JP2001300872A - Y-axis frame structure in orthogonal robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify the structure of a robot and easily form it. SOLUTION: A robot 1 is provided with an X-axis slider 7 supported on an X-axis frame 6 movable in a direction of an X-axis 3, a bracket 9 to be fastened to the X-axis slider 7, a Y-axis frame 10 supported on the bracket 9 a movable with the X-axis slider 7 and the bracket 9 in the direction of the X-axis 3, and a Y-axis slider 12 supported on the Y-axis frame 10 movable in a direction of a Y-axis 4 and for supporting a tool 11. The bracket 9 and the Y-axis frame 10 are integrally connected to each other. A connection body 13 of the bracket 9 and the Y-axis frame 10 linearly extends in the direction of the Y-axis 4 so that respective sectional surfaces in the direction of the Y-axis 4 may have the approximately same shape and size.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a Y-axis frame structure in an orthogonal type robot having a Y-axis frame supported on an X-axis frame so as to be movable in the X-axis direction.

[0002]

2. Description of the Related Art Conventionally, there is a robot constructed as follows.

That is, an X-axis slider supported on an X-axis frame so that the robot can move in the X-axis direction, a bracket fastened to the X-axis slider,
A Y-axis frame supported by the bracket and movable in the X-axis direction together with the X-axis slider and the bracket; and a tool supported by the Y-axis frame so as to be movable in the Y-axis direction. And a Y-axis slider.

[0004] Then, the Y-axis frame is moved together with the X-axis slider and the bracket in the X-axis direction,
By moving the Y-axis slider in the direction of the Y-axis,
The tool supported by the Y-axis slider is defined as an X-axis and a Y-axis.
It can be positioned at a desired coordinate position by an axis, and when the tool is driven at that position, a desired operation is performed on the work.

[0005]

In the above-mentioned conventional technology, each component of the robot is separate from each other. Therefore, the number of parts of this robot is large, so that the configuration of the robot is complicated. In addition, the molding may be complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above situation, and has as its object to simplify the structure of a robot and to facilitate its molding.

Another object of the present invention is to further improve the accuracy of work performed by a tool supported by the robot, and to make the robot compact even in such a case.

[0008]

The Y-axis frame structure of the orthogonal type robot according to the present invention for solving the above-mentioned problems is as follows.

According to the first aspect of the present invention, an X-axis slider 7 supported on an X-axis frame 6 so as to be movable in the direction of the X-axis 3, a bracket 9 fastened to the X-axis slider 7, and a bracket 9 And a Y-axis frame 10 supported by the X-axis slider 7 and the bracket 9 so as to be movable in the direction of the X-axis 3, and supported by the Y-axis frame 10 so as to be movable in the direction of the Y-axis 4. Tool 11
And a Y-axis slider 12 capable of supporting

The bracket 9 and the Y-axis frame 10 are integrally connected,

A combined body 13 of the bracket 9 and the Y-axis frame 10 extends linearly in the direction of the Y-axis 4,
Further, the cross sections in the direction of the Y axis 4 are formed to have substantially the same shape and size as each other.

According to a second aspect of the present invention, in addition to the first aspect of the present invention, the tool 11
A cable carrier 40 capable of supporting a cable 39 extending from

The cable carrier 40 is formed so as to extend linearly in the direction of the Y-axis 4 and to have substantially the same cross-sectional shape in each direction in the direction of the Y-axis 4. .

The invention according to claim 3 is the invention according to claim 1 or 2
In addition to the invention described above, the combined body 13 constitutes a lower end of the combined body 13 and is fastened to the X-axis slider 7, and a lower plate 19 which constitutes an upper end of the combined body 13 Upper plate 20 facing from a position distant from above
And a side plate 21 extending in the up-down direction and integrally connecting one side edge of each of the lower and upper plates 19 and 20 with each other.

