JPS614694A - industrial robot - Google Patents

industrial robot

Info

Publication number
JPS614694A
JPS614694A JP59125949A JP12594984A JPS614694A JP S614694 A JPS614694 A JP S614694A JP 59125949 A JP59125949 A JP 59125949A JP 12594984 A JP12594984 A JP 12594984A JP S614694 A JPS614694 A JP S614694A
Authority
JP
Japan
Prior art keywords
positioning device
linear positioning
movable block
industrial robot
feed screw
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
Application number
JP59125949A
Other languages
Japanese (ja)
Inventor
理 疋田
一夫 城戸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP59125949A priority Critical patent/JPS614694A/en
Publication of JPS614694A publication Critical patent/JPS614694A/en
Pending legal-status Critical Current

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  • Transmission Devices (AREA)
  • 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】 産業上の利用分野 本発明は直進位置決め装置として、駆動源をサーボモー
ターと送りネジを組み合わせたものとする第１の直進位
置決め装置と、駆動源をエアーシリンダーとする第２の
直進位置決め装置とを同一摺動方向に組み合わせた構造
からなる工業用ロボットに関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is a linear positioning device, which includes a first linear positioning device whose driving source is a combination of a servo motor and a feed screw, and a second linear positioning device whose driving source is an air cylinder. This invention relates to an industrial robot having a structure in which two linear positioning devices are combined in the same sliding direction.

従来例の構成とその問題点 従来の直進位置決め装置は第１図にその具体構成を示す
ように１組のスライドシャフト１にサーボモーター２で
送りネジ３を回転させ、ボールスプライン機構４によっ
て、可動ブロック５を移動させていた。Structure of the conventional example and its problems The conventional linear positioning device, as shown in FIG. Block 5 was being moved.

しかしながら、このような構成では、移動距離が長くな
ると位置決めに多くの時間を費やし、高速運転が困難で
あった。さらに、一本の長い送りネジを使って長い距離
を移動させると、送りネジに発生する振動が増加し、正
確な位置決めが困難であった。まだ、送りネジはその加
工が困難なだめに、長い送りネジを使うことは、コスト
的にも非常に高いなどの問題があった。However, with such a configuration, when the moving distance becomes long, a lot of time is spent on positioning, making high-speed operation difficult. Furthermore, when a single long feed screw is used to move a long distance, vibrations generated in the feed screw increase, making accurate positioning difficult. However, there were still problems, such as the fact that feed screws were difficult to process and the cost of using long feed screws was extremely high.

発明の目的 本発明は上記従来の欠点を鑑み、これを解消するもので
ある。OBJECTS OF THE INVENTION The present invention is intended to eliminate the above-mentioned conventional drawbacks.

発明の構成 本発明の工業用ロボットは直進位置決め装置として、送
りネジと、それを駆動させる駆動源と、スライドシャフ
トと、すべり軸受部を有する２つの独立して可動な可動
ブロックと、シリンダー装置とからなり、移動距離が従
来の２倍となっても、移動に要する時間は従来と殆んど
大差なく、また移動距離が長くなっても正確に位置決め
できる、など極めて有効である。Structure of the Invention The industrial robot of the present invention serves as a linear positioning device, and includes a feed screw, a drive source for driving the feed screw, a slide shaft, two independently movable movable blocks each having a slide bearing, and a cylinder device. Even if the moving distance is twice that of the conventional method, the time required for moving is almost the same as that of the conventional method, and even if the moving distance becomes long, accurate positioning can be performed, which is extremely effective.

実施例の説明 以下に、本発明の一実施例を第２図にもとづいて説明す
る。図において、６は送りネジ、７は送りネジを駆動さ
せる駆動源であるサーボモーター８はスライドシャフト
、９はスライドシャフト上にあるボールスプライン機構
、１ｏは送りネジを駆動させることによってスライドシ
ャフト上を移動する可動ブロックである。１１は可動ブ
ロック上に取りつけられたエアーシリンダー、１２はエ
アシリンダーのピストン、１３はピストンの駆動によっ
て移動する可動ブロックであり、１４はスライドシャフ
ト上にあり、可動ブロック１３を移させるボールスプラ
イン機構である。可動ブロック１３には、テーブル、も
しくは工具類が取りつけられる。DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIG. In the figure, 6 is a feed screw, 7 is a servo motor 8 which is a drive source for driving the feed screw, is a slide shaft, 9 is a ball spline mechanism on the slide shaft, and 1o is a drive source that drives the feed screw to move the top of the slide shaft. It is a movable block that moves. 11 is an air cylinder mounted on a movable block, 12 is a piston of the air cylinder, 13 is a movable block that is moved by the drive of the piston, and 14 is a ball spline mechanism that is on a slide shaft and moves the movable block 13. be. A table or tools are attached to the movable block 13.

