JPH10109231A - Bench robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enlarge a portable weight in X-axis and Z-axis directions by providing a power source such as a motor in a support column not in an X-axis slide part. SOLUTION: A bench robot device is equipped with an X-axis motor 15 and a Z-axis motor 19 on a left frame 4 being a part of a support column. The rotation of the Z-axis motor 19 is transmitted to a spline shaft 23 constructed between right and left frames 4, 5 through a worm 21 and a worm wheel 22, and the rotation of the spline shaft 23 is converted into a rectilinear motion through timing pulleys 34, 35 and a timing belt 36 to move a tool attaching shaft 32 in the Z-axis direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tabletop robot apparatus, for example, a tabletop robot apparatus used for assisting screw tightening, soldering, assembly, liquid application, lubrication, pin press-fitting, and the like.

[0002]

2. Description of the Related Art Conventionally, as a tabletop robot apparatus used for various processes such as screw tightening as described above, for example, FIG.
There are the following. Here, two support columns 102 are erected at predetermined positions in the front-rear direction on the base 100, and the X-axis guide mechanism 103 is laterally supported by these support columns 102. X-axis slide plate 10 driven by motor 101 along the X-axis guide mechanism 103
4 is provided, and the X-axis slide plate 104
The shaft tool mounting portion 105 is mounted so as to be moved by the motor 106 in the Z-axis direction. Then, a tool unit is attached to the Z-axis tool attachment portion 105, the X-axis slide plate 104 is attached in the X-axis direction, the Z-axis tool attachment portion is attached in the Z-axis direction,
In addition, by moving a table (not shown) on the base 100 in the Y-axis direction, screw tightening and other steps are performed at an arbitrary position on a predetermined work.

[0003]

However, in such a conventional tabletop robot apparatus, since the power source in the Z-axis direction is provided on the X-axis slide plate 104, the X-axis moving weight is determined by the weight of the motor 106. , The motor output (101) corresponding to the X-axis drive is required, and the stop position accuracy is reduced due to the large inertia. Also, X
If the output of the motor 101 of the shaft is fixed, the load capacity of the X-axis is reduced by the weight of the motor 106 of the Z-axis, and the load capacity of the Z-axis is also limited because the motor 106 cannot be too large. .

Further, in the case of using a motor with an electromagnetic brake to hold the Z-axis tool mounting portion 105, the cost is high and the electromagnetic brake is released when the power of the desktop robot device is turned on. If the magnetic excitation is not applied, the Z-axis tool mounting portion 105 will drop by its own weight.
To prevent this, there is a technique of suspending the Z-axis tool mounting portion 105 by using a tension spring as disclosed in JP-A-6-74237. However, there is a drawback that the balance is changed by the movement of the Z-axis. In the case of using an air cylinder instead of the above, there is no effect when the air source is dropped. In any case, incorporating the tension spring or the air cylinder increases the cost.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a desktop robot apparatus in which a movable portion is reduced in weight to increase the load capacity of the X-axis, and a large power source is used for driving the Z-axis. The idea is to increase the weight. Still another object is to realize the holding of the Z-axis stop position at low cost.

[0006]

According to the present invention, the X-axis guide mechanism is supported in the X-axis direction at a predetermined position in the front-rear direction on the base via a support column, and is moved along the guide mechanism. An X-axis slide section is provided to be driven, and a Z-axis moving section such as a Z-axis tool mounting section is provided on the X-axis slide section.
In a desktop robot apparatus provided to be driven in the axial direction, a power source for driving a Z-axis moving unit is provided on a support column.

As described above, by providing the power source for driving the Z-axis moving section on the non-movable support column instead of the moving X-axis sliding section, the X-axis sliding section is reduced in weight,
The load capacity can be made larger. In addition, a large power source for the Z-axis can be employed as long as the supporting column is used, and the load capacity of the Z-axis moving unit can be increased.

