JP2003305672A - Gantry robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gantry robot that can reduce the occupied installation space of a treatment station, suppress equipment cost low, reduce restrictions on the working area of the robot and smoothly perform a plurality of treatment, neither causing wear, wire severance, or the like of a motor driving cable, nor making noise. <P>SOLUTION: This gantry robot 10 is provided with a plurality of traveling frames 11 respectively provided with support legs and extending horizontally parallel; a guide rail 14 provided at each traveling frame and extending along the frame; a plurality of traveling mobile bodies 30 provided in a reciprocating travelable manner across a plurality of guide rails; and driving means 20 provided inside the traveling frames to individually drive the respective traveling mobile bodies. A plurality of traveling mobile bodies travel in a freely reciprocating manner on the travel guide rails independently of each other in a space between the traveling frames. In this constitution, a plurality of traveling mobile bodies are provided to be travelable in a reciprocating manner on the travel guide rails independently of each other. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, assembling, tightening, press-fitting, caulking, and application of an adhesive to a work such as an automobile part or an electronic device part transferred in a manufacturing line. The present invention relates to a gate robot capable of performing various processes such as processing, marking, and inspection.

[0002]

As disclosed in Japanese Patent Laid-Open No. 2001-293643, in a production facility for automobile parts, a production facility for electronic equipment parts, etc. The effectiveness of working from the upper space and the improvement of work efficiency are shown.

[0003]

However, in a recent production facility or the like, it is necessary to perform combined processing at one processing station at the same time due to shortening of production tact, and sophistication and complexity of required work. Has been increasing. Hitherto, when it is necessary to perform a plurality of processes at one processing station, a method of combining a plurality of robots has been adopted. In this case, since each robot is standardized and commercialized, simply combining a plurality of robots will increase the installation space occupied by the processing station. In addition to the high cost, there are restrictions on the work areas of the robots, which makes it impossible to smoothly perform a plurality of processes.

In addition, a plurality of traveling frames arranged horizontally and in parallel to each other are provided on a support leg, both ends of the traveling frames are connected by plates, and a traveling movable body moves across the traveling frames. In such a self-sustaining gate-type robot, in the conventional gate-type robot, in order to move the traveling movable body on the traveling frame, the motor provided in the traveling movable body rotates the pinion gear, A drive means for traveling while engaging with a rack provided on the traveling frame has been adopted. In this case, since the motor travels with the traveling movable body, there is a possibility that the motor drive cable may be worn or broken, and noise may be generated due to the meshing between the pinion and the rack, which adversely affects the working environment. At the same time, since the driving means is in the space above the work, there is a problem of interference with the processing device, which may limit the arrangement of the processing device.

The present invention has been made in view of the above problems, and an object of the present invention is to reduce the installation space occupied by a processing station, keep equipment costs low, and reduce the cost of robots. It is an object of the present invention to provide a gate-type robot that reduces restrictions on the work area, smoothly performs a plurality of processes, and that does not generate wear, disconnection, or noise of the motor drive cable. At the same time, the drive means is housed in the traveling frame to open the space above the work,
It is possible to greatly improve the degree of freedom in arranging the processing device.

[0006]

According to another aspect of the present invention, there is provided a gate-type robot having a plurality of traveling frames each provided with a support leg and extending in parallel to a horizontal direction, and a plurality of traveling frames provided on each of the traveling frames. A guide rail that extends, a plurality of traveling movable bodies that are reciprocally provided across the plurality of guide rails, and drive means that individually drive each of the traveling movable bodies are included in the traveling frame. In the space between the traveling frames, the plurality of traveling movable bodies independently travel each other and travel on the traveling guide rail in a reciprocating manner.

According to this structure, since a plurality of movable movable bodies can be independently reciprocally moved on the guide rails independently of each other in one gate type frame structure, the installation space occupied by the processing station can be reduced. It is possible to handle multiple processing operations and all kinds of processing equipment of production equipment that requires high-speed work, and it is possible to effectively use the work area above the work and to move the work. Since the drive means for driving the body is fixed to the traveling frame that does not travel, it is possible to eliminate the occurrence of wear and disconnection of the drive cable.

In the above construction, an X-axis frame provided on the traveling movable body and provided with an X-axis guide rail extending in a direction orthogonal to the traveling frame and in the horizontal direction, and reciprocally traveling on the X-axis guide rail. And an Z-axis movable body, a Z-axis frame provided with the Z-axis movable body, and a Z-axis guide rail extending in a direction orthogonal to the X-axis frame and extending vertically, and reciprocally traveling on the Z-axis guide rail. A configuration including the provided Z-axis movable body can be adopted. According to this configuration, since the vehicle can reciprocate in the traveling (Y-axis) direction, the X-axis direction, and the Z-axis direction, it is possible to cope with a plurality of complicated operations.

