JP2015147286A - actuator and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator capable of regulating rotation of a rod in a predetermined range of 360° or more with a simple constitution and capable of easily corresponding even to the change of a rotation amount, and to provide a robot using the actuator.SOLUTION: When a rod is rotated in one direction, a rod side stopper is brought into contact with a rotation member side stopper, a rotation member is also rotated in one direction, the rotation member side stopper is brought into contact with a first rotation regulation part of a rotation range regulation part, thereby, a rotation amount to one direction of the rod is regulated via the rotation member. When the rod is rotated in the other direction, the rod side stopper is brought into contact with the opposite side of the rotation member side stopper, the rotation member is also rotated in the other direction, the rotation member side stopper is brought into contact with a second rotation regulation part of the rotation range regulation part and, thereby, the rotation amount to the other direction of the rod is regulated via the rotation member.

Description

  The present invention relates to an actuator and a robot. In particular, the rotation of a rod that is moved in the axial direction and rotated and driven can be regulated within a predetermined range of 360 ° or more with a simple configuration. The present invention relates to a device devised so that it can easily cope with a change in quantity.

For example, Patent Document 1 discloses a configuration that regulates the rotation of the rod within a predetermined range of 360 ° or more.
The “mechanical stopper device of the rotating shaft portion” disclosed in Patent Document 1 is generally configured as follows. First, there are two members that are relatively rotatable. A first mechanical stopper projects and is formed on one of these two members. A second mechanical stopper is slidably installed on the other member of the two members via a sliding rod. Fixed ends are respectively installed at both ends of the sliding rod, and the second mechanical stopper comes off the sliding rod when the second mechanical stopper comes into contact with the fixed end. I try not to.

When the one member is rotated relative to the other member, the first mechanical stopper contacts the second mechanical stopper, and the one member is rotated in the same direction. Then, the second mechanical stopper moves on the sliding rod. Then, the rotation of the one member relative to the other member is restricted by the second mechanical stopper coming into contact with one of the fixed ends.
In addition, since the second mechanical stopper can move on the sliding rod, the one member rotates relative to the other member within a predetermined range of 360 ° or more. be able to.

JP 7-136972 A

However, the conventional configuration has the following problems.
First, in the “mechanical stopper device of the rotating shaft” described in Patent Document 1, the second mechanical stopper is slidably installed on the other member of the two members via a sliding rod. Therefore, there is a problem that the configuration becomes complicated.
Further, there is a problem that it is not possible to easily cope with the case where it is desired to change the relative rotation amount of the one member relative to the other member.

  The present invention has been made on the basis of the above points. The object of the present invention is to rotate the rod that is moved and rotated in the axial direction within a predetermined range of 360 ° or more with a simple configuration. An object of the present invention is to provide an actuator that can be regulated and can easily cope with a change in the amount of rotation, and a robot using such an actuator.

In order to solve the above-mentioned problem, the actuator according to claim 1 is a rod that is moved in the axial direction and rotated and driven, a rod-side stopper that is installed on the rod, and a shaft that is installed coaxially with the rod and rotates. A rotatable member, a rotating member-side stopper installed on the rotating member, and a rotation range restricting portion including a first rotation restricting portion and a second rotation restricting portion, and the rod rotates in one direction. Then, the rod side stopper is brought into contact with the rotating member side stopper, the rotating member is also rotated in the one direction, and the rotating member side stopper is brought into contact with the first rotation restricting portion of the rotation range restricting portion. As a result, the amount of rotation of the rod in one direction is regulated via the rotating member, and when the rod is rotated in the other direction, the rod-side stopper contacts the opposite side of the rotating member-side stopper. The rotating member is also rotated in the other direction, and the rotating member side stopper is brought into contact with the second rotation restricting portion of the rotation range restricting portion, whereby the rod is rotated in the other direction via the rotating member. The amount is regulated.
According to a second aspect of the present invention, in the actuator according to the first aspect, the rotating member-side stopper includes a rotating member-side first stopper and a rotating member-side second stopper, and the rod is a single member. The rod-side stopper is brought into contact with the rotating member-side first stopper and the rotating member is also rotated in the one direction, and the rotating member-side second stopper is the first of the rotation range restricting portion. The amount of rotation of the rod in one direction is regulated through the rotating member by contacting the rotation restricting portion, and when the rod is rotated in the other direction, the rod side stopper is the rotating member side first. The rotating member is also rotated in the other direction by contacting the opposite side of the stopper, and the opposite side of the rotating member side second stopper is brought into contact with the second rotation restricting portion of the rotation range restricting portion. Via the serial rotary member is characterized in that the amount of rotation of the other direction of the rod is restricted.
The actuator according to claim 3 is the actuator according to claim 1, wherein the rotating member-side stopper is a single member, and when the rod is rotated in one direction, the rod-side stopper becomes the rotating member. The rotating member is also rotated in the one direction by contacting with a predetermined portion of the side stopper, and another predetermined portion of the rotating member side stopper is in contact with the first rotation restricting portion of the rotation range restricting portion. When the amount of rotation of the rod in one direction is restricted via the rotating member and the rod is rotated in the other direction, the rod-side stopper is brought into contact with the opposite side of the predetermined portion of the rotating member-side stopper. The rotating member is also rotated in the other direction, and the rotating member side stopper is brought into contact with the second rotation restricting portion of the rotation range restricting portion so that the rotating member side stopper is in contact with the second rotation restricting portion. It is characterized in that the amount of rotation of the other direction of the rod is regulated via.
An actuator according to claim 4 is the actuator according to any one of claims 1 to 3, wherein the rotation range restricting portion is formed of a single member, and one end of the single member is The first rotation restricting portion and the other end is the second rotation restricting portion.
The actuator according to claim 5 is the actuator according to any one of claims 1 to 3, wherein the rotation range restricting portion is the first rotation restricting member which is the first rotation restricting portion. It is comprised from the 2nd rotation control member which is a 2 rotation control part.
According to a sixth aspect of the present invention, in the actuator according to any one of the first to fifth aspects, the rotation range restricting portion is detachably installed.
According to a seventh aspect of the present invention, in the actuator according to the fourth aspect of the present invention, an arbitrary rotation range is selected from a plurality of types of rotation range restriction members having different intervals between the first rotation restriction portion and the second rotation restriction portion. The restriction member is attached.
An actuator according to claim 8 is the actuator according to any one of claims 1 to 7, wherein the rod side stopper and / or the rotating member side stopper are detachably installed. It is what.
The actuator according to claim 9 is the actuator according to any one of claims 1 to 8, wherein the rod side stopper and / or the rotating member side stopper is a buffer that cushions an impact at the time of contact. The material is installed.
An actuator according to a tenth aspect is the actuator according to any one of the first to ninth aspects, wherein the rotation member side stopper and / or the first rotation restriction portion and the second rotation restriction of the rotation restriction portion. The part is provided with a shock absorbing material for buffering an impact at the time of contact.
The actuator described in claim 11 is the actuator according to any one of claims 1 to 10, wherein a rod motor for rotating and driving the rod is installed, and the rod is a spline shaft. In addition, a spline nut is engaged and disposed on the spline shaft, and the rod is rotated and driven by rotating the spline nut by the rod motor.
A robot according to a twelfth aspect uses the actuator according to any one of the first to eleventh aspects.
A robot described in claim 13 is a robot according to claim 12, which is a table top type orthogonal robot, and the actuator according to any one of claims 1 to 11 is used as a Z-R axis actuator. It is characterized by using.
The robot described in claim 14 is a horizontal or vertical articulated robot in the robot according to claim 12, and the actuator according to any one of claims 1 to 11 is a Z-R axis actuator. It is characterized by using as.

