JPH0318153Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a telescoping manipulator arm for an industrial robot that is small and lightweight and has smooth extension and contraction.

As shown in FIG. 1, a conventional telescopic industrial robot arm mechanism is such that two guide bars 5, 5 extended from a manipulator block 4 are fitted into a fixed block 6. The manipulator 3 is moved between the working position and the standby position by moving the manipulator block 4 back and forth using the cylinder rod 8 of the attached cylinder 7, or the manipulator 3 is moved to the working position and the standby position as shown in FIG. The block 4 and the motor holding block 9 are connected by two guide bars 5, 5, and the guide bars 5, 5 are fitted into the fixed block 6 provided between both blocks, and the screw shaft 10 of the drive motor is connected. The screw insertion 10 is connected to the manipulator block 4, and the manipulator block 4 and the motor holding block 9 are moved forward or backward by motor drive.
There are some that allow you to move.

The ones shown in Figures 1 and 2 are typical examples in which the movement of the manipulator between the working position and the standby position is performed by extending and contracting the arm. In order to use
As the width of the arm increases, the length of the guide bar does not change whether it is extended or retracted, so it takes up a lot of space in the width and length directions, resulting in a large size. There is also the danger that the guide bar or motor may protrude from the back. Further, since the expansion and contraction is due to the sliding movement of the guide bar, the movement lacks smoothness, and there is a high possibility that the precise movement of the robot will be adversely affected.

The present invention utilizes a slide rail having a structure in which balls are held on both longitudinal edges of a first channel and a second channel consisting of strip plates, each using the other as a carrier, and each using the other as a guide. are arranged parallel to each other so that the strip surfaces of both rails face each other, forming a parallel connected state of a pair of first channels and a pair of second channels, respectively, and the first channel and the second channel The manipulator arm of the telescopic robot is constructed with two pairs of parallel arms, and the arm can be extended and contracted extremely smoothly and easily with a small amount of force. The present invention provides a telescopic manipulator arm for an industrial robot that is small, lightweight, and inexpensive.

Embodiments of the present invention will be described below with reference to the drawings.

11 and 12 show the structure of the unit slide rail R. The slide rail R has a plurality of channels 11, 12, each having a ball holding part formed on both longitudinal edges of the strips, which are joined together so that the respective ball holding parts face inside and outside, and a ball is interposed between both ball holding parts. It has a structure that can be expanded and contracted, and each channel uses the other as a carrier, and each channel expands and contracts using the other as a guide, and when expanding, it is possible to expand the stroke by approximately adding the length of each unit channel,
During contraction, it is reduced to the length of a unit channel. The present invention is a manipulator arm for an industrial robot that utilizes the slide rail R having the above structure.

To explain with reference to FIG. 11, both channels 11 and 12 are tied together so that the 11th strip plate surface of the first channel and the striped plate surface of the second channel 12 face each other, and held by retainers in the ball holding parts on both side edges. As shown in FIGS. 11B and 11C, as the second channel 12 expands, the approximately U-shaped retainer b is extended and contracted. Channel 11,
The first channel 11 is interposed between the first channel 11 and moves following the first channel 11, and is stopped at a stopper provided at the tip of the first channel 11 at the most extended position. Similarly, in Figures 12A and B, the first channel 1
1 and the second channel 12 between the third channel 3
This shows the case where 0 is inserted.

In the present invention, two rails R as described above are arranged parallel to each other with at least their strip surfaces facing each other, and the pair of first channels 11, 11 of both rails R and R are connected by a connecting member to be described later to form a parallel series. A first arm 13 consisting of a channel is configured, and a second arm 14 consisting of parallel channels is configured by connecting the first channels 12, 12 with a connecting member to be described later, and the first arm is connected to the outside of the second arm. (the second arm is arranged inside the first arm)
A manipulator 24 is provided on the second arm 14, a cylinder or a motor is provided on the first arm 13 side, and the drive shaft of the cylinder or motor is interlockably connected to the second arm 14 to drive the The shaft is configured to extend and retract the second arm 14 between a working position and a standby position.