In the above structure, it is possible to adopt a structure in which the processing unit is provided at the tip of the Z-axis movable body and the movable area of the processing unit is provided in the space below the traveling frame. According to this configuration, with respect to works such as automobile parts or electronic device parts transferred in the manufacturing line, for example, assembly of parts, tightening, press fitting, caulking, processing such as application of adhesive, marking, It is possible to perform various processing such as inspection.

In the above structure, the plurality of traveling movable bodies are
It is possible to adopt a configuration in which the guide rail provided on the traveling frame is shared. According to this configuration, the plurality of traveling movable bodies can share the traveling guide rails provided on the plurality of traveling frames, so that the facility cost can be reduced.

In the above structure, the driving means for the traveling movable body may be composed of a ball screw, a ball nut and a motor. According to this configuration, compared to a drive system that employs a rack and a pinion gear, highly accurate traveling can be performed,
It is possible to suppress the generation of noise that adversely affects the environment, and it is possible to house the drive means in the traveling frame.

In the above structure, the driving means for the traveling movable body may be an air cylinder. According to this configuration, it is possible to employ it for work or the like that does not require highly accurate traveling, and it is possible to reduce equipment costs.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. 1 to 4
1 shows an embodiment of a gate type robot according to the present invention. FIG. 1 is a schematic perspective view, FIG. 2 is a front view, FIG. 3 is a plan view, and FIG. 4 is a side view. This gate type robot 10
As shown in FIG. 1 to FIG. 4, including two traveling frames 11 (11a, 11b) and four leg frames 12 (12a, 12b, 12c, 12d) arranged in parallel,
Various processes are applied to the transferred work (not shown). Traveling movable body 30 (30a, 30
b), traveling frame 11, leg frame 12, and plate 1
The combination of 3 (13a, 13b) forms a gate type frame structure.

As shown in FIGS. 1 and 3, the traveling frame 11 is provided with a set of two traveling guide rails 14 extending on the upper surface in the traveling direction (Y direction) to guide the traveling movable body. Has been done. That is, each of the two traveling movable bodies 30 is a set of the two traveling guide rails 14.
By sharing the information, it is possible to effectively use the equipment and reduce the equipment cost.

The four leg frames 12 are fixed to a base frame (floor surface) 15 via bolts (not shown) or the like.

As shown in FIG. 5, ball screws 21 (21a, 21b), ball nuts 22 (22a, 22b), which form a part of the driving means 20 (20a, 20b), are provided inside and on the end face of the traveling frame 11. The drive motor (AC servomotor) 23 (23a, 23b) is arranged,
The traveling movable body 30 is caused to travel in the Y direction. Ball screw 21
Is the base plate 3 to which the traveling movable body 30 is attached.
Ball nut 22 fixed to 1 (31a, 31b)
It is screwed into (22a, 22b) and rotatably supported by bearings 24 (24a, 24b) provided at both ends of the traveling frame 11, and an AC servomotor 23 is connected and fixed to one end thereof. Since the AC servomotor 23 is fixed and does not move in this manner, it is possible to eliminate the occurrence of wear, disconnection, etc. of the motor drive cable (not shown). In this example, the motor is linearly arranged concentrically with the ball screw, but the motor may be folded back so as to be parallel to the ball screw.

Each traveling movable body 30 is rotated individually or in reverse in the Y direction on the traveling guide rails 14 by rotating the respective AC servo motors 23 in the forward or reverse direction. Run freely back and forth. For example, the traveling movable body 30a on the right side shown in FIG.
Are driven by the drive means 20a, and the left traveling movable body 30b is driven by the drive means 20b, and travels individually while sharing the travel guide rail 14. When the right traveling movable body 30a is stopped at the right end, the left traveling movable body 30b shares the traveling guide rail 14, so that the right traveling movable body 30a is stopped from the left end. It is possible to drive to the very right edge, and the work area can be enlarged.

The traveling movable body 30 is, as shown in FIGS. 1 to 4, an X-axis movable body 40 (40a, 4) which moves in the X direction.
0b) and the Z-axis movable body 50 (50a, 5) that moves up and down in the Z direction.
0b), and a processing unit 60 (60a, 6a) for performing a predetermined processing on the work is provided at the tip of the Z-axis movable body 50.
0b) is provided.

The X-axis movable body 40 includes an X-axis frame 41 (4
1a, 41b) provided with an internal ball screw, a ball nut, and a drive motor (AC servomotor) X
The X-axis guide rail 42 is provided by an axis driving means (not shown).
It reciprocates in the X direction along (42a, 42b).

The Z-axis movable body 50 includes a Z-axis frame 51 (5
1a, 51b) provided with a ball screw, a ball nut, and a drive motor (AC servomotor) Z
A Z-axis guide rail 52 is provided by an axis driving means (not shown).
It reciprocates in the Z direction along (52a, 52b).