As described above, according to the actuator of the first aspect, the rod that is moved in the axial direction and rotated and driven, the rod-side stopper that is installed on the rod, and the coaxial that is installed on the rod and rotatable. A rotating member, a rotating member side stopper installed on the rotating member, and a rotation range restricting portion including a first rotation restricting portion and a second rotation restricting portion, and the rod is rotated in one direction. Then, the rod side stopper is brought into contact with the rotating member side stopper, the rotating member is also rotated in the one direction, and the rotating member side stopper is brought into contact with the first rotation restricting portion of the rotation range restricting portion. Thus, the amount of rotation of the rod in one direction is regulated via the rotating member, and when the rod is rotated in the other direction, the rod side stopper is brought into contact with the opposite side of the rotating member side stopper. The rotating member is also rotated in the other direction, and the rotating member side stopper is brought into contact with the second rotation restricting portion of the rotation range restricting portion, whereby the rotation amount of the rod in the other direction via the rotating member. Therefore, the rotation of the rod can be regulated within a predetermined range of 360 ° or more with a simple configuration, and the change of the rotation amount can be easily dealt with. .
According to the actuator of claim 2, in the actuator of claim 1, the rotating member side stopper is composed of a rotating member side first stopper and a rotating member side second stopper, and the rod is unidirectional. The rod-side stopper is brought into contact with the rotating member-side first stopper, the rotating member is also rotated in the one direction, and the rotating member-side second stopper is rotated in the first rotation of the rotation range restricting portion. The amount of rotation of the rod in one direction is regulated through the rotating member by coming into contact with the regulating portion, and when the rod is rotated in the other direction, the rod side stopper is the rotating member side first stopper. The rotating member is rotated in the other direction, and the opposite side of the rotating member side second stopper is in contact with the second rotation restricting portion of the rotation range restricting portion. Since the rotation amount in the other direction of the rod through the serial rotary member has a configuration which is regulated, it is possible to reliably obtain the above effects with a simple structure.
Further, according to the actuator according to claim 3, in the actuator according to claim 1, the rotating member side stopper is a single member, and when the rod is rotated in one direction, the rod side stopper is moved to the rotating member side. The rotating member is also rotated in the one direction by contacting with a predetermined portion of the stopper, and another predetermined portion of the rotating member side stopper is in contact with the first rotation restricting portion of the rotation range restricting portion. When the amount of rotation of the rod in one direction is restricted via the rotating member, and the rod is rotated in the other direction, the rod side stopper is brought into contact with the opposite side of the predetermined portion of the rotating member side stopper. The rotating member is also rotated in the other direction, and the rotating member side stopper is brought into contact with the second rotation restricting portion of the rotation range restricting portion so that the rotating member side stopper is in contact with the second rotation restricting portion. Since the amount of rotation of the rod in the other direction is regulated through the configuration, similarly, the above effect can be reliably obtained with a simple configuration, and in particular, the rotating member side stopper is a single member. Since there is, it can be set as a simpler structure.
According to the actuator described in claim 4, in the actuator according to any one of claims 1 to 3, the rotation range restricting portion is composed of a single member, and one end of the single member. Is the first rotation restricting portion and the other end is the second rotation restricting portion. Therefore, by using the rotation range restricting portion as a single member, a simpler structure can be obtained. .
According to the actuator described in claim 5, in the actuator according to any one of claims 1 to 3, the rotation range restricting portion includes the first rotation restricting member that is the first rotation restricting portion and the above-described rotation restricting portion. Since the second rotation restriction member is a second rotation restriction member, for example, a small member is used as the first rotation restriction member or the second rotation restriction member, thereby facilitating the installation and cost of these members. Can be reduced.
Moreover, according to the actuator described in claim 6, in the actuator according to any one of claims 1 to 5, the rotation range restricting portion is detachably installed. By exchanging, the rotatable range of the rod can be set arbitrarily and easily within a predetermined range of 360 ° or more.
According to the actuator described in claim 7, in the actuator according to claim 4, an arbitrary rotation is selected from a plurality of types of rotation range restricting members having different intervals between the first rotation restricting portion and the second rotation restricting portion. Since the range restricting member is attached, the predetermined range of 360 ° or more can be arbitrarily set easily and easily by exchanging a single member.
Further, according to the actuator described in claim 8, in the actuator according to any one of claims 1 to 7, the rod side stopper and or the rotating member side stopper are detachably installed. It is possible to easily switch between a state where the rotatable range of the rod is restricted and a state where the rotatable range of the rod is not restricted.
According to the actuator described in claim 9, in the actuator according to any one of claims 1 to 8, the rod-side stopper and / or the rotating member-side stopper buffers an impact at the time of contact. Since the cushioning material is installed, it is possible to reduce impact and sound when the rod side stopper and the rotating member side stopper come into contact.
According to the actuator described in claim 10, in the actuator according to any one of claims 1 to 9, the rotation member side stopper and / or the first rotation restricting portion and the second rotation of the rotation restricting portion. Since the cushioning material that cushions the impact at the time of contact is installed in the restricting portion, the impact and sound when the rotating member side stopper, the first rotation restricting portion, and the second rotation restricting portion come into contact are reduced. Can do.
According to the actuator described in claim 11, in the actuator according to any one of claims 1 to 10, a rod motor for rotating and driving the rod is installed, and the rod is a spline shaft. Since the spline nut is meshed and disposed on the spline shaft, and the rod is rotated and driven by rotating the spline nut by the rod motor, the axial direction can be achieved with a simple configuration. Both movement and rotation can be realized.
According to the robot described in claim 12, since the actuator according to any of claims 1 to 11 is used, the configuration can be simplified and the size can be reduced.
According to a robot described in claim 13, the robot according to claim 12 is a table top type orthogonal robot, and the actuator according to any one of claims 1 to 11 is a Z-R axis actuator. Therefore, the structure can be simplified and downsized.
Further, according to the robot described in claim 14, the robot according to claim 12, which is a horizontal or vertical articulated robot, the actuator according to any one of claims 1 to 11 is mounted on a Z-R axis. Since it is used as an actuator, the configuration can be simplified and downsized.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the 1st Embodiment of this invention, and is a perspective view which shows the tabletop type orthogonal type work robot using an actuator. It is a figure which shows the 1st Embodiment of this invention and is a perspective view of the state which removed the drive part cover of the actuator. It is a figure which shows the 1st Embodiment of this invention and is a front view of the state which removed the drive part cover of the actuator. It is a figure which shows the 1st Embodiment of this invention and is the left view of the state which removed the drive part cover of the actuator. It is a figure which shows the 1st Embodiment of this invention and is a bottom view of the state which removed the drive part cover of the actuator. It is a figure which shows the 1st Embodiment of this invention, and is VI-VI sectional drawing in FIG. It is a figure which shows the 1st Embodiment of this invention, and is VII-VII sectional drawing in FIG. FIG. 8 is a diagram showing a first embodiment of the present invention, and FIG. 8 is a sectional view taken along line VIII-VIII in FIG. 9A and 9B are diagrams showing a first embodiment of the present invention, in which FIG. 9A is a cross-sectional view taken along the line IXa-IXa in FIG. 7, and FIG. 9B is an enlarged view of a portion b in FIG. FIG. 3 is a diagram illustrating a first embodiment of the present invention, in which a drive part cover, a spline nut, and an attachment part are removed, and a hollow rod side timing pulley is broken at a base part of a flange part; It is a fragmentary perspective view. FIG. 11A is a diagram illustrating a first embodiment of the present invention, FIG. 11A is a schematic diagram illustrating a rotatable range of a hollow rod with respect to a rotating member, and FIG. 11B is a rotating member rotated with the rotation of the hollow rod. FIG. 11C is a schematic diagram showing a state where the second stopper on the rotating member side is in contact with the first rotation restricting portion of the rotation range restricting member, and FIG. It is a schematic diagram which shows the state which 2 stopper contact | abutted to the 2nd rotation control part of the rotation range control member. It is a figure which shows the 2nd Embodiment of this invention, and is a perspective view which shows a horizontal articulated type work robot. It is a figure which shows the 2nd Embodiment of this invention, and is a perspective view of the working robot of the state which removed the drive part cover. It is a figure which shows the 2nd Embodiment of this invention, and is XIV-XIV sectional drawing of FIG. It is a figure which shows the 2nd Embodiment of this invention, and is an enlarged view of the XV part of FIG. It is a figure which shows the 2nd Embodiment of this invention, and is a XVI-XVI arrow line view of FIG. 14, and extracts a rod, a spline nut, a timing pulley, etc. FIG. FIGS. 17A and 17B are views showing a second embodiment of the present invention, FIG. 17A is a perspective view in which rods, spline nuts, timing pulleys, and the like are extracted, and FIG. 17B is a rotating member side stopper of FIG. It is the disassembled perspective view which decomposed | disassembled the attachment structure. It is a figure which shows the 2nd Embodiment of this invention, and is XVIII-XVIII sectional drawing in Fig.17 (a). FIGS. 19A and 19B are diagrams showing a second embodiment of the present invention, FIG. 19A is a schematic diagram showing a rotatable range of the rod with respect to the rotating member, and FIG. 19B is a rotation of the rotating member as the rod rotates. FIG. 19C is a schematic diagram showing a state in which the member-side stopper is in contact with one rotation range restricting member. FIG. It is a schematic diagram which shows the state contact | connected.

Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a perspective view showing the overall configuration of a work robot 1 of a table top type orthogonal type. The work robot 1 is provided with a table 5. The table 5 is a hollow box, in which a control board, a power supply device, and the like (not shown) are installed. Further, on the front surface of the table 5 (surface on the lower left side in FIG. 1), connectors 7, 9, 11, push button switches 13, 15, and an emergency stop push button switch 17 are installed.

  The table 5 is provided with an X-axis actuator 19. The lower part (lower part in FIG. 1) of the X-axis actuator 19 is housed and arranged in the table 5, and the upper part (upper part in FIG. 1) is above the table 5 (upper part in FIG. 1). ) Is exposed and placed.

  The X-axis actuator 19 includes a housing 21, which has a substantially U-shaped cross-sectional shape, and the longitudinal direction of the table 5 (the direction from the lower left to the upper right in FIG. 1, the X-axis direction) ). Both sides of the upper end of the housing 21 (upper end in FIG. 1) in the width direction (the direction from the lower left to the upper right in FIG. 1) are projected and formed outward to form plate-like covers 23 and 23. ing.

  The housing 21 includes an X-axis motor (not shown), an X-axis ball screw (not shown) rotated by the X-axis motor, and an X-axis ball nut (not shown) screwed to the X-axis ball screw. ing. An X-axis slider (not shown) is fixed to the X-axis ball nut. An upper portion (upper portion in FIG. 1) of the X-axis slider (not shown) is exposed and arranged outside, and various objects are placed here. In the case of the first embodiment, the pallet 25 is installed on the X-axis slider (not shown). On the pallet 25, a plurality of substrates 26 (5 × 5 = 25 in the case of the first embodiment) are placed.

  In the housing 21, a guide member (not shown) for guiding the X-axis slider (not shown) is installed. The guide member guides the X-axis ball nut (not shown) and the X-axis slider (not shown) in the axial direction of the X-axis ball screw (not shown) from the lower left to the upper right in FIG. It is configured to be. Then, the rotation of the X-axis ball screw (not shown) guides the X-axis ball nut and the X-axis slider (not shown) in the axial direction of the X-axis ball screw (the direction from the lower left to the upper right in FIG. 1, the X-axis direction). It is moved while.

  An upper cover 27 is installed above the housing 21 (upper side in FIG. 1). The upper cover 27 is disposed so as to close an upper opening (upper side in FIG. 1) of the housing 21 (not shown). The X-axis slider (not shown) is disposed so as to straddle the upper cover 27.

  As shown in FIG. 1, a column body 29 is erected on the table 5. A Y-axis actuator 31 is installed on the column body 29.

  The Y-axis actuator 31 includes a housing 33. The housing 33 includes a Y-axis ball screw (not shown) and a Y-axis ball nut (not shown) screwed into the Y-axis ball screw. . A Y-axis slider 35 is fixed to the Y-axis ball nut (not shown).

