5 and 6, a bottle hole 36 is provided at the tip of the torsion shaft 32, and a bottle hole 36 is provided in the suppression gear shaft 34 of the first suppression gear 30H. A bottle fixing hole 38 is provided at a position shifted by a predetermined angle. Therefore, by elastically torsionally deforming the torsion shaft 32 by a predetermined angle, the bottle hole 36 and the bottle fixing hole 38 can be aligned, and the pin 40 can be inserted into the aligned bottle hole 36 and bottle fixing hole 38. As a result, the torsion shaft 32 is fixed to the restraining gear shaft 34 while being elastically torsionally deformed by a predetermined amount.
このためこの弾性ねじり変形め復元作用により第１の抑
止歯車３０ａと第２の坤、主歯車３０ｂとに位置ずれが
生じ、これにより牟−タイヤ２６及び固定歯列２４０ノ
々ツクラツシを確実に吸収することが可能となる。Therefore, due to this elastic torsional deformation and restoring action, a positional shift occurs between the first restraining gear 30a, the second stopper, and the main gear 30b, thereby ensuring that the tire 26 and the fixed tooth row 240 absorb the slippage. It becomes possible to do so.
なお、前記トーション軸３′２めねじり復元力はモータ
ギヤ２６の負荷よりも大きなねじり力に設定されており
、これによりモータ負荷の影響な受けることなく前記モ
ータギヤと固定歯列２４とのパツクラツシによる悪影響
を防止できる。Note that the female torsional restoring force of the torsion shaft 3'2 is set to a larger torsional force than the load on the motor gear 26, and as a result, it is not affected by the motor load and is free from the adverse effects caused by the friction between the motor gear and the fixed tooth row 24. can be prevented.
以上説明したように本発明によれば、旋回駆動モータを
旋回台の外壁部に固定配設したので、旋回駆動モータの
修理が極めて容易化することが可能となる。As explained above, according to the present invention, since the swing drive motor is fixedly disposed on the outer wall of the swing base, repair of the swing drive motor can be extremely facilitated.
また本発明によれば、固定台の外周部に固定歯列が周設
されており、モータギヤと固定歯列間にはアイドラギヤ
が設けられて旋回台駆動用の駆動系歯車列が形成され、
またモータギヤと固定歯列間にはノ々ツクラツシ抑止歯
車が設けられて前記駆動系歯車列とは別系列のノ々ツク
ランシ抑止歯車列が形成されている結果、モータギヤと
固定歯列のパツクラツシによる旋回台の旋回誤差を確実
に防止することが可能となり、これにより旋回台を高精
度で旋回駆動することが可能である。Further, according to the present invention, a fixed tooth row is provided around the outer circumference of the fixed base, and an idler gear is provided between the motor gear and the fixed tooth row to form a drive system gear train for driving the swivel base.
In addition, a knock-crush prevention gear is provided between the motor gear and the fixed tooth train, and a lock-push restraint gear train is formed in a different series from the drive system gear train. As a result, rotation due to the pull of the motor gear and the fixed tooth train is formed. It becomes possible to reliably prevent turning errors of the table, and thereby it is possible to drive the turning table with high precision.
なお、本実施例においては、旋回台駆動用の駆動系歯車
列のアイドラギヤを１個の重合歯車により構成し、また
ノ々ツクラツシ抑止歯車列におけるノ々ツクラツシ抑止
歯車を１個の重合歯車により形成した例を示したが、こ
れらの歯車は必ずしも１個に限ることがなく、アイドラ
ギヤを複数個の歯車からなる歯車列に形成した場合には
、このアイドラギヤの回転方向に対応させて前記ノ々ツ
クラツシ抑止歯車を複数個の歯車からなる歯車列に形成
することも可能である。In addition, in this embodiment, the idler gear of the drive system gear train for driving the swivel table is formed by one overlapping gear, and the overlapping gear in the overlapping gear train is formed by one overlapping gear. However, the number of these gears is not necessarily limited to one, and when the idler gear is formed into a gear train consisting of a plurality of gears, the above-mentioned notch gears are It is also possible to form the restraining gear in a gear train consisting of several gears.