Further, as shown in the figure, a pair of outer first channel wheels 11, 11 constituting the first arm 13 to which the cylinder or motor is attached are arranged facing each other with their back surfaces facing outward, and a second channel to which the manipulator 24 is attached is arranged facing each other. A pair of inner second channels 12, 12 constituting the second arm 14 are arranged facing each other with the back surfaces of the strips facing inward, and the back surfaces of the strips of the pair of second channels 12, 12 facing inward will be described later. Manipulator block 18 and ball nut 1
The connecting members such as holders 15 and 16, which will be described later, are supported by the mounting surfaces parallel to the rear surfaces of the strips of the connecting members such as 7, and the rear surfaces of the strips of the pair of first channels 11, 11 facing outward. The structure is such that it is supported by a mounting surface parallel to the back surface of the strip (see Figures 5 and 8).

Preferably, when two rails are installed side by side as shown in FIGS. 5 and 8, the first channels 11, 11 and the second channels 12, 12 are arranged in the lateral width direction as described above. The channels are erected so that their plate surfaces face each other, and the upright edges, that is, the lower edges of the channels on which the load is applied, are supported by the connecting member.

3 through 5 show an embodiment of a manipulator arm using a drive motor 22 as a power source. As shown in the figure, the above-mentioned telescoping rails R are arranged parallel to each other, and a pair of first channels 1
1 and 11 are held upright in the width direction and held and connected at both ends by holders 15 and 16, which are connection members, to form the first arm 13 of a parallel structure, and the other pair of second channels 12 and 12 are also connected in the width direction. The manipulator block 18, which is a connecting member, connects the tip of the block while standing upright in the direction, and the ball nut 17 connects the base end of the block to the manipulator block 18.
A motor is connected to the rear end of the first channels 11, 11 of the first arm 13 and positioned between both channels via a motor mounting plate 15'. 22, screw the screw shaft 23 driven by the motor 22 into the ball nut 17 connecting the second channels 12, 12, and connect the drive motor 2.
The rotation of the screw shaft 23 by the screw shaft 23 advances or retreats the ball nut 17 and the second channels 12, 12 connected together by the ball nut 17 through the threaded portion, and thus the manipulator block 1
The manipulator 24 provided at 8 is configured to move between a working position and a standby position. A pair of outer first channels 11, 11 constituting the first arm 13 to which the cylinder or motor is attached are arranged facing each other with their striped back surfaces facing outward, and the striped back surfaces are held in a holder as shown in the figure. 15, 16
The structure is such that the mounting surface is parallel to the back of the strip plate.

Also, a pair of second channels 1 arranged inside constitute a second arm to which the manipulator 24 is attached.
Plates 2 and 12 are arranged facing each other with their back surfaces facing inward,
The back surface of the strip is supported by a mounting surface of the manipulator block 18 or ball nut 17 that is parallel to the back surface of the strip.

In this embodiment, the entire manipulator arm is horizontally suspended on the upper end of a support 20 erected on the base 19 via a base 21 integrated with the holders 15 and 16, so that the entire arm is rotatable. shows. In this case, depending on the implementation, the support 20 may be constructed of a cylinder or the like so that the entire manipulator arm can be raised and lowered.

FIG. 6 shows an embodiment in which the manipulator arms A and B have a two-stage structure, upper and lower. A pair of first channels 11 constituting the first arm 13 of the upper manipulator arm A with B as the lower part,
11, and a pair of first channels 1 constituting the first arm 13' of the lower manipulator arm B.
1' and 11' are connected to a common holder 15',
16'. Note that the number of stages may be increased depending on the purpose of use.

7 to 9 show an embodiment using air or a hydraulic cylinder 25 as the power source.

According to the above-described structure, two telescopic rails are arranged parallel to each other, and both ends of the pair of first channels 11, 11 are held by holders 15, 16 to form the first arm 1.
3, the tips of the other pair of second channels 12, 12 are connected with the manipulator block 18 to form a second channel.
A holder 1 that constitutes each arm 14 and connects the first channels 11, 11 of the first arm 13.
A cylinder 25 is constructed above the first arm 13 using 5 and 16 as mounting bases, and the manipulator block 18 at the end of the second arm is suspended from the end of the cylinder rod 26 of the cylinder 25 via a connector 27. , the manipulator 24 is moved between the working position and the standby position by moving the cylinder rod 26 forward or backward by the operation of the cylinder 25.