The processing unit 60 performs appropriate processing according to the work to be processed and the processing content. That is, assembling, tightening, press-fitting, crimping,
Various processes such as processing such as application of adhesive, marking, and inspection are performed.

FIG. 6 shows another embodiment of the gate-type robot according to the present invention, showing a drive means portion for driving the traveling movable body 30, and the same structure as that of the above-mentioned embodiment. And the description thereof will be omitted. The gate-shaped robot 100 drives the traveling movable body 30, although the traveling movable body 30 and the combination of the traveling frame 11 and the leg frame 12 form a gate-shaped frame structure as in the above-described embodiment. The drive means includes a ball screw 21 and a drive motor 23 (see FIG. 6) that form the drive means 20.
Instead of a), as shown in FIG. 6b, the air cylinder 2
5 (25a, 25b) is different.
By adopting the air cylinder 25, it can be used for work that does not require highly accurate traveling, and the equipment cost can be kept low.

Further, as shown in FIGS. 6c and 6d, the ball screw 21, the drive motor 23 and the air cylinder 25 may be combined. By combining these, it is possible to perform processing work that is even more flexible.

Although the preferred embodiments of the present invention have been described above, various configurations and various modifications can be realized without departing from the scope of the present invention. For example, the traveling movable body 30, the portion of the combination of the traveling frame 11 and the leg frame 12 to form the gate-shaped frame structure is the same as the above-described embodiment, but as shown in FIG. A configuration in which a pair of traveling guide rails 14a and 14b extending in the Y direction are installed on each of the upper surface and the lower surface to guide the traveling movable body 30 can be adopted.

According to this structure, two traveling movable bodies 30 are provided.
Can independently use either one of the travel guide rails 14a and 14b provided on the upper surface and the lower surface of the two traveling frames 12, so that the traveling of the two traveling movable bodies 30 is less restricted, and the processing work is performed. The area can be used more effectively.

[0026]

As described above, according to the gate type robot of the present invention, a plurality of traveling movable bodies are independently reciprocated on the guide rail independently of each other within one gate type frame structure. Since it can be freely installed, the installation space occupied by the processing station can be reduced, and it is possible to handle all kinds of processing equipment of production equipment that requires multiple operations and high-speed operations, and the work area above the work area. The driving means for driving the traveling movable body is housed in the traveling frame that does not travel, so that it is possible to prevent wear and disconnection of the driving cable.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing an embodiment of a gate type robot according to the present invention.

FIG. 2 is a front view of the portal robot shown in FIG.

3 is a plan view of the portal robot shown in FIG. 1. FIG.

FIG. 4 is a side view of the portal robot shown in FIG.

5 is an enlarged view of a drive unit of the portal robot shown in FIG.

FIG. 6 is a schematic view of a driving means portion showing another embodiment of the gate robot according to the present invention.

[Explanation of symbols]

10,100 Gate robot 11 traveling frame 12 leg frame 13 plates 14 Driving guide rail 15 base frame 20 Drive means 21 ball screw 22 Ball nut 23 Drive motor 25 air cylinders 30 traveling movable body 40 X-axis movable body 50 Z-axis movable body 60 processing units

Claims (6)

[Claims] 1. A plurality of traveling frames, each of which is provided with a support leg and extends parallel to the horizontal direction, a guide rail provided on each of the traveling frames and extending along the frame, and a plurality of the guide rails. A plurality of traveling movable bodies provided so as to be capable of reciprocating over the straddle, and a driving means for individually driving each of the traveling movable bodies are included in the traveling frame, and a plurality of the traveling movable bodies are provided in a space between the traveling frames. A gate-type robot, wherein traveling movable bodies independently reciprocally travel on the guide rails. 2. An X-axis frame provided on the traveling movable body, the X-axis frame having an X-axis guide rail extending in a direction orthogonal to the traveling frame and horizontally, and reciprocally traveling on the X-axis guide rail. An X-axis movable body provided, a Z-axis frame provided on the X-axis movable body and having a Z-axis guide rail extending in a direction orthogonal to the X-axis frame and in a vertical direction, and on the Z-axis guide rail. The gate-type robot according to claim 1, further comprising a Z-axis movable body provided so as to be capable of reciprocating. 3. The gate type robot according to claim 2, wherein a processing unit is provided at a tip end portion of the Z-axis movable body, and a movable area of the processing unit is provided in a space below the traveling frame. 4. The gate robot according to claim 1, wherein the plurality of traveling movable bodies share the guide rails provided on the traveling frame with each other. 5. The portal robot according to claim 1, wherein the driving means for the traveling movable body includes a ball screw, a ball nut and a motor. 6. The driving means for the movable traveling body comprises an air cylinder.
The gate-type robot described in any of 1.