第１図は従来のアーク溶接ロゼツトの旋回駆動装置を示
す要部断面図、第２図は本発明に係るアーク溶接０プツ
トの旋回駆動装置を示す断面構成図、第３図は第２図装
置のＡ−Ａ断面における駆動系歯車列とノ々ツクラツシ
歯車列とを示す要部断面図、第４図は第３図のＢ−Ｂ断
面図、第５図はトーション軸におけるビン孔と抑止歯車
軸におけるピン固定孔との配設状態を示す説明図、第６
図は第５図状態において、トーション軸をねじり、ビン
孔及びピン固定孔にピンを挿通してトーション軸を所定
量弾性ねじり変形させて抑止歯車軸に固定した状態を示
す説明図である。
各図中同一部材には同一符号を付し、１２は固定台、１
６は旋回駆動モータ、２ｏは旋回台、２４は固定歯列、
２８はアイドラギヤ、２８ａは第１のアイドラギヤ、２
８ｂは第２のアイドラギヤ、３０はノ々ツクラツシ抑止
歯車、３０ａは第１の抑止歯車、３０ｂは第２の抑止歯
車、３２はトーション軸、３４は抑止歯車軸である。
代理人 弁理士 葛 野 信 −
（外１名）
第４図
第５図 第６図
手続補正書 （自発）
特許庁長官殿
１、事件の表示 特願昭 ５８−１０８８３号２
、発明の名称
アーク溶接ロボットの旋回駆動装置
３、補正をする者
事件との関係 特許出願人
住 所 東京都千代田区丸の内二丁目２番３号名
称 （６０１）三菱電機株式会社代表者片山仁八部
４、代理人
５、補正の対象
以、にFIG. 1 is a cross-sectional view of essential parts showing a conventional arc welding rosette swing drive device, FIG. 2 is a cross-sectional configuration diagram showing a swing drive device for an arc welding zero point according to the present invention, and FIG. 3 is the device shown in FIG. 4 is a cross-sectional view of main parts showing the drive system gear train and the continuous gear train in the AA cross section, FIG. 4 is a BB sectional view of FIG. 3, and FIG. Explanatory diagram showing the arrangement state with the pin fixing hole in the shaft, No. 6
The figure is an explanatory diagram showing a state in which the torsion shaft is twisted in the state shown in FIG. 5, a pin is inserted through the pin hole and the pin fixing hole, the torsion shaft is elastically torsionally deformed by a predetermined amount, and is fixed to the restraining gear shaft. The same members in each figure are given the same reference numerals, 12 is a fixed base, 1 is
6 is a swing drive motor, 2o is a swivel base, 24 is a fixed tooth row,
28 is an idler gear, 28a is a first idler gear, 2
8b is a second idler gear, 30 is a slippage prevention gear, 30a is a first prevention gear, 30b is a second prevention gear, 32 is a torsion shaft, and 34 is a prevention gear shaft. Agent Patent attorney Shin Kuzuno - (1 other person) Figure 4 Figure 5 Figure 6 Procedural amendment (voluntary) Commissioner of the Japan Patent Office 1, Indication of case Patent application No. 10883/1983 2
, Title of the invention: Swing drive device for arc welding robots 3, Relationship to the amended person's case Patent applicant address: 2-2-3 Marunouchi, Chiyoda-ku, Tokyo Name (601) Hitoshi Katayama, Representative of Mitsubishi Electric Corporation Part 8 4, Agent 5, Subject of amendment
Claims (1)
に装着され先端に設けた溶接トーチを所望位置に移動す
るロボットアームと、旋回台を旋回駆動する旋回駆動モ
ータとを含み、旋回駆動モータの回転により旋回台に連
動してロボットアームな所望方向に旋回するアーク溶接
ロゼツトの旋回駆動装置において、固定台の外周部には
固定歯列が周設されており、旋回駆動モータは旋回台の
外壁部に固定されており、そのモータギヤと固定歯列間
にはアイドラギヤが設けられ七旋回台躯動用の駆動系歯
車列が形成され、またモータギヤと固定歯列間にはノ々
ツクラ゛ツシ抑止歯車が設けられて前記駆動系歯車列と
は別系列のノツクラツシ抑止歯車列が形成されているア
ーク溶接ロゼツトの旋回駆動装置。 （２、特許請求の範囲（１）記載の装装置において、ノ
々ツクラツシ抑止歯車は第１の抑止歯車と第２の抑止歯
車とが重ねられた重合歯車から成り、モータギヤ及びｉ
］Ｕｓ列との噛合い状態において一方の抑止歯車のトー
ション軸が弾性捩り変形されて他方の抑止歯車軸に固定
