JPS614680A - Travelling device for industrial robot - Google Patents
Travelling device for industrial robotInfo
- Publication number
- JPS614680A JPS614680A JP12083584A JP12083584A JPS614680A JP S614680 A JPS614680 A JP S614680A JP 12083584 A JP12083584 A JP 12083584A JP 12083584 A JP12083584 A JP 12083584A JP S614680 A JPS614680 A JP S614680A
- Authority
- JP
- Japan
- Prior art keywords
- pedestal
- rail
- pinion
- industrial robot
- rails
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は、工業用ｊＪボットの走行装置に関するもの
であり、もう少し詳しくいうと、ロボットアームを上下
可動に支持する支柱が立設された台車を、台座に布設さ
れた７対のレール上を直猾走行させる工業用ロボットの
走行装置に関するものである。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a traveling device for an industrial jJ-bot, and more specifically, a trolley equipped with a support that supports a robot arm in a vertically movable manner. This invention relates to a traveling device for an industrial robot that runs straight on seven pairs of rails installed on a pedestal.
第１図および第２図は従来のこの独の装置を示し、ｌ対
のコ字状材でなる台座／の上面に／対のレールコが互い
に平行に布設されており、ロボットアームを上下可動に
支持する支柱３が立設された台車りの下面に設けたベア
リング左がレールコに係合して台車弘がレールλ上に載
置されている。Figures 1 and 2 show this conventional German device, in which a pair of rails are laid parallel to each other on the top surface of a pedestal made of a pair of U-shaped members, allowing the robot arm to move up and down. The left side of the bearing provided on the lower surface of the truck on which the support column 3 is erected engages with the rail, so that the truck is placed on the rail λ.
支柱３は断面矩形状の中空体で、その中に支持部材／／
が取付けられており、この支持部材／／ＶＣ、サーボモ
ータ６およびサーボモータ６に連結された減速器７．減
速機７の出力軸に結合されたピニオンＳが支持されてい
て、ピニオンｇは水平軸に関して回転する。台座ｌの中
間部にはレールコに平行なうソフタが固設されており、
このラックデにピニオンｔが係合している。支持部材、
／ ／は。The support column 3 is a hollow body with a rectangular cross section, and a supporting member //
is attached to this supporting member //VC, a servo motor 6, and a reducer 7 connected to the servo motor 6. A pinion S coupled to the output shaft of the speed reducer 7 is supported, and the pinion g rotates about a horizontal axis. A softer parallel to the railco is fixed in the middle of the pedestal L,
A pinion t is engaged with this rack. support member,
/ /teeth.
支柱３内であってｌ対のレールコ間の略中夫に配置され
、ピニオンざは台車弘の下面より下方に一部突出してい
る。レールコの上部には、レー／Ｌコを覆ってｌ対のジ
ャバラ１０が設けられ、このジャバラｉｏの一端はそれ
ぞれ台車ダの両側に結合され、他端は台座／の両端部に
それぞれ結合されている。The pinion is disposed within the support 3 and approximately in the middle between the pair of rails, and the pinion protrudes partially downward from the lower surface of the bogie. A pair of bellows 10 are provided on the upper part of the railco to cover the rail/Lco, one end of the bellows 10 is connected to both sides of the trolley, and the other end is connected to both ends of the pedestal. There is.
以上の構成により、ピニオンｔが減速機７を介してサー
ボモータ乙により駆動されると、ランフタに係合してい
るビニ°オンｇがラック９上を転動し、支柱３を支持す
る台車ダがレールコ上を矢印Ａ方向に走行する。これに
伴って、ジャバラｉ。With the above configuration, when the pinion t is driven by the servo motor B via the speed reducer 7, the pinion g engaged with the lamp lid rolls on the rack 9, and the bogie supporting the column 3 is rotated. runs on the railco in the direction of arrow A. Along with this, bellows i.
は一方が伸び他方が縮むように動作し、常にレールλを
保護して台車Ｖの走行を確保する。operates so that one side extends and the other side contracts, always protecting the rail λ and ensuring the running of the bogie V.