In a more specific embodiment, the desktop robot apparatus according to the present invention includes a motor provided on one of the support columns on both sides as a power source, and a horizontal rotation bridge provided between the support columns on both sides. Shaft, a rotation transmitting unit that transmits rotation from the motor to the horizontal rotating shaft, and receives a rotational force from the rotating shaft at an arbitrary position on the horizontal rotating shaft and applies the rotation force to the Z-axis moving unit in a straight line in the Z-axis direction. A motion converting unit that converts the motion into motion and is movable integrally with the X-axis slide unit in the X-axis direction.

As described above, by transmitting the driving force of the motor provided on one of the support columns on both sides to the motion conversion unit via the horizontal rotation shaft, the movement of the X-axis slide unit is achieved, and The Z-axis moving unit can be driven without imposing a load due to the weight of the motor on the X-axis slide unit. In addition, since the rotation of the motor is transmitted to the horizontal rotation shaft via a worm and a worm wheel (worm mechanism) having a self-locking function, a high-cost electromagnetic brake is used for holding the Z-axis moving unit. The Z-axis moving unit can be held at the stop position by an inexpensive means based on the self-locking function of the worm, without the need for a motor with a motor, a spring for maintaining the balance, and an air cylinder.

[0010] In addition, the motion conversion unit of the desktop robot device may include:
A first timing pulley slidable in the axial direction and non-rotatable with respect to the horizontal rotation shaft, and movable in the X-axis direction integrally with the X-axis slide portion; and provided on the X-axis slide portion. A second timing pulley, and a timing belt extended between the first and second timing pulleys in parallel with the Z-axis. Then, the Z-axis moving unit is connected to the timing belt, and the Z-axis moving unit is driven in the Z-axis direction within a distance range between the first and second pulleys of the timing belt.

By using such a timing belt as the main component of the Z-axis drive unit, it can be made simpler and lighter than mechanisms such as a gear train and a rack and pinion.
Also, the complexity of lubrication and the like is small.

[0012]

Embodiments of the present invention will be described below with reference to some embodiments shown in the drawings. Tabletop robot apparatus 1 according to Embodiment 1 of the present invention shown in FIGS. 1 and 2
Has a base 2 on which a left frame 4 and a right frame 5 are fixed via a support 3, which functions as a support column. Further, guide shafts 6 and 7, which are the main components of the X-axis guide mechanism, are bridged between these frames 4, 5. An X-axis slide portion 8 is supported on the guide shafts 6 and 7 so as to be slidable in the X-axis direction.
The power tool unit such as a screw clamp supported by the X-axis slide unit 8 can be moved in the Z-axis direction, and the work table 9 on which the work is placed is moved in the Y-axis direction (front-back direction). A predetermined process is performed on the work. The upper part of the desktop robot device 1 has a cover 10
Covered with.

As shown in FIG. 3, a stepping motor 15 (hereinafter, also referred to as an X-axis motor) is provided as an X-axis power source above a left frame 4 fixed to the upper portion of the column 3. As shown in the figure, a timing belt 18 is stretched between a timing pulley 16 on the output side and a timing pulley 17 provided on the right frame 5, and a plate connecting portion 33 is fixed to the timing belt 18. , The X-axis slide unit 8 moves in the X-axis direction.

Returning to FIG. 3, below the left frame 4,
Another stepping motor (hereinafter referred to as Z
Shaft motor) 19 is provided. As will be described later, the Z-axis motor 19 moves the Z-axis tool mounting shaft 32 shown in FIG. 1 in the Z-axis direction. As shown in FIG.
A worm 21 is fixed to the output shaft of the Z-axis motor 19, and a worm wheel 22 that meshes with the worm constitutes a worm function having a self-locking function.

The worm wheel 22 is fixed to a spline shaft 23 as a horizontal rotation shaft extending between the left frame 4 and the right frame 5 in FIG. 1, and is rotated by the worm 21 at a predetermined reduction ratio. As a result, the spline shaft 23 rotates.