以上のように構成された工業用ロボットの直進位置決め
装置について、以下その動作を説明する・可動ブロック
１３が、スライドシャフト８上をスライドシャフト８の
全長の半分以上の移動が必要なときはエアーシリンダー
１１に空気を入れることによってピストン１２は瞬時に
伸びた状態となシ、可動ブロック１３もそれに従って、
スライドシャフトＢ上を移動する。それと同時にもうひ
とつの駆動源であおるサーボモーター了によって駆動さ
せられた送シネシロは、ボールスプライン機構９によっ
て、可動ブロック１０をスライドシャツミー８上を移動
させ、それに伴なって、可動ブロック１ｏに取り付けら
れたエアーシリンダー１１が移動して、エアーシリンダ
ー１１のピストン１２に接続された可動ブロック１３は
、スライドシャフト８上を移動して、位置決め動作が完
了する。The operation of the linear positioning device for an industrial robot configured as described above will be explained below. When the movable block 13 needs to move on the slide shaft 8 by more than half of the total length of the slide shaft 8, an air cylinder is used. By introducing air into the piston 11, the piston 12 is instantly expanded, and the movable block 13 also moves accordingly.
Moves on slide shaft B. At the same time, the feed shinshiro driven by the servo motor, which is another driving source, moves the movable block 10 on the slide shirt 8 by the ball spline mechanism 9, and is attached to the movable block 1o accordingly. The moved air cylinder 11 moves, and the movable block 13 connected to the piston 12 of the air cylinder 11 moves on the slide shaft 8, completing the positioning operation.

この場合、位置決めに要する時間は、送りネジを駆動さ
せるのに費した時間に相当する。In this case, the time required for positioning corresponds to the time spent driving the feed screw.

可動ブロック１３の移動が、スライドシャフト８の全長
の半分以下である場合は、上記実施例において、エアー
シリンダー１１による移動を削除し、送りネジによる移
動だけにする。If the movement of the movable block 13 is less than half of the total length of the slide shaft 8, the movement by the air cylinder 11 in the above embodiment is eliminated and only the movement by the feed screw is used.

発明の効果 以上のように本発明では、第１の直進位置決め装置と駆
動源、ならびに第１の直進位置決め装置と独立して駆動
され、該位置決め装置の摺動方向と等しい方向に摺動す
る第２の直進位置決め装置と駆動源−を備えることによ
って、移動距離が従来の２倍となっても、移動に要する
時間は従来と殆んど大差なく、１だ移動距離が長くなっ
ても正確に位置決めでき、その実用的効果は極めて大な
るものがある。Effects of the Invention As described above, the present invention includes a first linear positioning device, a drive source, and a first linear positioning device that is driven independently of the first linear positioning device and slides in the same direction as the sliding direction of the positioning device. By being equipped with 2 linear positioning devices and a drive source, the time required for movement is almost the same even if the moving distance is twice that of the conventional one, and even if the moving distance is longer than the conventional one, it is possible to achieve accuracy. positioning, and its practical effects are extremely large.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は従来の直進位置決め装置の正面図、第２図は本
発明の一実施例における直進位置決め装置を有する工業
用ロボットの一部断面正面図である０ ６・・・・・・送シねじ、８・・・・・・スライドシャ
フト、１゜・・・・・・移動ブロック、１３・・・・・
・可動ブロック。FIG. 1 is a front view of a conventional linear positioning device, and FIG. 2 is a partially sectional front view of an industrial robot having a linear positioning device according to an embodiment of the present invention. Screw, 8...Slide shaft, 1°...Moving block, 13...
- Movable block.

Claims (1)

【特許請求の範囲】[Claims] 第１の直進位置決め装置と駆動源、ならびに第１の直進
位置決め装置と独立して駆動され、前記第１の直進位置
決め装置と駆動源を備え、前記、二つの直進位置決め装
置の駆動源は一方がサーボモーターと送りネジを組み合
わせた構成とし、他方はエアーシリンダーを用いる工業
用ロボット。a first linear positioning device and a drive source; the first linear positioning device and a drive source are driven independently of the first linear positioning device; one of the drive sources of the two linear positioning devices is driven independently of the first linear positioning device; This industrial robot has a configuration that combines a servo motor and a feed screw, and the other uses an air cylinder.
JP59125949A 1984-06-19 1984-06-19 industrial robot Pending JPS614694A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59125949A JPS614694A (en) 1984-06-19 1984-06-19 industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59125949A JPS614694A (en) 1984-06-19 1984-06-19 industrial robot

Publications (1)

Publication Number Publication Date
JPS614694A true JPS614694A (en) 1986-01-10

Family

ID=14922957

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59125949A Pending JPS614694A (en) 1984-06-19 1984-06-19 industrial robot

Country Status (1)

Country Link
JP (1) JPS614694A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6457318A (en) * 1987-08-28 1989-03-03 Sumitomo Heavy Industries Positioning device
WO2012025948A1 (en) * 2010-08-23 2012-03-01 トヨタ自動車株式会社 Linear motion mechanism and robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5546458U (en) * 1978-09-22 1980-03-26
JPS5555993U (en) * 1978-10-11 1980-04-16
JPS59115188A (en) * 1982-12-20 1984-07-03 松下電器産業株式会社 Robot arm device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5546458U (en) * 1978-09-22 1980-03-26
JPS5555993U (en) * 1978-10-11 1980-04-16
JPS59115188A (en) * 1982-12-20 1984-07-03 松下電器産業株式会社 Robot arm device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6457318A (en) * 1987-08-28 1989-03-03 Sumitomo Heavy Industries Positioning device
WO2012025948A1 (en) * 2010-08-23 2012-03-01 トヨタ自動車株式会社 Linear motion mechanism and robot
JPWO2012025948A1 (en) * 2010-08-23 2013-10-28 トヨタ自動車株式会社 Linear motion mechanism and robot

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