JPH0118314Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a mechanism for vertically moving an industrial robot.

Prior Art Generally, this type of industrial robot is equipped with a vertical guide mechanism to move the arm portion in the vertical direction. Conventional guide mechanisms of this type are constructed by combining spline shafts, sliding guide surfaces, and the like. Since all of these guide surfaces are directly exposed to the outside, they are sliding surfaces and easily become a source of oil leakage and dust generation, and therefore cannot be used in clean rooms or the like.

As described above, in conventional vertical movement mechanisms, the guide surface is open type, which has poor sealing properties, and there is a risk of lubricant oil scattering and dust generation.In addition, to prevent danger, the sliding surface In addition to requiring covers, electrical wiring, air piping, etc. are exposed to the outside.

Purpose of the invention The purpose of the invention is to incorporate the vertical drive mechanism and all necessary wiring and piping internally in a sealed state, to improve dust prevention and dustproof functions, and to improve the vertical movement with a small function. The goal is to ensure a large stroke.

Structure of the invention Therefore, the present invention is based on the premise that a screw mechanism and a guide mechanism are incorporated inside a cylindrical base, and that the main body of the robot is moved up and down by this feed screw mechanism. The cylinder shafts to be supported are assembled concentrically, a screw mechanism, a pair of vertical guide rails, and a slide member are incorporated inside these in a rational arrangement, and the cylinder shaft is movable by a seal between the base and the cylinder shaft. The parts are completely sealed, allowing the robot to be used even in special environments.

Configuration of Embodiment Hereinafter, the configuration of a preferred embodiment of the present invention will be specifically described based on the drawings.

First, FIGS. 1 and 2 show the overall configuration of a robot 1. As shown in FIG. A robot body 2 of the robot 1 is supported by a cylindrical shaft 3 attached to the lower surface of the base 4 so as to be movable up and down. The robot body 2 has vertical shafts 5a,
6a sequentially connects the first arm 5 and the second arm 6, and the robot hand 7 is connected at the tip.
is rotatably supported by its shaft 7a. The robot body 2 also houses therein a motor 8 for driving the first arm 5, a motor 9 for driving the second arm 6, and a motor 10 for giving rotational motion to the robot hand 7. There is. The rotation of these motors 8, 9, and 10 is transmitted to the driven side by a timing pulley or a timing belt.

Next, FIGS. 3 and 4 show the main part of the present invention, that is, the vertical movement mechanism 11 of the robot.
The vertical movement mechanism 11 includes, as main parts, a pair of guide rails 12 for vertically guiding the cylindrical shaft 3, a slide member 13, a screw shaft 14 for driving the cylinder shaft 3 in the vertical direction, and a nut fitted therein. A motor 40 with a reduction gear for driving the member 15 and the screw shaft 14 is provided.

The base 4 has a substrate 17 at the bottom of the cylindrical portion.
It is equipped with This board 17 rotatably supports the screw shaft 14 by a ball bearing 18 at its center, and also fixes a pair of guide rails 12 and a support 19 vertically across the screw shaft 14. . This guide rail 12 is
It is attached to the back side of the slide member 13, and fits into the pair of slide members 13 at the arcuate guide surface portion. Note that this slide member 13 has a circulating linear ball bearing interposed on the guide surface of the guide rail 12.

These pair of slide members 13 are
Through each holder 20 on the back side, to the plate 21 at the bottom, and to the cylindrical support 22 at the top.
are connected to each other. Said plate 21
In order to allow the guide rail 12 and the support column 19 to penetrate therethrough, a long hole 23 is formed at the corresponding portion, and the nut member 1 engages with the screw shaft 14 by an oval-shaped cylindrical housing 24 at the center position.
5 is held in a non-rotating state. This screw shaft 1
4 and the nut member 15 are constituted by a ball screw and a ball screw nut in order to reduce sliding resistance.

The screw shaft 14 is rotatably supported at its upper end by a ball bearing 26 of a plate 25 attached to the upper end surface of the guide rail 12 and the support column 19, and furthermore, at its upper end, when not energized It is connected to a braking type electromagnetic brake 27. This electromagnetic brake 27 is attached downward by a support frame 28 attached to the upper surface of the plate 25.

On the other hand, the cylindrical support 22 is supported at the spring receiver 29 by a compression spring 30 placed on the base plate 17, and is connected to the cylindrical shaft 3 and the cover 32 inside thereof at the upper end. has been done. This cylindrical shaft 3 is in slidable contact with a sealing member 34 of a ring 33 attached to the upper surface of the base 4, and is also in contact with a plurality of guide rollers, for example, four guide rollers attached inside the base 4. 35 on its outer circumferential surface, and is further connected to the robot main body 2 mentioned above at its upper end. The guide rollers 35 are each supported by a bracket 31 integral with a ring 33, as shown in FIG.