As shown in FIGS. 4 and 5, a ball spline nut (hereinafter simply referred to as a ball spline) 24 is fitted into the spline shaft 23 so as to be relatively non-rotatable and slidable in the axial direction. A first timing pulley 34 is integrally fitted outside the ball spline 24. Accordingly, when the spline shaft 23 rotates by receiving the rotation of the motor 19, the timing pulley 34
Are also driven to rotate in the same direction.

On the other hand, a second timing pulley 35 is attached to the X-axis slide plate 8, which is a main component of the X-axis slide portion 8. A timing belt 36 is stretched between the first and second timing pulleys 34 and 35 in the Z-axis direction. Second timing pulley 35
Is located concentrically with the guide shaft 6 of the X-axis guide mechanism,
Since the guide shaft 6 passes through the center,
Interference between the timing pulley 35 and the guide shaft 6 is avoided, resulting in a compact structure.

The timing belt 36 includes the tool mounting shaft 3
2 is fixed via a connection bracket 37. 3
A guide bush 1a guides the tool mounting shaft 32 so as to be slidable in the Z-axis direction. The guide bush 31a is supported by the X-axis slide plate 31, and constitutes a Z-axis guide mechanism. When the timing pulley 34 rotates by receiving the driving force of the motor 19, the timing belt 3
6 moves in the Z-axis direction, and the tool mounting shaft 3 fixed to the
2 moves in the Z-axis direction within a range not exceeding the distance between the axes of the first and second timing pulleys 34 and 35. A necessary tool unit (not shown) is attached to the tool attachment shaft 32 and moves in the Z-axis direction.

As described above, the Z-axis motor 19 is mounted not on the X-axis slide plate 31 but on the support column (left frame 4) which is a non-movable part, and the rotation of the motor 19 is transmitted via the worm mechanism to the spline shaft. The rotation is transmitted from the spline shaft 23 to a linear motion in the Z-axis direction by a motion conversion unit such as the ball spline 24, the timing pulleys 34 and 35, and the timing belt 36. It can be moved axially. Accordingly, the weight load of the X-axis slide plate 31 is light, and the load capacity of the X-axis is correspondingly increased,
At the same time, by increasing the output of the Z-axis motor, the payload of the Z-axis can be increased.

Further, by using a worm mechanism (worm 21 and worm wheel 22) having a self-locking property as a transmission portion of the rotational driving force of the Z-axis motor 19, the drop of the Z-axis tool unit is prevented. Can be. That is, the tool mounting shaft 32 holding the tool unit
When the power of the desktop robot apparatus is turned off while the robot is positioned above and the load in the Z-axis direction acts on the spline shaft 23 via the timing belt 36, the spline shaft 23 is locked by the self-lock function of the worm mechanism. As a result, the tool mounting shaft 32 and the tool unit do not fall and are held at the stop position.

As a second embodiment of the present invention, as shown in FIG. 6, flange portions 39 may be provided on both side ends of the worm wheel 22 of the first embodiment. If you do this,
Lubricating oil or grease is easily retained on the surfaces of the gear teeth, and there is little possibility of oil leakage. Also, the gear can be manufactured at a lower cost than using the gear in a case containing oil.

As a third embodiment of the present invention, as shown in FIG. 7, the rotation transmitting portion may be gears 40 and 41 between parallel shafts. In this case, a known position holding means for the Z axis may be provided, such as a motor with an electromagnetic brake for the Z axis motor 19.

As a fourth embodiment of the present invention, as shown in FIG. 8, the shaft 19a of the Z-axis motor and the spline shaft 23 may be directly connected by a coupling 42.

As a fifth embodiment of the present invention, as shown in FIG. 9, the Z-axis motor 19 and the spline shaft 23 may be connected by timing pulleys 43 and 44 and a timing belt 45.

As a sixth embodiment of the present invention, as shown in FIG. 10, the ball spline 24 (FIG. 5) of the first embodiment may be a simple spline nut 46.

As a seventh embodiment of the present invention, as shown in FIG.
7. Nut with key groove 48, key 49 for connecting these
May be combined.

As an eighth embodiment of the present invention, as shown in FIG. 12, a square shaft 51 is provided in place of the spline shaft 23, and a square hole nut 52 slidably fitted on the shaft 51.
It may be.