しかし１以上の構成になる従来の装置は、サーボモータ
６、減速機７およびピニオンを等でなる走行駆動部／コ
が、支柱３に収納され一台座／間の中央下部に臨んでい
たため、サーボモー−タロ（１）ブラシ交換や減速機７
の給排油、さらにはランフタとピニオンｊ間のバックラ
ッシュ肖整等のメンテナンス作業に困難を伴い、かつ、
走行駆動部／ｊの組立て作業も容易でなかった。However, in the conventional device having one or more configurations, the travel drive unit consisting of a servo motor 6, a speed reducer 7, a pinion, etc. was housed in the support 3 and faced the lower center of the pedestal. Servo motor rotor (1) Brush replacement and reducer 7
Maintenance work such as oil supply and drainage, and backlash adjustment between the lamp lid and pinion j is difficult, and
Assembling the travel drive unit /j was also not easy.
また、ジャバラの伸縮を伴うので、台車ダの走行時に大
きな摺動抵抗を伴うという欠点もあった。In addition, since the bellows expand and contract, there is also a drawback that large sliding resistance is caused when the trolley is running.
この発明は、上記のような従来装置の欠点を解消しよう
とするもので、台車の走行駆動部を台車の外側支持、配
設した構成により、走行駆動部のメンテナンス、組立の
作業を著しく容易にした工業用ロボフトの走行装置を提
供する。This invention aims to eliminate the above-mentioned drawbacks of the conventional device, and has a structure in which the traveling drive section of the bogie is supported and disposed outside the bogie, thereby significantly facilitating maintenance and assembly of the traveling drive section. The Company provides a traveling device for industrial robot robots.
第３図および第９図はこの発明の一実施例を示し１台車
Ｖの外側部に支持部材／／を取付け、走行駆動部／２を
構成するサーボモータ６、減速機７およびピニオンｇを
支持部材／／に装着する。3 and 9 show an embodiment of the present invention, and a support member // is attached to the outside of a bogie V to support the servo motor 6, reducer 7, and pinion g that constitute the travel drive section/2. Attach to member //.
台座ｌの側部にはレールコと平行なラックデが固設され
ていて、ピニオンざはランフタに係合する位置にある。A rack parallel to the rail controller is fixed to the side of the pedestal l, and the pinion rack is in a position to engage with the lamp lid.
また、ｌ対のレール−〇上面には、ステンレススチール
などの金属薄板でなる帯状のシートカバー／３を、両端
を台座／の両端部に固足して設け、このシートカバー７
３は、台車ｑに設けられ案内ローラを内蔵したシートカ
バーガイドｌｌ内を通っている。また、ノートカバー７
３は１台座／の上面に設けたシートカバー受台／Ｓに支
持され。In addition, a belt-shaped seat cover /3 made of a thin metal plate such as stainless steel is provided on the top surface of the l pair of rails, with both ends fixed to both ends of the pedestal /, and this seat cover 7
3 passes through a seat cover guide ll provided on the trolley q and incorporating a guide roller. Also, note cover 7
3 is supported by a seat cover holder/S provided on the top surface of the pedestal/1.
かつ、賛車ダの下面に設けたサイドカバー７６で両側部
が囲まれている。さらに、ｌ対のレールＪの間には踏板
／７が配設されている。In addition, both sides are surrounded by side covers 76 provided on the lower surface of the support vehicle. Furthermore, a tread plate/7 is arranged between the l pair of rails J.
次に動作について説明する。Next, the operation will be explained.
支柱３の外部であって台車ダの外側部に取付けられた走
行超勤部７．２を運転することにより、ピニオンにがラ
ック９と係合転動し、台車すがレールコ上を矢印Ａ方向
に走行する。By operating the running part 7.2 attached to the outside of the support column 3 and the outside of the bogie, the pinion engages and rolls with the rack 9, causing the bogie to move on the rail in the direction of arrow A. Run.
台車ｑの走行時、シートカバー７３がレール−〇露出部
分を常に覆い、レール、２ ｉＣｌ事項ブｆどの刺着す
るのを防止し、台４μの円滑な走行を確保する。また、
従来のジャバラを排除したことにより、台車ダの走行時
の抵抗が減少される。When the trolley q travels, the seat cover 73 always covers the exposed portion of the rail, prevents the rail, 2 iCl material, etc. from sticking, and ensures smooth running of the platform 4μ. Also,
By eliminating the conventional bellows, the resistance during running of the truck is reduced.