The Y-axis slider 12 is accommodated in a space 24 surrounded by the plates 19 to 21,

Of the end surfaces of the Y-axis slider 12 in the direction of the X-axis 3, the surface facing the outside of the space 24 is a mounting surface 26 for the tool 11 which extends substantially vertically.

According to a fourth aspect of the present invention, in addition to the third aspect, the thickness T1 of the portion of the lower plate 19 fastened to the X-axis slider 7 is equal to the thickness of the general portion of the upper plate 20. This is larger than T2.

The invention of claim 5 is the invention of claim 3 or 4
In addition to the above-described structure, the lower end of the side plate 21 is integrally connected to the lower plate 19 in the direction of the X-axis 3 and fastened to the X-axis slider 7. An outward flange 42 is provided,

The outward flange 42 is formed so as to extend linearly in the direction of the Y axis 4 and to have substantially the same cross-sectional shape in each direction in the direction of the Y axis 4. It is.

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a Cartesian robot, which is installed on a substantially horizontal work floor 2.

An X axis 3 extending horizontally along the work floor 2 and a Y axis 4 extending horizontally along the work floor 2 and orthogonal to the X axis 3 are set. The robot 1 includes an X-axis frame 6 that extends linearly in the direction of the X-axis 3 and is fixed on the work floor 2 that is a fixed-side member.
X-axis frame 6 so that it can move forward and backward in the direction of
An X-axis slider 7 supported on the upper surface of the X-axis slider 7; a bracket 9 mounted on the upper surface of the X-axis slider 7 and detachably fastened to the X-axis slider 7 by a fastener 8;
A Y-axis frame 10 supported by the bracket 9 and movable forward and backward in the direction of the X-axis 3 together with the X-axis slider 7 and the bracket 9, and is movable forward and backward in the direction of the Y-axis 4. And a Y-axis slider 12 that is supported by the Y-axis frame 10 and can support a work tool 11.

The bracket 9 and the Y-axis frame 10 are integrally connected, and a combined body 13 formed by the brackets 9 and 10 extends linearly in the direction of the Y-axis 4, and
Each section in the direction of the Y axis 4 has substantially the same shape and the same size (the same shape and the same size). Here, the material of the coupling body 13 is made of aluminum metal and extruded.

The connecting body 13 has one end portion 14 in the longitudinal direction which is cantilevered to the X-axis slider 7 by fastening the fastener 8, and the other end portion 15 is a free end.

The connecting body 13 forms a lower end of the connecting body 13 and forms a lower plate 19 which is fastened to the X-axis slider 7 by the fastener 8 and an upper end of the connecting body 13. An upper plate 20 facing the lower plate 19 from a position separated from above and a side edge of the coupling body 13 and extending in the vertical direction, and one side edge of the lower plate 19 and the upper plate 20 are integrally formed. And a side plate 21 to be combined with each other.

The combined body 13 is formed by the plates 19 to 21 so that the cross section of each part in the direction of the Y axis 4 has a substantially U-shape. The side plate 21 has a large thickness, and the side plate 21 is formed with a plurality of lightening holes 22 penetrating in the direction of the Y axis 4, thereby reducing the weight of the Y axis frame 10. , Rigidity is improved.

A pair of upper and lower guide rails 25, 25, which are accommodated in a space 24 surrounded by the plates 19 to 21 of the combined body 13 and fastened to the side plate 21, are provided. Reference numeral 25 extends in the direction of the Y axis 4.
The Y-axis slider 12 is accommodated in the space 24, and the Y-axis slider 12 is supported by the guide rails 25 so that the Y-axis slider 12 can move only in the direction of the Y-axis 4.

Of the end surfaces of the Y-axis slider 12 in the direction of the X-axis 3, the surface facing the outside of the space 24 is a mounting surface 26 for the tool 11 which extends substantially vertically. The tool 11 is, for example, a drill which is a rotary tool provided with an electric motor, and a tool body 27 such as a drilling tool of the tool 11 is provided with a Y-axis slider so as to be able to move up and down in a vertical direction (Z-axis direction). 12 is supported.