Note that the base 4 has a vertical window 36 to allow movement of a guide 37 for wiring or piping.
is formed. This guide 37 is supported by 22
The cover 38 is attached to the side surface of the base 4 and protrudes from the window 36 to the cover 38 attached to the side surface of the base 4. A control panel 45 and the like are housed inside the cover 38.

The motor 40 is attached to a mounting plate 39 of the base 4 inside the cover 38 so as to face downward together with a rotation detector 16 such as a resolver. The rotation of the output shaft 41 of this motor 40 is
It is transmitted to the screw shaft 14 by timing pulleys 42, 43 and a timing belt 44.
Note that a light shielding plate 46 is attached to the side surface of the support 22 on the opening side. This light shielding plate 46 is
This corresponds to two photo sensors 47 and 48 for overrun detection and a photo sensor 49 for origin detection, which are attached to both side edges of the window 36.

Effect of the invention Next, the operation of the robot 1 will be explained together with the effect of the invention.

In the state shown in FIG. 3, the compression spring 30 constantly pushes the support 22 upward due to its upward elasticity, so most of the load on the robot body 2 is supported by the compression spring 30. . When the motor 40 rotates in this state, its rotational force is transmitted to the screw shaft 14 via the timing pulley 42, timing belt 44, and timing pulley 43. As a result, the screw shaft 14
Depending on the rotational direction of
move in an upward or downward direction. At this time, since the compression spring 30 supports the weight of the robot body 2, the driving force of the motor 40 is small and sufficient. In this way, the cylindrical shaft 3 is guided by the cylindrical part of the base 4 and ascends to the robot 1.
Or give a downward motion.

Furthermore, when the motor 40 stops, the nut member 15 is automatically stopped by the threaded portion.
It will not rotate. In addition, since the electromagnetic brake 27 is de-energized, the electromagnetic brake 27 operates on the screw shaft 14 when the motor 40 stops.
Apply braking force to the motor to reliably prevent its rotation. When the cylinder shaft 3 moves in the vertical direction, it is smoothly guided by the pair of slide members 13 sandwiching the pair of guide rails 12, and is supported from all sides by the guide rollers 35. It moves vertically while maintaining the center position with high precision. Further, since the vertical movement mechanism 11 is completely housed inside the cylinder shaft 3 and the base 4, and the seal member 34 is interposed between the cylinder shaft 3 and the ring 33, the vertical movement mechanism 11 is completely housed inside the cylinder shaft 3 and the base 4. 11 is completely isolated from the environment in which the robot 1 is used, and since oil and dust from moving parts do not escape to the outside, it is suitable for use in a clean environment such as a clean room.

Modifications of the Idea Although the above embodiment shows the robot 1 as a horizontal multi-joint type, the robot 1 can also be constructed as another joint type, a Cartesian coordinate type, or even a cylindrical coordinate type.

Effects of the invention In this invention, the vertical drive mechanism is housed inside the base and is completely sealed by the sealing member, so high airtightness can be ensured without using bellows or a serpentine cover. The robot can be used in a clean working environment, and the working environment will not be contaminated by internal dust, making it suitable as a clean room robot.

Furthermore, since the movable parts are completely housed inside the cylinder shaft and the base, these movable parts do not interfere with adjacent equipment when the robot moves up and down, thus ensuring safety.

Furthermore, the robot body is supported by a cylindrical shaft, and this cylindrical shaft is guided by guide rollers in the upper part, and also by guide rails and slide members in the lower part, making it compact. However, it is possible to secure a large vertical stroke with high accuracy.

[Brief explanation of the drawing]

Figure 1 is a plan view of a robot equipped with the vertical movement mechanism of the present invention, Figure 2 is a side view of the robot, Figure 3 is a vertical sectional view of the vertical movement mechanism of the present invention, and Figure 4 is a vertical view of the robot of the present invention. A horizontal sectional view of the moving mechanism, and FIG. 5 is a sectional view of the support portion of the guide roller. 1...Robot, 2...Robot itself, 3...
Cylindrical shaft, 4... Base, 5... First arm, 6... Second arm, 11... Vertical movement mechanism, 12... Guide rail, 13... Slide member, 14... Screw shaft, 15... ... Nut member, 40 ... Motor, 30
...Compression spring, 33...Ring, 34...
Seal member, 35...Guide roller.

Claims (1)

[Scope of utility model registration request] A vertical screw shaft supported in a base and rotated by a motor, a nut member that meshes with this screw shaft, supported by the base to be able to move up and down, supporting the robot at the top, and a screw shaft at the bottom, which will be described later. A cylindrical shaft surrounding the guide rail, a guide rail fixed in the base in a vertical direction outside the nut member in line with the screw shaft, and a guide rail that is movable while being guided by the guide rail, and is connected to the nut member and the cylindrical shaft. It consists of an integral sliding member, a ring fixed to the upper part of the base, a sealing member provided on this ring, and a guide roller provided on the lower surface of the ring, and the sealing member and guide roller are attached to the outer periphery of the cylinder shaft. The robot's vertical movement mechanism is characterized by its ability to hit the target.