また、踏板／７を設けたことにより、台座ｌ上での自由
歩行および作業ができ、台座／の位置で自由に横断がで
きる。In addition, by providing the footboard /7, it is possible to walk and work freely on the pedestal l, and to cross freely at the position of the pedestal /.
以上のように、この発明は、台車の走行駆動部を台車の
側部に取付けたことＫより、走行駆動部の組立て、メン
テナンスが著しく容易となる効果がある。As described above, the present invention has the advantage that assembly and maintenance of the traveling drive section are significantly facilitated by attaching the traveling drive section of the truck to the side of the truck.
また、レールをシートカッ々−で覆った構成により、従
来のシャツ々うの収納スペースが不要となり、台座が短
かくでき、ロゼツトの小形、軽量化、低価格化を実現し
うる効果がある。In addition, the structure in which the rail is covered with a sheet cover eliminates the need for the conventional storage space for shirts, and the pedestal can be shortened, which has the effect of making the rosette smaller, lighter, and less expensive.
第１図は従来装置の要部側面図、第２図は第１図の■−
■線に沿う平面での断面図、第３図はこの発明の一実施
例の要部側面図、第９図は第３図の■−■線に沿う平面
での断面図である。
ｌ・・台車、−・・レール、３・・支柱、ｌＩｅ・台車
、５・・ベアリング、６・Φサーボモータ、７ｅ・減速
機、ざ・・ピニオン、９・・ラック、１０・・シャツ々
う、／／・・支持部材、／２・・走行駆動部、／３・・
シートカッ々−１／Ｕ・畳シートカッ々−ガイド、１５
・・シートカバー受台、／６・・サイドカッ々−１／７
・・踏板。
なお、各図中、同一符号は同−又は相当部分を示す。
第１図
第２図Figure 1 is a side view of the main parts of the conventional device, and Figure 2 is the ■- of Figure 1.
3 is a side view of a main part of an embodiment of the present invention, and FIG. 9 is a sectional view taken along line 2--2 in FIG. 3. l...Dolly, -...Rail, 3...Strut, lIe...Dolly, 5...Bearing, 6...Φ servo motor, 7e...Reducer, Za...Pinion, 9...Rack, 10...Shirts U, //...Support member, /2... Travel drive unit, /3...
Seat Kakka-1/U/Tatami Seat Kakka-Guide, 15
・・Seat cover holder, /6・・Side clasp – 1/7
...Treadboard. In each figure, the same reference numerals indicate the same or corresponding parts. Figure 1 Figure 2
Claims (3)
ルと、支柱が立設され前記レール上を走行する台車と、
前記台座に固設された前記レールと平行なラックと、前
記台車の外側部に取付けられ前記ラックに係合するピニ
オンを備えた走行駆動部とを備えてなる工業用ロボット
の走行装置。(1) a pedestal, a pair of rails disposed on the top surface of the pedestal, and a cart that has a support erected thereon and runs on the rails;
A traveling device for an industrial robot, comprising: a rack that is fixed to the pedestal and is parallel to the rail; and a traveling drive section that is attached to the outer side of the cart and has a pinion that engages with the rack.
の上面を覆い前記シートカバーガイドを通つて両端が台
座に固定された帯状のシートカバーとを備えた特許請求
の範囲第１項記載の工業用ロボットの走行装置。(2) Claim 1, comprising: a seat cover guide disposed on a truck; and a belt-shaped seat cover that covers the upper surface of the rail and is fixed at both ends to a base through the seat cover guide. Traveling device for industrial robots.
請求の範囲第２項記載の工業用ロボットの走行装置。(3) A traveling device for an industrial robot according to claim 2, comprising a step board disposed between a pair of rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12083584A JPS614680A (en) | 1984-06-14 | 1984-06-14 | Travelling device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12083584A JPS614680A (en) | 1984-06-14 | 1984-06-14 | Travelling device for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS614680A true JPS614680A (en) | 1986-01-10 |
Family
ID=14796136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12083584A Pending JPS614680A (en) | 1984-06-14 | 1984-06-14 | Travelling device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS614680A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04129684A (en) * | 1990-09-18 | 1992-04-30 | Mitsubishi Electric Corp | Moving body device |
-
1984
- 1984-06-14 JP JP12083584A patent/JPS614680A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04129684A (en) * | 1990-09-18 | 1992-04-30 | Mitsubishi Electric Corp | Moving body device |
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