X is a reduction motor which is supported on the work floor surface 2 side and drives the X-axis slider 7 to move forward and backward along the X-axis frame 6 together with the coupling body 13.
Axis driving means 30 and the Y-axis slider 12
In addition, a Y-axis driving means 31 is provided for driving to move forward and backward along the Y-axis frame 10.

The Y-axis driving means 31 is mounted on one end 14 and the other end 15 of the coupling body 13 so as to be rotatable about an axis which is accommodated in the space 24 and extends in the direction of the Y-axis 4. A bolt body 32 supported in a shape, a reduction motor 33 supported by one end 14 of the coupling body 13 to drive the bolt body 32 forward and backward, and a halfway of the bolt body 32 in the Y-axis 4 direction Screwed into the Y-axis slider 1
2 and a nut body 34 to be fastened. If the bolt body 32 is rotated forward and backward by the deceleration motor 33,
The nut body 34 moves forward and backward in the direction of the Y axis 4 with the Y axis slider 12 and the tool 11.

A flexible cable rack 37, one end of which is supported by the Y-axis slider 12 and the other end of which is supported by the one end 14 of the joint 13;
Is provided with another flexible cable rack 38 which is supported by one end 14 and the other end is supported by the work floor 2 side. An electric cable 39 for connecting the tool 11 and the Y-axis driving means 31 to a power source provided on the work floor 2 side.
Are accommodated in the cable racks 37 and 38 described above.

As shown by dashed lines in FIGS. 1, 2, 4, and 5, a cable carrier 40 for supporting a cable 39 extending from the tool 11 is provided. This cable carrier 40 is integrally connected to the connecting body 13,
It is formed so as to extend linearly in the direction of the Y-axis 4 and to have substantially the same cross-sectional shape in the direction of the Y-axis 4. That is, the coupling body 13 and the cable carrier 40 are integrally formed with each other by extrusion. The cable carrier 40 may not be provided.

The X-axis slider 7 is integrally connected to the lower end of the side plate 21 and protrudes in the direction of the X-axis 3 toward the side opposite to the lower plate 19 and is fastened to the X-axis slider 7 by the fastener 8. An outward flange 42 is provided, and the outward flange 42 is integrally formed with the cable carrier 40.

The outward flange 42 is formed so as to extend linearly in the direction of the Y axis 4 and to have substantially the same cross section in the direction of the Y axis 4. That is, the coupling body 13 and the outward flange 42 are integrally formed with each other by extrusion molding. Note that the outward flange 42 may not be provided. In this case, the coupling body 13 has a shape in which the outward flange 42 is cut off at a position indicated by a two-dot chain line in FIG.

By the driving of the X-axis driving means 30 and the Y-axis driving means 31, the combined body 13 is moved together with the X-axis slider 7 in the direction of the X-axis 3, and the Y-axis is moved in the direction of the Y-axis 4. By moving the axis slider 12, this Y
The tool 11 supported by the axis slider 12 is moved to the X axis 3
When the tool 11 is driven at the desired coordinate position by the and the Y axis 4, and the tool 11 is driven at that position,
Desired work is performed on the work.
43 is a tool 1 for the workpiece by the robot 1
1 is a work area.

According to the above configuration, the bracket 9 and the Y-axis frame 10 are integrally connected.

For this reason, the number of components of the robot 1 is reduced as compared with the conventional technology in which the bracket 9 and the Y-axis frame 10 are separately provided, and the configuration of the robot 1 is simplified.

Further, the combined body 13 of the bracket 9 and the Y-axis frame 10 extends linearly in the direction of the Y-axis 4, and the cross-sectional shape of each part in the direction of the Y-axis 4 is substantially equal to each other. It is formed to have the same shape and size.

