JPH068165A - Industrial robot - Google Patents

Abstract

(57) [Abstract] [Purpose] The robot is made compact by devising the arrangement of the drive motor and drive unit of the robot. [Configuration] while disposed in parallel in the vertical with respect to the longitudinal axis on a base (4) two drive motors (5 _X, 5 _Z), the drive motor (5 _X, 5 _Z ), The chuck mounting block (27) is driven by the respective drive motors (5 _X , 5 _Y ) so that the chuck mounting block (27) can be synthetically moved in the front-rear direction and the vertical direction. ) Associated with each drive shaft (7,1
4) is provided, and the drive motors (5 _X , 5 _Z ) and the drive shafts (7, 14) are surrounded by an outer box (22).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention attaches chucks to a chuck attachment block, holds lightweight parts,
The present invention relates to an industrial robot of a type adapted to be moved to a desired position.

[0002]

2. Description of the Related Art A conventional so-called pickup-and-place type robot for carrying out a cycle of gripping and moving parts and the like employs a cam mechanism as a drive unit, and a two-dimensional plane is formed by a motor via the cam mechanism. It is generally used to control the displacement, speed, etc. inside, and the motor or the like is generally arranged outside the case separate from the cam mechanism, the transmission mechanism, etc. that drive the robot.

[0003]

[Problems to be Solved by the Invention]
In the place type robot, since the cam mechanism and the transmission mechanism are present as described above, the size of the entire device is inevitably increased, and the motor and the like are inevitably arranged outside the device case. It was far from incarnation. An object of the present invention is to devise a layout of a drive motor and a drive unit thereof so as to arrange all of them in a case to achieve a compact robot apparatus.

[0004]

In order to achieve the above object, in an industrial robot according to the present invention, two drive motors are arranged on a base in parallel vertically with respect to a longitudinal axis. In addition, a drive motor for synthetically moving the chuck mounting block in the front-rear direction and the vertical direction, and respective drive shafts interlocking with the chuck mounting block are provided parallel to the axis of the drive motor. There is provided an industrial robot characterized in that the drive motor and the drive shaft are surrounded by an outer box.

[0005]

The drive shaft for moving the chuck mounting block of the industrial robot configured as described above in the front-back direction is driven by the drive motor, while the drive shaft for moving the chuck mounting block in the vertical direction is used. When the chuck mounting block is driven by the drive motor, the chuck mounting block makes an arch-like movement that is a combination of the movements, so that the lightweight parts and the like can be moved to a desired position. Further, as described above, since the respective drive motors are arranged in parallel vertically with respect to the front-back direction, and the drive shafts driven by them are similarly provided in the vertical direction parallel to the axis, By arranging the drive motor and the drive unit such as the drive shaft by the drive motor in the same case, the entire apparatus can be made compact.

[0006]

EXAMPLES Examples will be described below with reference to the drawings. FIG. 1 is an external view of an industrial robot of the present invention,
FIG. 2 is an internal structure diagram of an embodiment of the industrial robot of the present invention. FIG. 3 is an internal structure diagram of another embodiment of the present invention.
FIG. 4 is a sectional view taken along the line AA ′ of FIG. FIG. 5 is FIG.
FIG. 3 is a diagram showing a structure of a chuck direction changing rotary unit attached to the chuck attaching block in FIG. 1 and 2
As described above, the main part of the industrial robot 1 of the present invention is the drive part 2.
And it is configured from the grip moving part 3, the drive unit 2 on the substrate 4, back and forth on the lower side direction (X-axis) driving motor 5 _X is supported via a supporting member 5 _1, the upper vertical direction (Z axis)
The drive motor 5 _Z is likewise arranged. Drive motor 5
_{Between the X} and the drive motor 5 _Z , a ball screw shaft 7 is rotatably passed through a support frame 6 provided upright on the front end of the substrate 4. A nut 8 ₁ is fastened to the outside of the ball screw shaft 7 in the support portion 8, a ring 8 ₂ is further covered on the outside thereof, and both are fixed, and the ring 8 ₂ is attached to the bearing 8
It is rotatably supported by ₃ . The rear end of the ball screw shaft 7 is integrally attached to the frame 9. The ball screw shaft 7 is a pulley 10 on which rotation of the X-axis drive motor 5 _X is attached, and a pulley 11 fixed to the ball screw shaft 7.
Is rotated via the belt 12 and moved back and forth. The tip of the ball screw shaft 7 penetrating the support frame 6 is fixed to the support frame 13 of the grip moving unit 3, and the rotation of the ball screw shaft 7 causes the grip moving unit 3 to move forward and backward.