  The Y-axis actuator 31 is provided with a drive unit cover 37. In the drive unit cover 37, a Y-axis motor (not shown), a Y-axis motor side timing pulley (not shown) fixed to the output shaft of the Y-axis motor, and an end of the Y-axis ball screw (not shown) are fixed. And a Y-axis ball screw side timing pulley (not shown), a Y-axis motor side timing pulley, a timing belt (not shown) wound around the Y-axis ball screw side timing pulley, and the like. When the Y-axis motor rotates, the Y-axis ball screw is rotated via the Y-axis motor side timing pulley, the timing belt, and the Y-axis ball screw side timing pulley.

  A guide member (not shown) that guides the Y-axis slider 35 is installed in the housing 33. With this guide member, the Y-axis slider 35, and hence the Y-axis ball nut (not shown), is in the axial direction of the Y-axis ball screw (the direction from the upper left to the lower right in FIG. 1, Y orthogonal to the X-axis direction). It is moved while being guided in the axial direction.

  A cover 39 is installed in the housing 33. The cover 39 is disposed so as to close the opening 41 of the housing 33. The Y-axis slider 35 is installed so as to straddle the cover 39.

  The Y-axis slider 35 is provided with a Z-R axis actuator 36. The Z-R axis actuator 36 has the following configuration.

The Z-R axis actuator 36 is provided with a housing 43. The housing 43 includes a guide part 45 and a cover part 47.
The guide portion 45 has a substantially U-shaped cross section. As shown in FIGS. 2, 6, and 7, guide rails 49 are provided on both sides of the inner width direction (perpendicular to the paper surface in FIG. 6). 49 is installed. The guide rail 49 has a recess 51 extending in the length direction (vertical direction in FIG. 6).
Further, stoppers 53 are provided at the bottoms on both ends of the guide portion 45 in the length direction (vertical direction in FIG. 6). The stopper 53 is fixed by screwing a bolt 55 penetrating the stopper 53 into the bottom of the guide portion 45.

  Further, the cover portion 47 has a substantially U-shaped cross section as shown in FIG. 8, and two slits 56 and 56 as openings are formed as shown in FIGS. ing.

A bearing case 57 is installed on the rear end side (upper side in FIG. 6) of the housing 43. A through hole 59 is formed in the bearing case 57, and bearings 61 and 61 are housed in the through hole 59. The bearing 61 includes an outer ring 63, an inner ring 65 disposed inside the outer ring 63, a plurality of steel balls 67 installed so as to roll between the outer ring 63 and the inner ring 65, and these steel balls 67. It is comprised from the retainer 69 which hold | maintains.
The bearings 61 and 61 are pressed by a bearing presser 70.

A bearing case 71 is provided on the front end side (lower side in FIG. 6) of the housing 43. A through hole 73 is formed in the bearing case 71, and bearings 75 and 75 are housed in the through hole 73. The bearing 75 is also composed of an outer ring 77, an inner ring 79, a plurality of steel balls 81, and a retainer 83, similarly to the bearing 61 described above.
The bearings 75 and 75 are pressed by a bearing press 84.

  In the housing 43, a Z-axis ball screw 85 is rotatably installed. The rear end side of the Z-axis ball screw 85 is rotatably supported by the bearings 61 and 61. A spiral male screw portion 87 is formed on the outer peripheral surface of the Z-axis ball screw 85.

  A Z-axis ball nut 89 is screwed and arranged on the Z-axis ball screw 85. A spiral female thread portion 91 is formed on the inner peripheral surface of the Z-axis ball nut 89. Further, a no-load circulation path (not shown) is formed in the Z-axis ball nut 89. Further, end caps 93 and 93 are provided at both front and rear ends (upper and lower ends in FIG. 6) of the Z-axis ball nut 89, and return paths (not shown) are formed in the end caps 93 and 93, respectively. . And in the space (rolling path) between the female threaded portion 91 of the Z-axis ball nut 89 and the male threaded portion 87 of the Z-axis ball screw 85, the unloaded circulation path, and the return path, A plurality of steel balls 95 are rolling and circulating. The steel ball 95 makes the Z-axis ball nut 89 move smoothly.

  A Z-axis slider 97 is fixed to the Z-axis ball nut 89. A through-hole 99 is formed in the Z-axis slider 97, and the Z-axis ball nut 89 is fixed to the rear end side (upper side in FIG. 6) of the through-hole 99.

  Further, end caps 101 and 101 are installed on the back side in the vertical direction in FIG. 6 of the front and rear ends of the Z-axis slider 97 (both ends in the vertical direction in FIG. 6). Further, as shown in FIG. 7, end caps 101 and 101 are also installed on the front side in the direction perpendicular to the paper surface in FIG. Return paths (not shown) are formed in the end caps 101, 101, 101, 101, respectively.

  Further, guide rails (not shown) having recesses are provided on both sides in the width direction of Z-axis slider 97 (both sides in the direction perpendicular to the paper surface in FIG. 6). Further, in the Z-axis slider 97, unloaded circulation paths (not shown) are formed on the rear side in the vertical direction of the paper surface in FIG. 6 and on the front side in the vertical direction of the paper surface in FIG.

  6, a no-load circulation path (not shown) in the Z-axis slider 97, a return path in the end caps 101, 101, a recess 51 in the Z-axis guide rail 49, and the above-mentioned A plurality of steel balls (not shown) circulate in the space (rolling path) between the Z-axis slider 97 and the recess of the guide rail (not shown). Similarly, on the front side in the direction perpendicular to the paper surface in FIG. 6, similarly, a no-load circulation path (not shown) in the Z-axis slider 97, a return path in the end caps 101 and 101, and a recess in the Z-axis guide rail 49. A plurality of steel balls (not shown) circulate in a space (rolling path) between 51 and the recess of the guide rail (not shown) of the Z-axis slider 97.

  The Z-axis slider 97 is smoothly moved by the plurality of steel balls (not shown). Further, the interaction between the plurality of steel balls (not shown) and the Z-axis guide rail 49 of the guide portion 45 and the guide rail (not shown) on the back side of the Z-axis slider 97 in the vertical direction in FIG. The Z-axis slider 97 and thus the Z-axis ball are caused by the interaction between the steel ball and the guide rail (not shown) of the guide portion 45 and the guide rail (not shown) on the front side of the Z-axis slider 97 in FIG. The rotation of the nut 89 around the Z-axis ball screw 85 axis is prevented. Further, as a result of the rotation of the Z-axis ball screw 85, the Z-axis ball nut 89 and the Z-axis slider 97 are moved in the front-rear direction (vertical direction in FIG. 6, the Z-axis direction orthogonal to the X-axis and Y-axis). Is done.