For this reason, the material of the combined body 13 can be formed by extrusion molding, and accordingly, the robot 1 can be easily formed.

Further, as described above, the cable 39 integrally connected to the connecting body 13 and extending from the tool 11 is provided.
Is provided.

Therefore, the cable carrier 40 is
It is provided without increasing the number of components of the robot 1.

Further, the cable carrier 40 is formed so as to extend linearly in the direction of the Y-axis 4 and to have substantially the same cross-sectional shape in the direction of the Y-axis 4. .

For this reason, the coupling body 13 and the cable carrier 40 can be integrally formed by extrusion molding, so that the molding of the robot 1 can be facilitated accordingly.

As described above, the conjugate 13
A lower plate 19 that forms the lower end of the combined body 13 and is fastened to the X-axis slider 7; and a lower plate 19 that forms the upper end of the combined body 13 and faces the lower plate 19 from a position separated from above. Upper plate 20 which extends in the vertical direction,
And a side plate 21 for integrally connecting one side edge of each of the upper plates 19 and 20.

For this reason, the cross section of each part of the coupling body 13 in the direction of the Y axis 4 has a substantially U-shape, which is a shape that can easily secure rigidity.

Therefore, in the robot 1,
The accuracy of the operation by the tool 11 supported via the Y-axis slider 12 is further improved.

The Y-axis slider 12 is accommodated in a space 24 surrounded by the plates 19 to 21.

For this reason, since the Y-axis slider 12 is provided by using the extra space 24 in the combined body 13, the robot 1 can be made compact accordingly.

Further, of the respective end surfaces of the Y-axis slider 12 in the direction of the X-axis 3, the surface facing the outside of the space 24 is a mounting surface 26 for the tool 11 extending substantially vertically.

For this reason, if the size in the vertical direction is increased in order to improve the rigidity of the coupling body 13, the vertical size of the space 24 is correspondingly increased.
The vertical dimension of the Y-axis slider 12 housed in the space 24 can be increased, and accordingly, the area of the mounting surface 26 can be increased.

Therefore, by improving the rigidity of the joint 13, the accuracy of the operation by the tool 11 supported on the joint 13 via the Y-axis slider 12 is improved, and the Y-axis slider 12 Since the mounting surface 26 can be made larger, the degree of freedom of the size of the tool 11 that can be mounted on the mounting surface 26 is improved, and the workability is improved.

In the above configuration, the thickness T1 of the lower plate 19 of the combined body 13 fastened to the X-axis slider 7 is equal to the thickness T of the general portion of the upper plate 20.
It is larger than two.

For this reason, the thickness T1 of the lower plate 19
Is increased, the supporting strength of the combined body 13 with respect to the X-axis slider 7 is improved, and therefore, the accuracy of the operation by the tool 11 supported by the combined body 13 via the Y-axis slider 12 is further improved.

As described above, the X-axis slider 7
Even when the supporting strength of the combined body 13 with respect to
Since the thickness T2 of the general portion of the upper plate 20 is kept small, the weight of the combined body 13 is suppressed, and the weight of the robot 1 can be reduced.

As described above, the X-axis slider 7 is integrally connected to the lower end of the side plate 21 and projects in the direction of the X-axis 3 toward the side opposite to the lower plate 19. Is provided with an outward flange 42 to be fastened.

For this reason, the support strength of the combined body 13 with respect to the X-axis slider 7 is improved by the outward flange 42, so that the work by the tool 11 supported by the combined body 13 via the Y-axis slider 12 is performed. The accuracy is further improved.

The outward flange 42 is formed so as to extend linearly in the direction of the Y-axis 4 and to have substantially the same cross-sectional shape in the direction of the Y-axis 4. ing.

For this reason, the connecting body 13 and the outward flange 42 can be integrally formed by extrusion molding, so that the robot 1 can be easily formed.

