JPH08318483A - Industrial robot - Google Patents

Abstract

PURPOSE: To provide an industrial robot capable of miniaturizing the constitu tion. CONSTITUTION: A robot 11 is provided with a gear-shaped roller 14, a gear- shaped pulley 15 whose rotary shaft is fixed to the fixing position 21 at the prescribed reference position 21 of the robot 11, and a geared belt 16 which is fixed to the fixing position 21 at one end, wound around the roller 14 and the pulley 15, and engaged with the roller 14 and the pulley 15. The other end part of the belt is fixed to the end part on the outer circumferential side of a spiral spring 22. A spring 23 is provided on the roller 14 between the roller and the reference position 21, and the spring 23 elastically presses the roller 14 in the direction of the arrow B12. A box 12 is provided with a first cylindrical part 25 whose one end is fixed to a base body 24, a second cylindrical part 27 which is small in diameter than the first cylindrical part 25, and smoothly slidable in the first cylindrical part 25 through a bearing 26, and a third cylindrical part 29 which is smaller in diameter than the second cylindrical part 27, and smoothly slidable in the second cylindrical part 27 through a bearing 28.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot that performs linear motion as an example.

[0002]

2. Description of the Related Art FIG. 3 is a sectional view of a conventional industrial robot (hereinafter referred to as a robot) 1. The robot 1 is provided with a long casing 2 having a total length L1 provided so as to be capable of reciprocating in a predetermined linear direction, and a hand 3 provided at one longitudinal end of the casing 2. Inside the housing 2, a gear-shaped roller 4 having a rotating shaft fixed to the housing 2 at one longitudinal direction and a gear-shaped roller 5 having a rotating shaft fixed to the housing 2 at the other longitudinal end.
Is provided, and both ends are fixed to the housing 2, and the toothed belt 6 that is wound around the rollers 4 and 5 and meshes with the rollers 4 and 5 is provided. The ends of the belt 6 on the rollers 4, 5 side are fixed to the housing 2 at fixing positions 9, 10. The vicinity of the intermediate portion of the belt 6 is pulled out of the housing 2 and meshes with the gear-shaped roller 7. The roller 7 is rotationally driven in both directions by the bidirectional rotation of the motor 8. On the side of the roller 7, the housing 2 is formed with a groove extending over substantially the entire length.

In the robot 1, the roller 7 is bidirectionally driven by the bidirectional rotation of the motor 8. When the roller 7 rotates in the direction of arrow A1 in FIG. 3, the belt 6 is wound in the direction of arrow B1 in FIG. Since the end of the belt 6 on the roller 4 side is fixed to the housing 2 at the fixing position 9, the roller 4 is pulled in the arrow B1 direction. As a result, the housing 2 to which the hand 3 is fixed moves linearly in the arrow B1 direction. On the other hand, when the roller 7 rotates in the arrow A2 direction in FIG. 3, the belt 6 is wound in the arrow B2 direction in FIG. Since the end of the belt 6 on the roller 5 side is fixed to the housing 2 at the fixing position 10, the roller 4 is indicated by the arrow B.
It is pulled in two directions. As a result, the housing 2 to which the hand 3 is fixed moves linearly in the arrow B2 direction. In this way, the robot 1 can linearly move the roller 7 along the arrow A1 direction or the arrow A2 direction for a length substantially corresponding to the total length L1 of the housing 2.

[0004]

In the robot 1 of the prior art, in order to perform the above-described bidirectional linear movement, at the intermediate position shown in FIG. 3 in the arrow A1 direction and the arrow A2 direction, A space having a length substantially corresponding to half the length L1 / 2 of the total length L1 of the housing 2 is always required along the arrow A1 direction. Therefore, the configuration of the robot 1 becomes large, and in particular,
The robot 1 has a problem that the dead space at the rear portion on the side opposite to the side where the hand 3 is provided becomes large.

An object of the present invention is to solve the above technical problems and to provide an industrial robot which can be downsized.

[0006]

An industrial robot according to the present invention is rotatable about a rotation center position and linearly reciprocates from a reference position; and a reciprocating movement of the rotary member. And one end fixed to the reference position and the other end being wound or unwound near the reference position, and wound around the rotary member between the one end and the other end. And a drive member that winds or unwinds the power transmission member near the reference position, thereby achieving the above object.

In the present invention, the drive member is connected to the other end of the power transmission member, and the coil spring winds the power transmission member by a spring force, and the power transmission member is wound in the winding direction or It may be provided with a traveling drive member that drives the vehicle to travel in the feeding direction. .