されているアーク溶接ロゼツトの旋回駆動装置。(1) Includes a swivel base that is rotatably mounted on a fixed base, a robot arm that is attached to the swivel base and moves a welding torch provided at the tip to a desired position, and a swing drive motor that drives the swivel base to rotate. In a swing drive device for an arc welding rosette, which rotates a robot arm in a desired direction in conjunction with a swing base by the rotation of a swing drive motor, a fixed tooth row is provided around the outer periphery of the fixed base, and the swing drive motor is fixed to the outer wall of the swivel base, and an idler gear is provided between the motor gear and the fixed tooth row to form a drive system gear train for rotating the swivel base. A turning drive device for an arc welding rosette, wherein a breakage prevention gear is provided and a breakage prevention gear train is formed in a separate series from the drive system gear train. (2. In the equipment described in claim (1), the slippage prevention gear is composed of a superposed gear in which a first prevention gear and a second prevention gear are overlapped, and the motor gear and the i
] A swing drive device for an arc welding rosette in which the torsion shaft of one restraining gear is elastically torsionally deformed and fixed to the shaft of the other restraining gear in a meshing state with the Us row.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1088383A JPS59142079A (en) | 1983-01-26 | 1983-01-26 | Drive for turning of arc welding robot |
| GB08402017A GB2135230B (en) | 1983-01-26 | 1984-01-26 | Apparatus for rotationally driving an arc welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1088383A JPS59142079A (en) | 1983-01-26 | 1983-01-26 | Drive for turning of arc welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59142079A true JPS59142079A (en) | 1984-08-15 |
Family
ID=11762712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1088383A Pending JPS59142079A (en) | 1983-01-26 | 1983-01-26 | Drive for turning of arc welding robot |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPS59142079A (en) |
| GB (1) | GB2135230B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3447701A1 (en) * | 1984-12-28 | 1986-07-10 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | INDUSTRIAL ROBOTS FOR DIFFERENT APPLICATIONS |
| JPS63503213A (en) * | 1986-03-25 | 1988-11-24 | レーザー・ラブ・リミテッド | work head device |
| EP0258764A1 (en) * | 1986-09-04 | 1988-03-09 | Siemens Aktiengesellschaft | Driving means for an industrial robot |
| SE462323B (en) * | 1987-04-29 | 1990-06-11 | Asea Ab | INDUSTRIAL ROBOT WITH GLASS-FREE STORAGE IN THE BOTTLE PLATE MEDIUM AXEL COUPLING |
| DE3825136A1 (en) * | 1988-07-23 | 1990-01-25 | Bosch Gmbh Robert | GEARBOX GEARBOXES, IN PARTICULAR FOR ROTATING JOINTS OF INDUSTRIAL ROBOTS |
| JPH03287392A (en) * | 1990-03-30 | 1991-12-18 | Toyoda Mach Works Ltd | Articulated robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB633971A (en) * | 1947-09-12 | 1949-12-30 | Frederick Errington | Improvements in or relating to spur gearing |
| NL253496A (en) * | 1959-07-09 | |||
| GB1148290A (en) * | 1966-05-23 | 1969-04-10 | Imp Metal Ind Kynoch Ltd | Improvements in or relating to gear train assemblies |
| GB1582893A (en) * | 1977-05-13 | 1981-01-14 | Foster Wheeler Power Prod | Seal welding torches |
-
1983
- 1983-01-26 JP JP1088383A patent/JPS59142079A/en active Pending
-
1984
- 1984-01-26 GB GB08402017A patent/GB2135230B/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| GB2135230A (en) | 1984-08-30 |
| GB8402017D0 (en) | 1984-02-29 |
| GB2135230B (en) | 1986-12-10 |
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