JPS58196986A - Industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an orthogonal industrial robot whose operating parts are movable two-dimensionally or three-dimensionally.

The structure of the conventional example and its problem a are generally protected by a cover b or the guide C is exposed. However, this method has the disadvantage that the guide C is exposed and is insufficient in terms of safety and reliability.

OBJECT OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks and improves safety,
The present invention provides an orthogonal industrial robot that maintains excellent reliability.

Structure of the Invention The present invention provides mounting brackets that are attached to two protruding parts of a moving block, in which a bearing part that can slide in the axial direction and a nand that can be screwed onto a feed screw are fastened along a guide. By providing a space between the protrusions and providing a cover in the space, the threaded part, guide part, etc. are not exposed to the outside, and safety is high.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 2 to 4. FIG. 2 shows an industrial robot Σ with three orthogonal axes using the present invention, where 1 is an X-axis unit and the first
The placing section 2 is moved in the direction of arrow X. Reference numeral 3 denotes a Y-axis unit, which is fixed to the first mounting section 2 and slides the second mounting section 4 in the direction of the arrow Y, which is perpendicular to the direction of the arrow X.

A biaxial unit 6 is fixed to the second mounting portion 4 and slides the plate 6 in the direction of the arrow Z, which is perpendicular to the directions of the arrows X and Y. The present invention relates to the above-mentioned X-axis unit 1. Next, the X-axis unit 1 will be explained in detail.

A motor 7 has a built-in encoder 8 for detecting rotation, and is fixed to a motor mounting plate 9. 10 is a joint, 11 is a ball screw, 12 is a drive side fixing block,
13 is a driven side fixed block, 14 is a main body, and the ball screw 11 is connected to the motor 7 by a joint 10. Further, both ends of the ball screw 11 are rotatably held by a driving side fixed block 12 and a driven side fixed block 13, which are fixed to the main body 14 with a predetermined interval, and rotary bearings 16 are provided. 16 is a guide with a trapezoidal cross section;
parallel to the ball screw 11 and -L of the ball screw 11
Two are provided at the bottom and fixed to the main body 14. Reference numeral 17 denotes a moving block, which is moved to fix a ball screw nut 18 that can be screwed onto the ball screw 11, a guide 16, a bearing 19, and a mounting bracket 2o having a mounting surface with a T groove 20a. The block 17 has minimum protrusions 17a, 17b at the top and bottom. Reference numeral 21 denotes a cover, which is designed to prevent interference between the moving block 17 and the mounting bracket 2o in the space formed when the movable I block 17 and the mounting bracket 2o are combined and fixed, as shown in FIG. Motor mounting plate 9 is provided at both ends.
and is fixed to the end plate 31.

22 is a tacho generator connected to the ball screw 11;
It is fixed to the end plate 31. 23°24.25
, 26, 27.28 are sensors that detect magnetic force, and 2
A magnet 9 fixes the sensors 23, 24, 25, 26, 27, 28 to a detector rail 30 provided at the top of the main body 14. Further, the magnet 29 is fixed to the moving block 17. Further, numeral 32 designates an upper cover which, like the cover 21, is provided so as not to interfere with either the moving block 17 or the mounting bracket 2o, and its both ends are fixed to the motor mounting plate 9 and the end plate 31. Therefore, the main body 14
By combining the cover 21 and the upper cover 32, the protrusion 17 of the moving block 17 can be seen on the front of the robot.
Only portions a and 17b are exposed, and the gap between the main body 14 and the cover 21 and the gap between the upper cover 32 and the cover 21 are formed by this protrusion 17a.

The amount is very small to avoid interference with 17b.

In the above configuration, the operation will be explained next. The rotational driving force of the motor 7 is transmitted to the ball screw 11 via the joint 1-10, and the ball screw 11 rotates. At this time, the ball screw nut 18 fixed to the moving block 17 can be screwed into the ball screw 11, but since the moving block 17 does not rotate around the axis of the ball screw 11 due to the guide 16, the moving block is rotated in the X direction. Move to. The moving direction of the moving block 17 is determined by the rotating direction of the motor 7 and the twisting direction of the ball screw 11, and therefore, when the motor 7 is reversed, the moving direction becomes opposite. Also, the amount of movement is determined by motor 7.
The built-in rotation detection encoder 8 detects the rotation amount, and when the movement amount set in advance in the control device and the corresponding rotation amount match, the drive of the motor 7 is decelerated or stopped. , can be determined. Also, sensors 23°24.26, 26, 27.28 are position detection sensors, sensors 25.26 detect the origin position of this device, sensors 24.27 detect the origin return position, and sensors 23°28 detect the limit position. It is something to do. Further, the tacho generator 22 detects the rotational speed of the ball screw 11.
The rotation speed of the motor 7 can be controlled after detecting the rotation speed and calculating it in the control device so that it matches the speed set in advance in the control device. Drive side fixed block 12. This is an industrial robot in which a movable block 17 can move between fixed blocks 13 on the driven side to a predetermined position on a straight line at a predetermined speed, and a mounting bracket 2o is fixed to the movable block 17. By this, a space can be formed, a cover 21 is provided in the space, and a cover 32 is provided on the upper part, so that
Moving block 17° ball screw 11. The guide 16 is not exposed at all. In the end, said operation is carried out by the mounting bladder, 7
) The cover 20 operates in a sliding manner with a slight gap between the cover 21 and the cover 21. In addition, in the above embodiment, the robot was used to control the position and speed, but
Only position control is sufficient. Further, although the mounting bracket 2o is formed into a plate shape, it may have an L-shaped cross section with orthogonal surfaces, and the attachment portion to the moving block may not be in the same plane. In short, the movable block mounting bracket, which is moved within a fixed block with a predetermined interval by a motor and feed screw, is fastened at two mounting parts, and a space is created between one mounting part and the other mounting part. However, it is sufficient that a cover with both ends fixed to the plate is constructed in that space.

Effects of the Invention As described above, according to the present invention, the screw portion/guide portion is not exposed to the outside except for two small portions that interfere with the mounting portion, and is highly safe. This is effective in providing a highly reliable robot because it can block out dust and the like.

[Brief explanation of the drawing]

FIG. 1 is a partially cross-sectional perspective view of a conventional example, and FIG. 2 is a perspective view of an orthogonal three-axis industrial robot according to an embodiment of the present invention.
FIG. 3 is a partially sectional perspective view of an industrial robot according to an embodiment of the present invention, and FIG. 4 is a sectional view thereof. 7...Motor, 11...Ball screw,
12...Fixed block, 13...Fixed block, 16...Guide, 17...
Moving block, 18...Natsuto, 19...
...Bearing, 2o...Mounting bracket, 21...
····cover.

Claims (1)

[Claims] a motor that provides rotational drive, a rotatable feed screw connected to the motor, a guide provided parallel to the feed screw, and a fixed block having a predetermined interval that supports the guide and both ends of the feed screw; a moving block having a bearing part that is slidable in the axial direction along the guide, two protruding parts to which a Nand threadable to the feed screw is fastened and which moves within the fixed block; It has a mounting bracket fastened to the protruding part and a cover fixed at both ends to the fixed block, and is configured to have a predetermined space between one protruding part and the other protruding part of the seven moving blocks, 7. An industrial robot provided in a position where it does not come into contact with the cover, the moving block, or the mounting bracket.