[0008]

In the industrial robot of the present invention, the driving member winds or unwinds the power transmission member near the reference position. By winding the power transmission member whose one end is fixed to the reference position, the rotating member moves in a predetermined linear direction in one direction while rotating. The movement of the rotating member in this one direction causes the working end to move in the same direction. When the power transmission member is extended by the driving member, the rotating member moves in a predetermined linear shape in the other direction while rotating. The movement of the rotating member in the other direction causes the working end to move in the other direction. In this way, the working end can be moved in both directions. At this time, in the industrial robot of the present invention, the working end is moved in both directions from the reference position in one direction and from the movement end position in one direction to the reference position. Has been done. Therefore, with respect to the reference position, it is possible to eliminate the need for disposing components of the industrial robot, a space for movement, and the like on the side opposite to the one direction, and the configuration of the industrial robot can be remarkably downsized.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a system diagram for explaining the basic configuration of an industrial robot (hereinafter, robot) 11 according to an embodiment of the present invention. The robot 11 uses the arrow B11 in a predetermined linear direction.
Direction and arrow B12 direction, the gear-shaped roller 14 is provided so as to be able to reciprocate, and a predetermined reference position 2 of the robot 11.
1, a gear-shaped pulley 15 having a rotating shaft fixed at a fixed position 21 and one end fixed at the fixed position 21 is wound around the roller 14 and the pulley 15 and meshes with the roller 14 and the pulley 15. A toothed belt 16 is provided. The other end of the belt 6 is fixed to the end of the spiral spring 22 on the outer peripheral side. The spiral spring 22 is configured to always wind the belt 16 in the direction of arrow C11.
A spring 23 is provided between the roller 14 and the reference position 21, and the spring 23 elastically presses the roller 14 in the arrow B12 direction. The pulley 15 is rotationally driven bidirectionally in the arrow A1 direction and the arrow A2 direction.

FIG. 2 is a sectional view showing a configuration example of the robot 11. The robot 11 of the present configuration example includes the roller 1
It has a housing 12 accommodating 4, a pulley 15 and a belt 16. The housing 12 is configured to be expandable / contractible in three stages as an example. The housing 12 has a tubular first tubular portion 25 whose one end is fixed to the base body 24, and a diameter smaller than that of the first tubular portion 25. Inside the first tubular portion 24, a linear ball bearing (hereinafter, A second tubular portion 27 which is provided so as to be smoothly slidable via a bearing 26, and has a diameter smaller than that of the second tubular portion 27 and is smoothly slidable inside the second tubular portion 27 via a bearing 28. And a third tubular portion 29 movably provided.
The hand 13 is attached to the tip of the third tubular portion 29.

The rotation shaft of the roller 14 is fixed to the third cylindrical portion 29, and the rotation shaft of the pulley 15 is fixed to the base body 24. The motor 18 is connected to the pulley 24, and the pulley 24 is rotated by the bidirectional rotation of the motor 18.
Is rotationally driven in the arrow A1 direction and the arrow A2 direction. In the robot 11, the reference position 21 is a fixed position of the belt 16 with respect to the base body 24.

The operation of the robot 11 of this embodiment will be described below. In the robot 11, the pulley 15 is rotationally driven in both directions by the bidirectional rotation of the motor 18. When the pulley 15 rotates in the direction of arrow A11 in FIG. 1, the belt 16 is wound in the direction of arrow B11 in FIG. Since the one end of the belt 16 is fixed to the base body 24 at the fixing position 21, the roller 14 is fixed to the spring 2
It is pulled in the direction of arrow B11 against the spring force of 3. As a result, the cylindrical portions 27 and 29 to which the hand 13 is fixed move linearly in the arrow B1 direction. As a result, the housing 12 is smoothly retracted toward the base body 24 side.

On the other hand, when the pulley 15 rotates in the direction of arrow A12 in FIG. 1, the belt 16 is paid out in the direction of arrow B12 in FIG. The roller 14 causes the spring 23 to move the arrow B
Since the roller 14 is pressed in 12 directions, the roller 14
It is pushed out in the 12 directions by the spring force of the spring 23. As a result, the housing 12 to which the hand 13 is fixed becomes
4 extends in the direction of arrow B12. In this way, the robot 11 moves the hand 1 with respect to the base body 24.
3 can be moved linearly along arrow B11 or arrow B12. At this time, with respect to the pulley 15, the need to dispose the components of the robot 11 and the space for linear movement on the side opposite to the roller 14 is eliminated,
The configuration of the industrial robot 11 can be remarkably miniaturized.

[0014]

As described above, according to the present invention, the working end is moved in both directions from the reference position in one direction and from the movement end position in one direction to the reference position. Have been realized. Therefore, with respect to the reference position, it is possible to eliminate the need for disposing components of the industrial robot, a space for movement, and the like on the side opposite to the one direction, and the configuration of the industrial robot can be remarkably downsized.

[Brief description of drawings]

FIG. 1 is a system diagram illustrating a basic configuration of a robot 11 according to an embodiment of the present invention.

FIG. 2 is a cross-sectional view showing a configuration example of a robot 11.

FIG. 3 is a cross-sectional view of a conventional robot 1.

[Explanation of symbols]

 11 Robot 12 Housing 13 Hand 14 Roller 15 Pulley 16 Toothed Belt 21 Reference Position 22 Spiral Spring 23 Spring 25 First Cylinder 27 Second Cylinder 29 Third Cylinder

Claims (2)

[Claims] 1. A rotating member that is rotatable around a rotation center position and that linearly reciprocates from a reference position; an operating end that reciprocates as the rotating member reciprocates; and one end of the reference member. Fixed to the position, the other end is wound or unwound near the reference position, the power transmission member is wound around the rotary member between the one end and the other end, and the power transmission member is wound near the reference position. An industrial robot having a drive member that winds or unwinds a power transmission member. 2. The drive member is connected to the other end of the power transmission member, and the coil spring winds the power transmission member by a spring force, and the power transmission member travels in the winding direction or the unwinding direction. The industrial robot according to claim 1, further comprising a traveling drive member that is driven.