For example, as shown in FIG. 8, attachment object fixing portions 102, 102 protrude and are formed on the side of the Z-axis slider 97 opposite to the guide portion 45 (left side in FIG. 8). These attachment target fixing parts 102 and 102 pass through the slits 26 and 26 of the cover part 47 and project and be arranged outside the housing 43. That is, a part of the Z-axis slider 97 passes through the slits 26 and 26 and is exposed to the outside of the housing 43.
In addition, as shown in FIG. 2, there are a plurality (two in the case of the first embodiment, two for each of the mounting object fixing portions 102) in the mounting object fixing portions 102 and 102. A plurality of holes 102a, 102a and a plurality of female screw portions 102b, 102b, 102b (three in the case of the first embodiment, three for each of the attachment object fixing portions 102) are formed.

In addition, bearings 103 are provided on the front end side (the lower side in FIG. 6) of the through hole 99 of the Z-axis slider 97. These bearings 103 and 103 are also composed of an outer ring 105, an inner ring 107, a plurality of steel balls 109, and a retainer 111, similarly to the bearing 61 described above.
Further, the bearing 103 is pressed by a bearing presser 112.

A hollow rod 113 is rotatably installed on the Z-axis slider 97. The hollow rod 113 is rotatably supported at its rear end side (upper side in FIG. 6) by the bearings 103 and 103 of the Z-axis slider 97. A hollow portion 115 is formed inside the hollow rod 113, and the Z-axis ball screw 85 is accommodated and disposed in the hollow portion 115.
The hollow rod 113 is also a so-called spline shaft. On the outer peripheral side, as shown in FIGS. 3 and 8, four spline grooves extended in the length direction (vertical direction in FIG. 3). 117, 117, 117, 117 are formed.

  Further, as shown in FIG. 6, a spline nut 119 is installed on the outer peripheral surface of the hollow rod 113, and the hollow rod 113 and the spline nut 119 are movable relative to each other in the axial direction. Yes, the rotational directions are mutually constrained. This spline nut 119 has a cylindrical shape with a flange, and as shown in FIG. 9, four spline grooves 121 extending in the length direction (perpendicular to the paper surface in FIG. 9) are formed on the inner peripheral surface. 121, 121, 121 are formed.

  Further, as shown in FIG. 9, the spline nuts 119 have a front end side (front side in the vertical direction in FIG. 9) and a rear end side (rear side in the vertical direction in FIG. 9). No-load circulation paths 123 and 123 communicated with each other) are formed. Further, a space (rolling path) between the spline groove 117 of the hollow rod 113 and the spline groove 121 on the inner peripheral surface of the spline nut 119 and the front end side of the unloaded circulation path 123 of the spline nut 119 (FIG. 9). The front side in the vertical direction in the middle sheet surface) and the rear end side (the rear side in the vertical direction in the middle sheet in FIG. 9) are communicated with each other by a return path (not shown).

In the case of the first embodiment, four holding members (not shown) provided with the no-load circulation path and the return path are built in the spline nut 119.
Return caps having return paths are installed at both ends, and the space (rolling path) between the spline groove 117 of the hollow rod 113 and the spline groove 121 on the inner peripheral surface of the spline nut 119 and the above-mentioned non-return path. The structure which connects the load circuit 123 may be sufficient.

  Further, the space (rolling path) between the spline groove 117 of the hollow rod 113 and the spline groove 121 on the inner peripheral surface of the spline nut 119, the return path, and the no-load circulation path 123 of the spline nut 119. A plurality of steel balls 125 roll and circulate inside. The rolling and circulation of the plurality of steel balls 125 ensures the movement of the hollow rod 113 along the spline groove 117, that is, smooth movement in the Z-axis direction.

A mounting portion 127 is installed at the tip (lower end in FIG. 6) of the hollow rod 113. An attachment object is attached to the attachment portion 127. In the first embodiment, as will be described later, a soldering iron 34b is attached to the attachment portion 127 via an attachment frame 34a.
In addition to this, it is conceivable that various working tools such as tools can be attached to the attachment portion 127.

A Z-axis motor unit 129 for rotating and driving the Z-axis ball screw 85 is installed on the rear end side of the housing 43 (upper side in FIG. 6) via a bracket 131.
First, the Z-axis motor unit 129 is provided with a Z-axis ball screw motor 133. The Z-axis ball screw motor 133 includes a motor housing 135, a stator 137 installed on the inner peripheral surface side of the motor housing 135, a rotor 139 rotatably disposed inside the stator 137, and the motor housing. The rotor 139 is fixed to the front and rear sides of the motor housing 135, and an output shaft 141 is rotatably provided in the motor housing 135.

  An encoder 143 is installed on the rear end side (lower side in FIG. 6) of the Z-axis ball screw motor 133. The encoder 143 has an encoder wheel 145 fixed to the rear end side (lower side in FIG. 6) of the output shaft 141 of the Z-axis ball screw motor 133 and provided with a scale (not shown), and the encoder wheel 145 A board mounted on the rear side (lower side in FIG. 6) and mounted with electronic components such as a light emitting unit (not shown) that irradiates light to the encoder wheel 145 and a sensor (not shown) that detects reflected light from the encoder wheel 145 147 is provided. The encoder wheel 145 and the substrate 147 are covered with an encoder cover 149 attached to the rear end side (rear side in FIG. 6) of the Z-axis ball screw motor 133.

  When the output shaft 141 of the Z-axis ball screw motor 133 is rotated, the intensity of the reflected light from the encoder wheel 145 detected by a sensor (not shown) on the substrate 147 changes, whereby the Z-axis ball screw motor is changed. 133 rotation is detected.

  A bearing case 151 is provided on the front end side (upper side in FIG. 6) of the Z-axis ball screw motor 133. The bearing case 151 includes an upper case 153 and a lower case 155.

A through hole 157 is formed in the upper case 153. Bearings 159 and 159 are provided on the front end side (upper side in FIG. 6) of the through hole 157. This bearing 159 also includes an outer ring 161, an inner ring 163, a plurality of steel balls 165, and a retainer 167, similarly to the bearing 61 described above.
Further, the bearings 159 and 159 are pressed by a bearing presser 168.

  Further, an electromagnetic brake 169 is built in the rear end side (the lower side in FIG. 6) of the through hole 157. The electromagnetic brake 169 includes a main body 171 and an electromagnetic brake rotating shaft 173 that penetrates the main body 171 and is rotatably supported by the bearing 159. A substantially disc-shaped brake plate 175 is fixed to the electromagnetic brake rotating shaft 173.

  An electromagnet 177 is housed inside the main body 171. The main body 171 is provided with a plurality of (three in this embodiment) screws 179, and an armature 181 and a side plate 183 penetrating the screws 179, the electromagnetic brake rotating shaft 173, and the like. is set up. The brake plate 175 is disposed between the armature 181 and the side plate 183.