A spline shaft 14 is arranged above the Z-axis drive motor 5 _Z , and the spline shaft 14 penetrates the support frame 6 like the X-axis drive motor 5 _X, and supports the support frame 6. A nut 15 ₁ and a ring 15 ₂ are fitted and fixed to the spline shaft 14 at the portion 15, and are rotatably supported by a bearing 15 ₃ . The rear end of the spline shaft 14 is spline-engaged with a support ring 9 ₁ rotatably supported by a bearing 9 ₂ embedded in the frame 9, and the spline shaft 14 can rotate integrally with the support ring 9 ₁ . The tip of the penetrating spline shaft 14 is supported by a bearing 10 provided on a support plate 13 of the gripping movement unit 3. The rotation of the Z-axis drive motor 5Z is transmitted to the spline shaft 14 via a belt 21 to a pulley 19 attached to the Z-axis drive motor 5Z and a pulley 20 fixed to a ring 15 ₂ fixed to the spline shaft 14, and is rotated. The rotation raises and lowers the chuck mounting block 26 of the gripping moving unit 3 described later. The spline shaft 14 is a support ring 9 ₁
Needless to say, it is possible to move forward and backward simultaneously with the forward and backward movement of the ball screw shaft 7 because the spline engagement with and makes it possible to move integrally with the frame 9. At that time, since one end of the Z axis drive motor 5 _Z is fixed to the support plate 13 and the guide rod 16 penetrating the support frame 6 is provided, the guide screw 16 is provided along the guide rod 16 and the ball screw shaft 7. The frame 9 fixed integrally is slidable. As described above, the portion connected to the drive unit 2 and the grip moving unit 3 is configured, but the drive unit 2 is covered with the outer box 22, and the electric wire or the like connected to the drive motor 5 _R is attached to the tip portion. One end of an inverted U-shaped hose 23 through which is inserted is attached.

Next, the gripping moving portion 3 will be explained. As described above, the ball screw shaft 7 is fixed to the support plate 13, and the ring 17 is integrally fitted to the spline shaft 14 as described above.
The ring 17 is rotatably supported by a bearing 18, and an endless belt 26 is wound around pulleys 24 and 25 mounted below the ring 17 and the support plate 13. A chuck mounting block 27 is sandwiched between the endless belts 26, and the chuck mounting block 27 is guided by a rail laid on a support plate 13 (not shown) to move up and down. Of course, each member that constitutes the gripping movement unit 3 is surrounded by the cover 31. The chuck mounting block 27 attached chuck direction change for (R-axis) motor 5 _R having chuck mounting shaft 28 of the rotary portion 28 provided at the distal end of the hose 23, the R-axis drive motor 5 _R The gripping direction and the like of the chuck can be appropriately changed by the rotation. An arm 29 is fixed to the upper part of the support plate 13 and suspended from a top of the arm 29 by a spring 30 having a spring force that balances the weight of the part to prevent the part from descending when the switch is turned off. Plays the role of.

Therefore, in order to start the robot of this embodiment, first, a switch (not shown) is turned on to drive the X-axis drive motor 5 _X and the Z-axis drive motor 5 _Z , and the ball screw shaft 7 causes the pulley 10 to move. , 11 rotate via the belt 12, and together with the frame 9 and the spline shaft 14, Z
Backward before accordance forward and reverse rotation of the shaft driving motor 5 _Z.
In that case, the Z-axis drive motor 5 _Z is also driven in the reverse direction. Therefore, as the spline shaft 14 rotates, the pulley 24 rotates, and the endless belt 26 tensioned by the pulley 25 moves up and down and is attached thereto. Chuck mounting block 27
Moves up and down in an arch motion. Therefore, for example, the chuck mounting block 27 is lowered, the R-axis motor 5 _R is driven, the chuck is oriented in a desired direction, and after gripping an article such as a part, the Z-axis drive motor 5 _Z is reversed again. The ball screw shaft 7, the frame 9 and the spline shaft 14 in the desired direction by rotating the X-axis drive motor 5 _X in the desired direction to perform an arch-shaped motion, thereby moving parts such as parts. It can be moved to a predetermined position.