Further, since the outward flange 42 is formed over the entire length of the coupling body 13, first, the coupling body 13 is entirely reinforced by the outward flange 42, and the rigidity is improved. Secondly, in each part of the joint body 13 in the direction of the Y axis 4, the outward flange 42 is connected to the cable carrier 40 provided separately from the joint body 13,
It can be used as a mounting bracket for electric parts and the like, and is convenient for assembling the robot 1.

Although the above description is based on the illustrated example,
In 3, the upper plate 20 may not be provided.

[0061]

The effects of the present invention are as follows.

According to the first aspect of the present invention, there is provided an X-axis slider supported on an X-axis frame so as to be movable in the X-axis direction, a bracket fastened to the X-axis slider, and the X-axis supported by the bracket. A Y-axis frame movable in the X-axis direction together with the axis slider and the bracket; and a Y-axis slider supported by the Y-axis frame so as to be movable in the Y-axis direction and capable of supporting a tool. Orthogonal robot,

The bracket and the Y-axis frame are integrally connected.

For this reason, the number of components of the robot is reduced as compared with the prior art in which the bracket and the Y-axis frame are separately provided, and the configuration of the robot is simplified.

Further, the combined body of the bracket and the Y-axis frame extends linearly in the Y-axis direction, and the cross sections of the respective parts in the Y-axis direction have substantially the same shape and size. It is formed so that it becomes.

For this reason, the material of the above-mentioned combined body can be formed by extrusion molding, so that the robot can be easily formed accordingly.

According to a second aspect of the present invention, there is provided a cable carrier integrally connected to the connecting member and capable of supporting a cable extending from the tool.

Therefore, the cable carrier is provided without increasing the number of components of the robot.

Further, the cable carrier is formed so as to extend linearly in the direction of the Y axis and to have substantially the same shape and the same cross section in each section in the direction of the Y axis.

For this reason, the above-mentioned combined body and the cable carrier can be integrally formed by extrusion molding, so that the robot can be easily formed by that much.

According to a third aspect of the present invention, the connecting member forms a lower end portion of the connecting portion and is fastened to the X-axis slider, and a lower end portion of the connecting portion forms the lower end plate. An upper plate facing upward from a position distant from the upper plate, and a side plate extending vertically and integrally connecting one side edge of each of the lower and upper plates.

For this reason, the cross section of each part of the combined body in the direction of the Y axis has a substantially U-shape, which is a shape that can easily secure rigidity.

Therefore, in the robot, the accuracy of the work performed by the tool supported on the combined body via the Y-axis slider is further improved.

The Y-axis slider is accommodated in a space surrounded by the respective plates.

For this reason, since the Y-axis slider is provided by using an extra space in the combined body,
The robot can be made more compact.

Of the end surfaces of the Y-axis slider in the direction of the X-axis, the surface facing the outside of the space is a mounting surface for a tool that extends substantially vertically.

For this reason, if the size in the vertical direction is increased to improve the rigidity of the combined body, the size in the vertical direction of the space is correspondingly increased.
The vertical dimension of the Y-axis slider accommodated in this space can be increased, and accordingly, the area of the mounting surface can be increased.

Thus, by improving the rigidity of the combined body,
The accuracy of the work performed by the tool supported on the combined body via the Y-axis slider is improved, and as described above, the size of the tool that can be mounted on this mounting surface is increased by the size of the mounting surface of the Y-axis slider. The degree of freedom
Workability is improved.

According to a fourth aspect of the present invention, the thickness of the lower plate portion fastened to the X-axis slider is larger than the thickness of the general portion of the upper plate.

For this reason, since the thickness of the lower plate is increased, the supporting strength of the combined body with respect to the X-axis slider is improved. Therefore, the work by the tool supported by the combined body via the Y-axis slider is performed. Accuracy is further improved.

As described above, even when the strength of supporting the combined body with respect to the X-axis slider is improved, the thickness of the general portion of the upper plate is kept small.
The weight of the combined body is suppressed, and the weight of the robot can be reduced.