  A coil spring 185 penetrating the electromagnetic brake rotating shaft 173 is installed in the main body 171. Further, a spring retainer 184 is installed on the distal end side (upper side in FIG. 6) of the main body 171, and the coil spring 185 is interposed between the spring retainer 184 and the armature 181.

  The armature 181 is normally urged downward in FIG. 6 by the elastic force of the coil spring 185. At this time, the armature 181 is pressed against the brake plate 175, and the rotation of the electromagnetic brake rotating shaft 173 is restricted. However, when the electromagnet 177 is energized, the armature 181 moves upward in FIG. 6 against the elastic force of the coil spring 185, and the contact between the armature 181 and the brake plate 175 is released. Thereby, the restriction | limiting of the rotation of the said electromagnetic brake rotating shaft 173 is cancelled | released.

The lower case 155 is formed with a through hole 187. A rear end portion (lower portion in FIG. 6) of the electromagnetic brake rotating shaft 173 is disposed in the through hole 187.
The electromagnetic brake rotating shaft 173 and the output shaft 171 of the Z-axis ball screw motor 133 are connected by a coupling 188 in the through hole 187 of the lower case 155.

  Further, a Z-axis motor side timing pulley 189 is fixed to the front end side (upper part in FIG. 6) of the electromagnetic brake rotating shaft 173, and on the rear end side (upper side in FIG. 6) of the Z-axis ball screw 85. A Z-axis ball screw side timing timing pulley 191 is fixed. A timing belt 193 is wound between the Z-axis motor side timing timing pulley 189 and the Z-axis ball screw side timing pulley 191, and the rotation of the output shaft 141 of the Z-axis ball screw motor 133 is transferred to the Z-axis ball screw 85. Communicated.

The lower case 155 passes through the lower case 155 and is fixed by bolts 195, 195, 195, and 195 that are screwed into the upper case 153.
As shown in FIG. 1, the Z-axis motor unit 129, the Z-axis motor side timing pulley 189, and the Z-axis ball screw side timing pulley 191 are covered with a drive unit cover 197.

A hollow rod motor unit 201 is installed in a bearing case 71 on the front end side (lower side in FIG. 6) of the housing 43 via a bracket 199.
First, the hollow rod motor unit 201 is provided with a hollow rod motor 203.
The hollow rod motor 203 includes a motor housing 205, a stator 207 installed on the inner peripheral surface side of the motor housing 205, a rotor 209 disposed inside the stator 207, and the front and rear sides of the motor housing 205. The rotor 209 is fixed and the output shaft 211 is rotatably provided in the motor housing 205.

An encoder 213 is installed on the rear end side (upper side in FIG. 6) of the hollow rod motor 203. The encoder 213 is fixed to the rear end side (upper side in FIG. 6) of the output shaft 211 of the hollow rod motor 203 and is provided with a scale (not shown), and the rear side of the encoder wheel 215. (A top side in FIG. 6) and a substrate 217 on which electronic components such as a light emitting unit (not shown) for irradiating light to the encoder wheel 215 and a sensor (not shown) for detecting reflected light from the encoder wheel 215 are mounted. It has been. The encoder wheel 215 and the substrate 217 are covered with an encoder cover 219 attached to the rear end side (upper side in FIG. 6) of the hollow rod motor 203.
In the case of the first embodiment, an incremental encoder is used as the encoder 213.

A bearing case 221 is provided on the front end side (lower side in FIG. 6) of the hollow rod motor unit 201. A through hole 223 is formed in the bearing case 221, and bearings 225 and 225 are housed in the through hole 223. This bearing 225 is also composed of an outer ring 227, an inner ring 229, a plurality of steel balls 231, and a retainer 233, similarly to the bearing 61 described above.
The bearings 225 and 225 are pressed by a bearing presser 234.

A timing pulley mounting shaft 235 is connected to the output shaft 211 of the hollow rod motor 203. The timing pulley mounting shaft 235 is rotatably supported by the bearings 225 and 225.
A hollow rod motor side timing pulley 237 is fixed to the front end side (lower side in FIG. 6) of the timing pulley mounting shaft 235.

  A hollow rod side timing pulley 239 is fixed to the spline nut 119. A timing belt 241 is wound around the hollow rod side timing pulley 239 and the hollow rod motor side timing pulley 237 so that the rotation of the output shaft 211 of the hollow rod motor 203 is transmitted to the hollow rod 113. It has become. The hollow rod side timing pulley 239 is fixed by bolts 245, 245, 245, 245 that pass through the flange portion 243 of the spline nut 119 and are screwed into the hollow rod side timing pulley 239.

  The spline nut 119 is rotatably supported by the bearings 75 and 75 via the hollow rod side timing pulley 239 and is also constrained by the hollow rod 113 with respect to the rotational direction via the steel ball 125. It is attached with. Therefore, the hollow rod 113 is rotated around the Z axis by the rotation of the hollow rod side timing pulley 239.

  A sensor 249 is disposed in the vicinity of the spline nut 119. This sensor 249 is for confirming, for example, whether or not the rotation angle of the hollow rod 113 has returned to the origin when the hollow rod 113 is returned to the origin with respect to the rotation about the Z axis. .

  A disk-shaped soldering iron mounting frame 261 is fixed to the mounting portion 127 of the hollow rod 113. Further, on the outer periphery of the soldering iron mounting frame 261, the Z axis (the vertical axis in FIG. 1, the X axis direction, and the Y axis direction is orthogonal to the Z axis direction lower side (lower side in FIG. 1). A soldering iron 263 is installed in an inclined state with respect to the axis. The soldering iron 263 is moved in the Z-axis direction (the vertical direction in FIG. 1, the direction orthogonal to the X-axis direction and the Y-axis direction) by the movement of the hollow rod 113, and the rotation of the hollow rod 113 The direction is changed as appropriate. Further, the soldering iron 263 is used to solder the substrate 26 on the pallet 25.

  Further, as described above, the attachment target fixing portions 102 and 102 of the Z-axis slider 97 pass through the slits 26 and 26 of the cover portion 47 and protrude and be arranged outside the housing 43. A camera 267 is installed on the object fixing portions 102 and 102 via a camera mounting frame 265. A boss (not shown) formed in the camera mounting frame 265 is inserted into the positioning hole 102 a of the mounting object fixing portion 102, and the camera mounting frame 265 is positioned with respect to the Z-axis slider 97. Further, a fixing screw (not shown) passes through a through hole (not shown) of the camera mounting frame 265 and is screwed into the female screw portion 102b, whereby the camera mounting frame 265 is attached to the Z-axis slider 97. Fix it. Further, the camera 267 takes an image of the board 26 on which the soldering work by the soldering iron 263 is completed, and confirms whether or not the soldering work is properly performed.

