JPH0369670B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an orthogonal industrial robot whose operating parts are movable two-dimensionally or three-dimensionally.

Structure of conventional example and its problems As shown in Fig. 1, in a conventional orthogonal type industrial robot or linear moving loading device driven using a feed screw, the feed screw a is connected to the cover b. Although it is protected, guide c was generally exposed. However, in this method, the guide c is exposed at the front, which is insufficient in terms of safety and reliability. There is also a cover d on the side.
Therefore, the mounting surface for other means of the moving block e has been disadvantageous in that it is limited to only the front surface.

OBJECT OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks.
The present invention provides an orthogonal industrial robot with excellent safety and reliability.

Structure of the Invention The present invention includes a motor that provides rotational drive, a rotatable feed screw connected to the motor, a guide arranged parallel to the feed screw and on a vertical plane thereof, and a guide that connects the feed screw and the guide. , a main body supported via mounting plates provided at both ends thereof, a nut slidably supported by the guide via a bearing, and capable of being screwed onto the feed screw; A movable block having a protrusion on each side, the movable block, a mounting bracket having a substantially U-shaped cross section with both ends fixed to the two protrusions of the movable block, and the movable block and the mounting bracket. a cover having a substantially U-shaped cross section and having both ends fixed to the mounting plate of the main body; Therefore, the screw part, guide part, etc. are not exposed to the outside, and safety is high.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 2 to 4. Figure 2 shows an industrial robot with three orthogonal axes using the present invention, where 1 is an X-axis unit;
The first mounting section 2 is moved in the direction of arrow X. 3 is Y
The shaft unit is fixed to the first mounting section 2, and slides the second mounting section 4 in the direction of the arrow Y, which is perpendicular to the direction of the arrow X. Reference numeral 5 denotes a Z-axis unit, which is fixed to the second mounting portion 4 and slides the plate 6 in the direction of arrow Z, which is perpendicular to the directions of arrows X and Y. The present invention provides the above-mentioned Y-axis unit 3.
Regarding Y-axis unit 3,
Explain in detail.

Reference numeral 7 denotes a motor, which incorporates a rotation detection encoder 8 and is fixed to a motor mounting plate 9. 10 is
11 is a ball screw, 12 is a driving side fixing block, 13 is a driven side fixing block, 14 is a board, and the ball screw 11 is connected to the joint 10.
It is connected to the motor 7 by. Further, both ends of the ball screw 11 are rotatably held by rotary bearings 15 provided on a driving side fixing block 12 and a driven side fixing block 13, which are fixed on a substrate 14 at a predetermined interval. Reference numeral 16 denotes a spline-shaped guide having three protrusions, which is provided parallel to the ball screw 11, and both ends are fixed to the driving side fixing block 12 and the driven side fixing block 13. 17 is a moving block which fixes a ball screw nut 18 that can be screwed into the ball screw 11 and a bearing 19 for the guide 16, and has 20a, 20b,
A mounting bracket 20 having a substantially U-shaped cross section and having mounting surfaces on three sides of the mounting bracket 20c is fixed. Reference numeral 21 denotes a cover, and as shown in FIG. 4, when the moving block 17 and the mounting bracket 20 are combined and fixed, a space having a substantially U-shaped cross section is formed, in which either the moving block 17 or the mounting bracket 20 is placed. Both ends are fixed to the driving side fixing block 12 and the driven side fixing block 13. 22
is a tacho generator connected to a ball screw 11 and fixed to a driven side fixing block 13. 2
3, 24, 25 are sensors that detect magnetic force,
26 is a magnet, and groove 2 provided on the side of the substrate 14
Sensors 23, 24, 25 are fixed to 7, 28. Further, the magnet 26 is fixed to the mounting bracket 20.

In the above configuration, the operation will be explained next. The rotational driving force of the motor 7 is transmitted to the ball screw 11 via the joint 10, and the ball screw 11 rotates. At this time, the ball screw nut 18 fixed to the moving block 17 can be screwed into the hole screw 11, but since the moving block 17 does not rotate around the axis of the ball screw 11 due to the guide 16, the moving block cannot rotate in the X direction. Move to. Since the moving direction of the moving block 17 is determined by the rotating direction of the motor 7 and the twisting direction of the ball screw 11, the moving direction of the moving block 17 becomes opposite when the motor 7 is reversed. The amount of movement is detected by a rotation detection encoder 8 built into the motor 7, and when the amount of movement set in advance in the control device matches the corresponding amount of rotation, the motor 7 is driven. This can be determined by slowing down or stopping. In addition, sensors 23, 24, and 25 are position detection sensors, and sensor 24 detects the origin position of this device.
5 detects the limit position. The tacho generator 22 detects the rotation speed of the ball screw 11, and after detecting the rotation speed and calculating it in the control device, controls the rotation speed of the motor 7 so that it matches the speed set in the control device in advance. I'm trying to make it possible. This embodiment is an industrial robot in which a moving block 17 can move to any position on a straight line at any speed between a driving side fixed block 12 and a driven side fixed block 13 that are spaced apart from each other by a predetermined distance. However, by fixing the mounting bracket 20 to the moving block 17, a space having a substantially U-shaped cross section can be formed, and since the cover 21 is provided in the space having a substantially U-shaped cross section, the moving block 17, The ball screw 11 and guide 16 are not exposed at all. After all, the above operation is performed by the mounting bracket 2.
0 slides on the cover 21 with a slight gap. In the above embodiment, the robot is controlled by position and speed, but only position control may be used. Further, although the moving block 17 and the mounting bracket 20 are separated, they may be an integrated moving block having a substantially U-shaped cross section and a predetermined gap. In short, a space with a roughly U-shaped cross section is formed in a moving block that moves within a fixed block with a predetermined interval using a motor and a feed screw, and a cover with both ends fixed to the fixed block is constructed in that space. It is fine as long as it is something.

Effects of the Invention As described above, according to the present invention, the threaded portion and the guide portion are not exposed to the outside at all, resulting in high safety. In addition, it can block out dust, dirt, etc., making it possible to provide a reliable robot as well as a useful robot with a movable block that can be mounted on three sides. be.

[Brief explanation of drawings]

FIG. 1 is a partially cross-sectional perspective view of a conventional example, FIG. 2 is a perspective view of an orthogonal three-axis industrial robot according to an embodiment of the present invention, and FIG. 3 is a perspective view of an industrial robot according to an embodiment of the present invention. FIG. 4 is a perspective view of a partial cross section of FIG. 7...Motor, 11...Ball screw, 12...
Fixed block, 13...Fixed block, 16...
Guide, 17...Moving block, 18...Nut, 19...Bearing, 21...Cover.

Claims (1)

[Scope of Claims] 1. A motor that provides rotational drive; a rotatable feed screw connected to the motor; a guide arranged parallel to and on a vertical plane of the feed screw; and the feed screw and guide. a main body supported via mounting plates provided at both ends thereof, and a nut supported slidably on the guide via a bearing and threadably engageable with the feed screw; A moving block each having a protrusion at its lower part, a mounting bracket having a substantially U-shaped cross section and having both ends fixed to the two protrusions of the moving block, and a space formed by the moving block and the mounting bracket. An industrial robot comprising a cover having a substantially U-shaped cross section, which is disposed so as to penetrate through the moving block and not interfere with either the moving block or the mounting bracket, and has both ends fixed to a mounting plate of the main body.