Next, another embodiment will be described which can move not only in the front-rear direction and the up-down direction but also in the left-right direction as in the above embodiment. Front-back direction (X axis) and vertical direction (Z
Since each structure for performing the arch-shaped movement by the synthetic movement of the movement of the (axis) is the same as that of the above-mentioned embodiment, the description of that portion will be omitted and only the portion having a different structure will be described.
A robot 1 arranged on a moving base plate (corresponding to the substrate of the above-mentioned embodiment) 4 is mounted on rails 32, 32 so as to be movable in the left-right direction (Y axis), as shown in FIG. By driving the left-right direction (Y-axis) drive motor 5 _Y installed at the left end as described above, the endless belt 35 is stretched between the shaft 33 and the large-diameter pulley 34. A belt 39 is stretched between the shaft 36 and the pulleys 37 and 38, and the moving base plate 4 is fixed to the belt 39. When the Y-axis drive motor 5 _Y is driven, the rotation of the shaft 33 is transmitted to the pulley 34 and is decelerated, and the rotation is transmitted to the belt 39 via the shaft 36 and the pulleys 37 and 38, so that the moving base plate 4 is moved. Move in the left-right direction (Y-axis).
Therefore, in this embodiment, the robot 1 is not only capable of performing an arch-shaped motion, but also in the left-right direction (Y
The movement of the axis can also be performed by moving the moving base plate 4 on the rails 32, 32.

The Y-axis drive motor 5 _Y is arranged behind the X-axis drive motor 5 _X and in the lower space where the Z-axis drive motor 5 _Z and the ball screw shaft 7 are present. Since the spline shaft 14 and other drive motors are arranged in such a range that they can move laterally within the range, the robot apparatus itself can be compactly housed, and the X axis, Y axis, Z
It is possible to provide a robot having a function capable of performing a wide range of motion of the robot in a three-dimensional space of axes.

[0012]

Since the present invention is configured as described in detail above, it does not require a complicated mechanism as compared with a conventional cam type knob loading type robot, and simply uses X.
By reasonably arranging the drive shaft that is driven only by the shaft and the Z-axis drive motor, it is possible to achieve compactness of a robot of a type capable of performing arched motion.

[Brief description of drawings]

FIG. 1 is an external view of an industrial robot of the present invention.

FIG. 2 is an internal structure diagram of an embodiment of the present invention.

FIG. 3 is an internal structure diagram of another embodiment of the present invention.

FIG. 4 is a sectional view taken along the line AA ′ in FIG.

FIG. 5 is a diagram showing the structure of a chuck direction changing rotary unit mounted on the chuck mounting block in FIGS.

[Explanation of symbols]

1 Industrial Robot 2 Drive Unit 3 Grip Moving Unit 4 Substrate 5 _X Front-back (X-axis) Drive Motor 5 _Y Lateral (Y-axis) Drive Motor 5 _Z Vertical (Z-axis) Drive Motor 5 _R Chuck Direction Change Drive Motor 5 ₁ Support material 6 Support frame 7 Ball screw shaft 8 Support part 8 ₁ Nut 8 ₂ Ring 8 ₃ Bearing 9 Frame 9 ₁ Support ring 9 ₂ Bearing 10 Pulley 11 Pulley 12 Belt 13 Support frame 14 Spline shaft 15 Support frame 13 support Part 15 ₁ Nut 15 ₂ Ring 16 Guide rod 17 Ring 18 Bearing 19 Pulley 20 Pulley 21 Belt 22 Outer box 23 Hose 24 Pulley 25 Pulley 26 Endless belt 27 Chuck mounting block 28 Rotating part 28 ₁ Chuck mounting shaft 29 Arm 30 Spring 31 Cover 32 Rail 33 Horizontal drive motor 34 Large diameter pulley 35 Belt 36 Shaft 37 Pulley 38 Pulley 39 Belt

Claims (1)

[Claims] 1. Two driving motors are arranged on a base in parallel vertically with respect to a longitudinal axis, and a chuck mounting block is arranged in the longitudinal direction parallel to the axis of the driving motor. And a drive motor for synthetically moving up and down, and respective drive shafts interlocking with the chuck mounting block, and these drive motors and drive shafts are surrounded by an outer box. .