Further, as shown in FIGS. 7 and 10, a rod-side stopper 271 is installed on the outer peripheral surface of the hollow rod-side timing pulley 239. A male screw part 273 is formed on the base end side (right side in FIG. 7) of the rod side stopper 271, and a female screw part 275 is formed on the hollow rod side timing pulley 239. The rod-side stopper 271 is detachably attached to the hollow rod-side timing pulley 239 by screwing the male screw portion 273 of the rod-side stopper 271 into the female screw portion 275.
As shown in FIG. 10, the rod side stopper 271 is covered with a cushioning material 271a made of an elastic material.

  As described above, the hollow rod side timing pulley 239 provided with the rod side stopper 271 is fixed to the spline nut 119, and the hollow rod 113 moves in the axial direction with respect to the spline nut 119. Although it is in a possible state, it is in a state where it is constrained with respect to the rotational direction. Therefore, the rod-side stopper 271 is formed on the outer peripheral side of the hollow rod 113 by the rotation of the spline nut 119 and the hollow rod-side timing pulley 239 around the Z-axis along with the rotation of the hollow rod 113 around the Z-axis. It moves on the circular orbit.

Further, a rotating member 277 is installed on the outer peripheral side of the hollow rod side timing pulley 239 and above the rod side stopper 271 in FIG. 7 via a resin-made sliding bearing member 276. The rotating member 277 is rotatable with respect to the hollow rod side timing pulley 239.
As shown in FIG. 10, a rotating member side first stopper 279 is provided on the rotating member 277 on the rod side stopper 271 side (front side in the direction perpendicular to the paper surface in FIG. 10). A male screw portion (not shown) is formed on the base end side (the rear side in the direction perpendicular to the paper surface in FIG. 10) of the rotating member side first stopper 279, and a female screw portion (not shown) is formed on the rotating member 277. ing. The rotary member side first stopper 279 is detachably attached to the rotary member 277 by screwing the male screw portion of the rotary member side first stopper 279 with a female screw portion (not shown) of the rotary member 277. It is done.
Further, as shown in FIG. 10, the rotating member side first stopper 279 is also crowned with a cushioning material 279a made of an elastic member.

Further, as shown in FIGS. 7 and 10, the rotating member 277 is located on the side opposite to the rod side stopper 271 (the upper side in FIG. 7 and the rear side in the direction perpendicular to the paper surface in FIG. 10). The rotary member side second stopper 281 is installed at a position 180 ° away from the rotary member side. A male screw portion 283 is formed on the base end side of the rotating member side second stopper 281 (the lower side in FIG. 7, the front side in the direction perpendicular to the paper in FIG. 10), and the rotating member 277 has a female screw portion. 285 is formed, and the rotating member side second stopper 281 is attached to and detached from the rotating member 277 by screwing the male screw part 283 of the rotating member side second stopper 281 with the female screw part 285. It is attached as possible.
The rotating member side second stopper 281 is also crowned with a cushioning material 281a made of an elastic material.

The rotating member 277 is urged by the hollow rod side timing pulley 239 when the hollow rod side timing pulley 239 is rotated and the rod side stopper 271 is brought into contact with the rotating member side first stopper 279. The hollow pulley side timing pulley 239 is rotated in the same direction as the rotation direction.
Further, depending on the direction of rotation of the hollow rod side timing pulley 239, the rotating member side first stopper 279 is moved from two directions (upper side and lower side in FIG. 11 (a)) as shown in FIG. 11 (a). The rod side stopper 271 makes contact.

With such a configuration, in the hollow rod side timing pulley 239 and thus in the hollow rod 113, the rod side stopper 271 contacts the rotating member side first stopper 279 of the rotating member 277 with respect to the rotating member 277. Can rotate up to. In the case of the present embodiment, as shown in FIG. 11A, the hollow rod side timing pulley 239 (hollow rod 113) can be rotated 340 ° with respect to the rotating member 277.
The rotatable angle of the hollow rod side timing pulley 239 (hollow rod 113) with respect to the rotating member 277 is set by the size of the rotating member side first stopper 279, for example.

Further, as shown in FIGS. 7 and 10, the rotation range regulating member 287 is attached to and detached from the surface on the front end side of the bearing case 71 (the lower surface in FIG. 7 and the front surface in the vertical direction in FIG. 10). It is installed as possible. The rotation range restricting member 287 has a substantially U shape, and a first rotation restricting portion 288 and a second rotation restricting portion 290 are provided at both ends thereof. The rotating member side second stopper 281 is disposed inside the rotation range regulating member 287. That is, the first rotation restricting portion 288 and the second rotation restricting portion 290 of the rotation range restricting member 287 are located on the track of the rotating member side second stopper 281. Therefore, in the rotating member 277, the rotating member side second stopper 281 is the first rotation restricting portion 288 (upper side in FIG. 11B) of the rotation range restricting member 287 or the second rotation of the rotation range restricting member 287. It is configured to be rotatable within a range in contact with the restricting portion 290 (lower side in FIG. 11C). In the case of the first embodiment, as shown in FIGS. 11B and 11C, the rotating member 277 can be rotated by 40 °.
The rotatable angle of the rotating member 277 is set, for example, by the dimension of the inner portion of the rotation range regulating member 287.

  As described above, the hollow rod side timing pulley 239 (hollow rod 113) can rotate 340 ° with respect to the rotating member 277. Since the rotating member 277 can rotate 40 ° as described above, the hollow rod 113 can eventually rotate 340 ° + 40 ° = 380 °.

  When the hollow rod 113 is rotated to any end of the rotatable range, the encoder 213 is reset to set the origin of the rotational position of the hollow rod 113.

  Further, as shown in FIG. 1, the hollow rod motor unit 201, the hollow rod motor side timing pulley 237, and the hollow rod side timing pulley 239 are covered with a drive portion cover 291.

Next, the operation of the first embodiment will be described.
The work robot 1 drives an X-axis motor (not shown) of the X-axis actuator 19 to move an X-axis slider (not shown) in the X-axis direction (a direction from the lower left to the upper right in FIG. 1). Thus, the pallet 25 fixed on the X-axis slider (not shown) and a plurality of (5 × 5 = 25 in the case of the first embodiment) substrates placed on the pallet 25. 26 is moved in the X-axis direction (the direction from the lower left to the upper right in FIG. 1).

  The work robot 1 drives a Y-axis motor (not shown) of the Y-axis actuator 31 to move the Y-axis slider 35 in the Y-axis direction (the direction from the upper left to the lower right in FIG. 1). As a result, the Z-R axis actuator 36 is moved in the Y-axis direction (the direction from the upper left to the lower right in FIG. 1).