[Brief description of the drawings]

FIG. 1 is a front view of a tabletop robot apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view thereof.

FIG. 3 is an enlarged left side view showing the power source and the rotation transmission unit.

FIG. 4 is an enlarged right side view showing the Z-axis moving unit.

FIG. 5 is a front view showing the Z-axis moving unit.

FIG. 6 is a diagram showing a main part of a second embodiment.

FIG. 7 is a diagram showing a main part of a third embodiment.

FIG. 8 is a diagram showing a main part of a fourth embodiment.

FIG. 9 is a diagram showing a main part of a fifth embodiment.

FIG. 10 is a diagram showing a main part of a sixth embodiment.

FIG. 11 is a diagram showing a main part of a seventh embodiment.

FIG. 12 is a diagram showing a main part of an eighth embodiment.

FIG. 13 is a diagram showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tabletop robot apparatus 2 Base 3 Prop 6, 7 Guide axis (X-axis guide mechanism) 8 X-axis slide part 15 X-axis motor 21 Worm 22 Worm wheel 23 Spline axis (horizontal rotation axis) 24 Ball spline 31 X-axis slide Plate 32 Tool mounting shaft (Z-axis moving part) 34, 35 Timing pulley 36 Timing belt

Claims (8)

[Claims] An X-axis guide mechanism is supported at a predetermined position in the front-rear direction on a base via a support column in the X-axis direction, and an X-axis slide portion is provided along the guide mechanism to be driven. In a tabletop robot apparatus in which a Z-axis moving section such as a Z-axis tool mounting section is provided on the X-axis sliding section so as to be driven in the Z-axis direction, a power source for driving the Z-axis moving section is provided on a support column. A desktop robot apparatus characterized by the above-mentioned. 2. A motor provided on one of the support columns on both sides as the power source, a horizontal rotation shaft spanned between the support columns on both sides, and a rotation from the motor to the horizontal rotation shaft. A rotation transmitting unit for transmitting, at an arbitrary position on the horizontal rotating shaft, receiving a rotational force from the rotating shaft and converting the rotational force into a linear motion in the Z-axis direction of the Z-axis moving unit, and the X-axis sliding unit; The desktop robot device according to claim 1, further comprising: a motion conversion unit that can move integrally in the X-axis direction. 3. The worm mechanism, wherein the worm on the motor output side and the worm wheel on the horizontal rotation shaft side are engaged with each other, and the rotation transmitting unit rotates in a reverse direction from the worm wheel to the worm. The desktop robot apparatus according to claim 2, further comprising a self-lock function for preventing transmission. 4. The motion conversion unit is slidable in the axial direction with respect to the horizontal rotation shaft and is attached so as not to rotate relative thereto, and is capable of moving in the X-axis direction integrally with the X-axis slide unit. A first timing pulley, a second timing pulley provided on the X-axis slide portion, and a timing belt stretched between the first and second timing pulleys in parallel with the Z-axis. The Z-axis moving unit is connected to the timing belt,
The Z-axis moving unit is driven in the Z-axis direction within a distance range between the first and second pulleys of the timing belt.
Or the desktop robot apparatus according to 3. 5. A guide shaft, which is a main body of the X-axis guide mechanism, is bridged between the support columns, and the guide shaft passes through a center of the second timing pulley. The tabletop robot device according to claim 4, wherein the tabletop robot device is held by an X-axis slide portion and slidably supported along the guide shaft. 6. The desktop robot device according to claim 3, wherein the worm wheel has a flange-like wall portion having an outer diameter larger than a gear tooth diameter on both side ends. 7. The horizontal rotation shaft is a spline shaft,
7. The first timing pulley according to claim 3, wherein the spline shaft is rotated by the driving of the motor, and the first timing pulley is mounted via a spline nut that cannot rotate relative to the spline shaft and can move in the axial direction. The desktop robot device according to any one of the above. 8. The desktop robot device according to claim 7, wherein the spline nut is a ball spline nut.