FIG. 10 shows an embodiment in which the manipulators 24a and 24b are provided at both ends of the second arm 14 which is arranged facing each other and connected in series as described above. The elongated second channels 12, 12 constituting the second arm 14 are removably inserted into the front and rear of the first channels 11, 11 constituting the first arm 13, and the manifolds are inserted into both ends of the second arm 14. The manipulators 24a and 24b are attached via the plater blocks 18a and 18b, and the cylinder 25 is mounted parallel to the first arm 13 using the holders 15 and 16 of the first channels 11 and 11 constituting the first arm 13 as mounting bases. One manipulator block 18a is suspended from the tip of the cylinder rod 26 via the connector 27, and the manipulator 24a is advanced by the extension of the cylinder rod 26.
b is moved backward, and conversely, the manipulator 24a is moved backward by the contraction of the cylinder rod 26, and the manipulator 24b is moved forward. This embodiment can be configured with a pair of sliding channels when the working position is in front and behind the manipulator arm.

Although the above embodiment shows a basic embodiment having a first arm and a second arm, as shown in FIG.
1, 11 and the second channels 12, 12 constituting the second arm 14, it is possible to configure the third arm 31 by interposing the third channel 30 between the second channels 12, 12 constituting the second arm 14, and to lengthen the extension stroke. It can also be made multiple with 4 arms...

As described above, the present invention has a first channel and a second channel.
A robot arm consisting of a telescopic slide rail with balls interposed on both sides in the longitudinal direction of the channel, the rails being arranged in parallel in two rows so that their striped surfaces face each other, and a pair of rails facing each other. The first arm of the manipulator arm is formed by connecting the first channels of the manipulator arm with the connecting member, and this is used as a carrier for the cylinder or motor, and the pair of opposing second channels are connected with the connecting member. The second parallel channel of the manipulator arm is formed by connecting the
configuring an arm, using this as a carrier of the manipulator, arranging a second arm inside the first arm, and connecting the second arm to the drive shaft of a cylinder or motor attached to the first arm so as to be interlocked; The drive shaft allows the second arm to extend and retract between a working position and a standby position using the first arm as a guide, and further includes a pair of first channel strips constituting the first arm disposed on the outside to which the cylinder or motor is attached. The back surfaces of the strips are arranged facing each other with their back faces facing outward, and the back surfaces of the strips are supported by the parallel mounting surface of the connecting member, and the back surfaces of the strips of a pair of second channels constituting the second arm disposed inside to which the manipulator is attached are attached. To provide a manipulator arm for an industrial robot, which is arranged facing inward and facing each other, and the back surfaces of the strips of the pair of second channels facing inward are supported by parallel mounting surfaces of the connecting member. By providing a manipulator arm with the same structure, the present invention significantly contributes to streamlining the structure and improving the functionality of conventional telescopic industrial robots.

That is, the first arm of the manipulator arm is formed by a pair of first channels arranged in parallel with their strip surfaces facing each other, and the second arm of the manipulator arm is formed by a pair of parallel channels connected in parallel with their strip surfaces facing each other. The balls are held on both longitudinal edges of the ball, and each ball is used as a carrier while the other is used as a guide so that the balls can be expanded and contracted.In addition to being compact and lightweight, the expansion and contraction action is extremely stable. It is smooth and can be moved with a small amount of force, and the movement is smooth, so it can be made smaller and lighter.In addition, the expansion and contraction action is extremely stable and smooth, and it can be moved with a small amount of force, and the smooth movement allows for faster speeds. It is extremely effective in obtaining delicate movements unique to industrial robots, and has the advantage of requiring less power.

Furthermore, since the pair of first channels constituting the first arm and the pair of second channels constituting the second arm extend and contract while supporting each other, something similar to a special guide stay is provided. There is no need for the second channel to be accommodated inside the first channel and reduced in size without protruding rearward like a conventional guide stay, resulting in high safety and a simple appearance.

This is because the channels constituting the first arm and the second arm embrace each other, and the strip surfaces face each other and stand up in the lateral width direction to receive the load, and the arm mechanism slides while supporting the manipulator. , it is possible to provide a manipulator arm that has a shape with a large moment of inertia and can withstand a large load despite being small and lightweight.

In addition, the manipulator arm can be configured to extend and retract in multiple steps without changing its length when retracting, so combined with its small size, the extension and retraction stroke can be set freely in a narrow space, reducing the space it occupies. Effective use is possible.

