JPH04315593A - industrial robot - Google Patents

Abstract

PURPOSE:To insure safety by actuating a drop preventing mechanism simultaneously at releasing a brake, because a vertical moving shaft is in danger of drop by releasing the brake in the case that a brake releasing switch is provided as provision against holding a work between, although the vertical moving shaft of a scalar type robot is kept in the posture by braking at interception of electric power supply. CONSTITUTION:In an abnormal condition, electric power supply to an electromagnetic brake 2 built in a motor 1 is intercepted with a controller 3 to actuate the brake, and a vertical moving shaft 6 is locked. At a switch 8 ON, the brake is released, but simultaneously an electromagnetic clutch 9 is electrified to directly couple a ratchet 10 with a nut 5, and hence the shaft 6 is not moved downward to insure safety.

Description

[Detailed description of the invention]

0001

[Field of Industrial Application] The present invention relates to a robot that is equipped with a brake that maintains the posture of the vertical axis when the controller is powered off, and that has measures to prevent the vertical axis from falling when the brake is released. .

0002

2. Description of the Related Art Conventionally, scalar type robots as shown in FIG. 4 have been widely used in assembly work and the like.

[0003] In such a robot, in order to prevent the chuck 20 from falling due to its own weight even when the robot is not in use, for example, when the power to the controller is turned off after finishing work, the vertical axis has a mechanism that operates when the power to the controller is turned off. A built-in brake prevents damage to the chuck 20 and the product due to falling.

[0004] Furthermore, even when the work is not finished, the robot is equipped with an emergency stop switch to immediately stop operation in the event of an abnormality.This switch does not turn off the power to the controller, but only supplies power to the motor. Although it is possible to set it to turn off, the power to the entire robot controller is usually turned off. In this case as well, the brake is applied to maintain the vertical axis.

[0005]

[Problem to be Solved by the Invention] In a robot configured as described above, in an emergency situation, for example, when a worker's hand is caught in the robot and an emergency stop is applied, the robot brakes while the worker's hand is caught. It stops and I can't get my hand out. In preparation for such a case, the robot may be equipped with a switch to release the brake, but if the chuck 20 is very heavy, the chuck may fall the moment the brake is released, potentially causing a secondary disaster.

[0006] In view of the above problems, the present invention has been devised to provide an emergency vehicle that is equipped with a mechanism that allows the user to easily manually raise the vertical shaft by releasing the brake in the event of an accident, and to hold the vertical shaft so that it cannot be lowered. To provide an industrial robot having a configuration that allows a worker to easily cope with the situation where one worker's hand is caught.

[0007]

[Means for Solving the Problems] In order to achieve the above object, the industrial robot of the present invention enables manual lifting when the brake release switch is turned on when the power of the controller that controls the robot is turned off; In addition, a mechanism is provided to hold it so that it does not fall.

[0008]

[Operation] According to the present invention, even if an accident occurs where a worker's hand is caught by the robot and the worker's hand is caught by the robot, the worker can release the holding brake and raise the vertical axis. You can let go of the robot.

[0009]

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First Embodiment) FIG. 1 shows a schematic configuration of the vertical axis drive of an industrial robot according to the present invention. The motor and mechanism of the rotating shaft are omitted for simplicity. In the figure, reference numeral 1 denotes a motor, which serves as a driving source for the vertical axis, which will be described later. Reference numeral 2 denotes an electromagnetic brake built into the motor 1, which applies the brake when power is not supplied to fix the shaft of the motor 1. When power is supplied, the brake 2 is released and the motor 1 is free. A controller 3 controls the motor 1 and supplies power to the electromagnetic brake 2. 4 is a transmission belt;
The power of the motor 1 is transmitted. 5 is a screw nut, which is supported in the vertical direction. 6 is a vertical shaft with a screw. A guide groove is provided in the vertical shaft 6 in the axial direction. A guide 7 supports the groove of the vertical shaft 6 and fixes the vertical shaft 6 in the rotational direction. 8 is electromagnetic brake 2
and a switch for energizing the electromagnetic clutch 9. When the brake is applied, this switch can be used to release it. When the motor 1 rotates, the rotation is transmitted by the transmission belt 4,
Nut 5 rotates. The vertical shaft 6 is regulated in the rotational direction by a guide 7, and the nut 5 is fixed in the vertical direction, so the vertical shaft 6 moves up or down. Reference numeral 10 denotes a ratchet with saw-shaped teeth, which is normally free to rotate, but is directly connected to the nut 5 when the electromagnetic clutch 9 is energized.