According to a fifth aspect of the present invention, the lower end of the side plate is integrally connected to the lower end of the side plate so as to project in a direction opposite to the lower plate and fastened to the X-axis slider. An outward flange is provided.

For this reason, by the outward flange,
The support strength of the combined body with respect to the X-axis slider is improved, and therefore, the accuracy of work performed by a tool supported by the combined body via the Y-axis slider is further improved.

Further, the outward flange is formed so as to extend linearly in the direction of the Y axis, and to have substantially the same shape and the same cross section in each direction in the direction of the Y axis.

For this reason, the joint body and the outward flange can be integrally formed by extrusion molding, so that the robot can be easily formed.

Moreover, since the outward flange is formed over the entire length of the combined body, first, the combined body is entirely reinforced by the outward flange, and the rigidity is improved.
Secondly, in each part of the joint body in the Y-axis direction, the outward flange can be used as a cable carrier provided separately from the joint body, or as a mounting bracket for electric components, etc. It is convenient on assembly.

[Brief description of the drawings]

FIG. 1 is a partial sectional view of FIG.

FIG. 2 is a partially cutaway plan view.

FIG. 3 is a side view.

FIG. 4 is a partial front sectional view.

FIG. 5 is another side view.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot 3 X axis 4 Y axis 6 X axis frame 7 X axis slider 8 Fastener 9 Bracket 10 Y axis frame 11 Tool 12 Y axis slider 13 Combined body 19 Lower plate 20 Upper plate 21 Side plate 24 Space 26 Mounting surface 30 X-axis drive means 31 Y-axis drive means 39 Cable 40 Cable carrier 42 Outward flange T1 Thickness dimension T2 Thickness dimension

Claims (5)

[Claims] 1. An X-axis slider supported by an X-axis frame so as to be movable in the X-axis direction, a bracket fastened to the X-axis slider, and an X-axis slider and a bracket supported by the bracket. X above
An orthogonal type robot comprising: a Y-axis frame movable in the direction of an axis; and a Y-axis slider supported by the Y-axis frame so as to be movable in the Y-axis direction and capable of supporting a tool. A bracket and a Y-axis frame are integrally connected, and a combined body of the bracket and the Y-axis frame linearly extends in the Y-axis direction, and has a cross-sectional shape of each part in the Y-axis direction. Are formed to have substantially the same shape and size as each other. 2. A cable carrier integrally coupled to the coupling body and capable of supporting a cable extending from the tool, wherein the cable carrier extends linearly in the Y-axis direction, and 2. The Y-axis frame structure in the orthogonal type robot according to claim 1, wherein the cross sections of the respective parts in the direction of the Y-axis are formed to have substantially the same shape and size. 3. A lower plate which forms a lower end of the combined body and is fastened to the X-axis slider, and a lower plate which forms an upper end of the combined body and is separated from and above the lower plate. An upper plate facing from a position, and a side plate extending in the up-down direction and integrally connecting one side edge of each of the lower and upper plates, wherein the Y-axis slider is provided in a space surrounded by the plates. 3. The end surface of the Y-axis slider in the direction of the X-axis of the Y-axis slider, wherein a surface facing the outside of the space is a mounting surface for a tool that extends substantially vertically. The Y-axis frame structure in the orthogonal robot. 4. The Y-axis frame of the orthogonal type robot according to claim 3, wherein a thickness of a lower plate portion fastened to the X-axis slider is larger than a thickness of a general portion of the upper plate. Construction. 5. An outward flange which is integrally coupled to a lower end of the side plate, protrudes in the direction of the X axis toward a side opposite to the lower plate and is fastened to the X axis slider. The outward flange extends linearly in the direction of the Y axis,
5. The method according to claim 3, wherein the cross sections of the respective parts in the direction of the Y axis are formed to have substantially the same shape and size.
5. The Y-axis frame structure in the orthogonal robot according to 4.