Further, in the present invention, the second arm to which the manipulator is attached is made to slide inside the first arm, and the rear surfaces of the strips of the pair of first channels constituting the first arm to which the cylinder or motor is attached are directed outward. At the same time, since the pair of second channels constituting the second arm to which the manipulator is attached are installed in parallel so that the back surfaces of the strips face inward, the inner side of the second channels constituting the second arm is A structure can be adopted in which a manipulator block is interposed between the two facing faces, and in this interposed state, it is possible to store the manipulator block between the facing faces of the connected first channel without interfering with the first channel.

In addition, the present invention supports the back surfaces of the strips of the pair of second channels facing inward by a mounting surface parallel to the back surfaces of the strips of the connecting member, and supports the strips of the pair of first channels facing outward. The back surface is supported by a mounting surface parallel to the back surface of the strip of the connecting member, and the strip structure of the first and second channels is used,
Since the back surface, which is the design reference surface, is supported by the parallel mounting surface of the connecting member, it is possible to maintain the parallelism of each channel constituting the first arm and the second arm while maintaining highly accurate parallelism. is possible,
The expansion and contraction movements can be made smoother, and a manipulator arm suitable for precise robot work can be provided.

[Brief explanation of the drawing]

Figures 1 to 2 are perspective views of the manipulator arm of a conventional industrial robot, and Figures 3 to 10 are perspective views of the manipulator arm of a conventional industrial robot.
The figure shows an embodiment of the manipulator arm according to the present invention, and FIGS. 3 to 6 show embodiments of the manipulator arm using a drive motor.
The figure is a perspective view of the same, FIG. 4 is a plan view of the same, FIG. 5 is a front view of the same, FIG. 6 is a perspective view of the same showing an embodiment in which the manipulator arm is provided in two stages, upper and lower, and Fig. 10 shows an embodiment of a manipulator arm using a cylinder, Fig. 7 is a side view of the same, Fig. 8 is a front view of the same, and Fig. 9 shows an embodiment in which manipulators are provided at both ends of the second arm. The same perspective view also shown, 1st
Figure 0 is a perspective view also showing an embodiment using a third arm, and Figures 11A and 12A respectively illustrate telescopic rails applicable to the manipulator arm according to the present invention. The sectional view, Figure 11B, and Figure 12B are side views showing the reduced state of the rail,
FIG. 11C and FIG. 12C are side views showing the extended state of the rail. 11...First channel, 12...Second channel, 13...First arm, 14...Second arm, 15, 15', 16, 16'...Holder, 1
8... Ball nut, 18... Manipulator block, 22... Motor, 23... Screw shaft, 24... Manipulator, 25... Cylinder, 26... Cylinder rod, 30...
Third channel, 31...Third arm, A, B...
...manipulator arm, a... ball, b...
Retainer, R...Rail.

Claims (1)

[Scope of utility model registration request] A first channel and a second channel each having a ball holding part formed on both longitudinal edges of the strip plate are joined together so that the respective ball holding parts face each other, and the ball is interposed between both ball holding parts to form a telescopic rail. In this robot arm, the rails are arranged parallel to each other so that their striped surfaces face each other, and a pair of opposing first channels are connected by a connecting member to form a parallel structure. A pair of second channels are connected by a connecting member to form a parallel connected structure, a second arm of a manipulator arm is formed by the pair of parallel connected second channels, and a manipulator is attached to the second arm, forming a first arm of a manipulator arm with the pair of parallel connected first channels;
attaching a cylinder or motor to the first arm;
A drive shaft of the cylinder or motor and a second arm are interlockably connected, and the drive shaft allows the second arm to extend and retract between a working position and a standby position using the first arm as a guide, and the cylinder or motor is A pair of first channels constituting the first arm attached thereto are arranged on the outside and facing each other with their striped back faces facing outward, and a pair of second channels constituting the second arm attached with the manipulator are placed on the inside. are arranged facing each other with the back surfaces of the strips facing inward, and the back surfaces of the strips of the pair of inward facing channels are supported by the mounting surface parallel to the back surfaces of the strips of the connecting member, and the A manipulator arm for an industrial robot, characterized in that the rear surfaces of the strips of a pair of first channels facing outward are supported by a mounting surface of the connecting member that is parallel to the rear surfaces of the strips.