FIG. 2 shows the structure of the ratchet 10. Figure 2
, 11 is an elastic plate, and a fulcrum 12
It is fixed to the robot body in Fig. 1 so as to be able to rotate freely around , and is held in the direction of A by a light spring. When the ratchet 10 rotates in direction B, the plate 11 slides along the tooth curve and the ratchet rotates. Conversely, when rotating in the direction C, the plate 11 catches on the teeth of the ratchet 10 and stops the ratchet 10.

In FIG. 1, if the robot becomes uncontrollable for some reason during operation, the power supply to the motor 1 is stopped, and the power supply to the electromagnetic brake 2 is also stopped. Therefore, the motor 1 is braked and fixed, and the vertical shaft 6 is also fixed in the vertical direction. When the switch 8 is turned on, power is supplied to the electromagnetic brake 2 and the electromagnetic clutch 9, the motor shaft becomes free, and the ratchet 10 is attached to the nut 5 in FIG.
directly connected via. However, it is assumed that the vertical axis 6 is set so as to rise when rotated in the direction of B in FIG. Therefore, if the worker rotates the ratchet 10 in the direction B, the vertical shaft 6 will rise, but even if the worker releases his hand, it cannot rotate in the direction C, so the vertical shaft 6 is held fixed in the downward direction. There is no danger of the screw shaft falling under its own weight.

(Second Embodiment) FIG. 3 shows a second embodiment of the present invention. To explain only the parts that are different from FIG. 1, reference numeral 12 denotes a gear fixed to the screw shaft 6, which meshes with a gear 13 fixed to the rotary actuator 14. The rotary actuator 14 is driven or stopped by turning the switch 15 on or off. That is, in the embodiment shown in FIG. 1, the operator turns the ratchet by hand to move the vertical shaft, but in this embodiment, this is done using the actuator 14, so that the shaft can also be raised while carrying a heavy object. be.

[0014]

[Effects of the Invention] As is clear from the above explanation, the present invention has the following advantages:
A scalar type robot body having a vertical axis, a controller for controlling the robot body, and a brake for maintaining the posture of the vertical axis when the controller is powered off, and the brake is provided on the robot body or the controller. In a robot equipped with a state that can be released by a switch, the robot's vertical axis can be easily raised in an emergency by providing a mechanism that allows the vertical axis to be manually raised only and is held so that it does not descend. Furthermore, by providing a separate actuator without manual operation, the vertical axis of the robot can be easily raised even if a heavy object is attached to the robot.

[Brief explanation of drawings]

FIG. 1 is a schematic front view of an industrial robot according to a first embodiment of the present invention.

[Figure 2] Explanatory diagram of the ratchet mechanism in the industrial robot

FIG. 3 is a schematic front view of an industrial robot according to a second embodiment of the present invention.

[Figure 4] Perspective view of a conventional robot

[Explanation of symbols] 2 Electromagnetic brake (brake) 3 Controller 6 Vertical axis

Claims (2)

[Claims] 1. A scalar type robot body having a vertical axis, a controller for controlling the robot body, and a brake for maintaining the posture of the vertical axis when the controller is powered off, and the brake is connected to the robot body or the robot body. An industrial robot having a function that can be released by a switch provided on a controller, characterized in that the robot is equipped with a mechanism that allows the vertical axis to be manually raised only and held so as not to be lowered. 2. A scalar type robot body having a vertical axis, a controller for controlling the robot body, and a brake for maintaining the posture of the vertical axis when the controller is powered off, and the brake is connected to the robot body or the robot body. The robot is equipped with a function that can be released by a switch provided on the controller, and the robot is equipped with a mechanism that allows the vertical axis to move only upwardly and prevents it from falling downwardly, and also includes an actuator that is different from the actuator controlled by the controller. An industrial robot characterized by a mechanism.