  Then, the work robot 1 drives the Z-axis ball screw motor 133 of the Z-R axis actuator 36 to move the Z-axis slider 97 and thus the hollow rod 113 in the Z-axis direction (vertical direction in FIG. 1). . Accordingly, the soldering iron 263 attached to the hollow rod 113 via the soldering iron mounting frame 261 and the camera 267 attached to the Z-axis slider 97 via the camera mounting frame 265 are arranged in the Z-axis direction. (Up and down direction in FIG. 1).

  Further, by driving the hollow rod motor 203 of the Z-R axis actuator 36, the spline nut 119 and thus the hollow rod 113 are moved around the Z axis (clockwise direction or counterclockwise direction in FIG. 5, R direction). ) To rotate. As a result, the soldering iron 263 attached to the hollow rod 113 via the soldering iron attachment frame 261 is rotated around the Z axis (clockwise or counterclockwise in FIG. 5, R direction). . Further, since the soldering iron 263 is installed in a state of being inclined with respect to the Z axis (the vertical axis in FIG. 1, the axis orthogonal to the X axis direction and the Y axis direction), the hollow rod 113 is provided. The direction of the soldering iron 263 can be changed by rotating around the Z axis (clockwise direction or counterclockwise direction in FIG. 5, R direction).

The rotatable angle of the hollow rod 113 is regulated by the rotation range regulating member 287 through the rotating member 277 in which the rotating member side first stopper 279 and the rotating member side second stopper 281 are installed.
For example, as shown by a solid line in FIG. 11A, when the hollow rod 113 is rotated in one direction (clockwise in FIG. 11A), the hollow rod side timing pulley 239 is also rotated. The rod-side stopper 271 installed on the hollow rod-side timing pulley 239 comes into contact with the rotating member-side first stopper 279 of the rotating member 277, and the rotating member 277 is also urged and rotated. 11B, the rotating member side second stopper 281 of the rotating member 277 is brought into contact with the first rotation restricting portion 288 of the rotation range restricting member 287, and the hollow rod side timing pulley 239 is contacted. As a result, the amount of rotation of the hollow rod 113 in one direction is restricted.

  11A, when the hollow rod 113 is rotated in the other direction (counterclockwise in FIG. 11A), the hollow rod side timing pulley 239 is also rotated. At this time, the rod-side stopper 271 installed on the hollow rod-side timing pulley 239 comes into contact with the rotating member-side first stopper 279 of the rotating member 277 from the opposite side, and the rotating member 277 is also urged and rotated. The 11C, the rotating member side second stopper 281 of the rotating member 277 is brought into contact with the second rotation restricting portion 290 of the rotation range restricting member 287, and the hollow rod side timing pulley 239 is contacted. As a result, the amount of rotation of the hollow rod 113 in the other direction is restricted.

  Note that the amount of rotation of the hollow rod 113 is just before the rotation member side second stopper 281 of the rotation member 277 comes into contact with the first rotation restriction portion 288 and the second rotation restriction portion 290 of the rotation range restriction member 287. In such a range, it is configured to be controlled by a soft method. That is, the rotation angle of the hollow rod 113 is detected by the encoder 213, and based on this, the above control, that is, the rotation member side second stopper 281 of the rotation member 277 is controlled by the rotation range restriction member 287. It is configured such that control is performed within a range just before contacting the portion 288 and the second rotation restricting portion 290.

Next, the effect of the first embodiment will be described.
First, since the rotatable angle of the hollow rod 113 is regulated by the rotation range regulating member 287 via the rotating member 277 in which the rotating member side first stopper 279 and the rotating member side second stopper 281 are installed, With a simple configuration, the rotation of the hollow rod 113 can be regulated within a predetermined range of 360 ° or more.
Note that the rotation of the hollow rod 113 can be restricted within a predetermined range of 360 ° or more because the rod-side stopper 271 of the hollow rod 113 is in contact with the rotating member 277 rotating member-side first stopper 279. This is because the rotating member side second stopper 281 of the rotating member 277 can further rotate until it comes into contact with the rotation range regulating member 287.

Further, since the rotation of the hollow rod 113 is restricted within a predetermined range of 360 ° or more, excessive rotation of the hollow rod 113 is prevented. For example, the soldering iron 263 installed in the mounting portion 127 is illustrated. It is possible to prevent the power cord that is not connected from being entangled with the Z-R axis actuator 36 and the like.
Further, since the rotation of the hollow rod 113 is regulated by a mechanical configuration in which the rotation range regulating member 287 is installed, one end of the rotatable range of the hollow rod 113 is set as the origin position of the encoder 213. Can be used. In this way, since the origin of the encoder 213 can be set by a mechanical configuration, the encoder 213 may be an incremental encoder, and the cost can be reduced.

Since the rotation range restriction member 287 is detachably installed, a plurality of types of rotation range restriction members 287 having different intervals between the first rotation restriction portion 288 and the second rotation restriction portion 290 are prepared in advance. By changing the rotation range regulating member 287 as appropriate, the angular range in which the hollow rod 113 can be rotated can be changed.
In addition, since the rod-side stopper 271, the rotating member-side first stopper 279, and the rotating member-side second stopper 281 are detachably installed, the rotatable range of the hollow rod 113 is restricted. The state in which the rotatable range of the hollow rod 113 is not restricted can be easily switched.

  The rod side stopper 271, the rotating member side first stopper 279, and the rotating member side second stopper 281 are covered with cushioning materials 271 a, 279 a, 281 a made of an elastic material, so that the rod side The stopper 271 and the rotating member side first stopper 279, and the rotating member side second stopper 281 and the first rotation restricting portion 288 and the second rotation restricting portion 290 of the rotation range restricting member 287 are brought into contact with each other. Impact and sound can be reduced.

In addition, the slits 26 and 26 are formed in the cover portion 47 of the housing 43, and the attachment target fixing portions 102 and 102 are formed in the Z-axis slider 97. Since it passes through the slits 26 and 26 and is exposed to the outside of the housing 43, not only the attachment object is attached to the attachment portion 127 of the hollow rod 113 but also the Z-axis slider 97 is fixed to the attachment object. An attachment object can be attached via the parts 102 and 102.
In the case of the first embodiment, a soldering iron 34b is installed on the hollow rod 113 and a camera 34d is installed on the Z-axis slider 97, so that both the soldering operation and the checking operation are performed simultaneously. Can be made.
Therefore, it is not necessary to install another actuator to attach an attachment object different from the attachment object attached to the hollow rod 113, and the configuration can be simplified and miniaturized, and the cost can be reduced.

In addition, for example, a device can be attached to the attachment portion 127 of the hollow rod 113, and an accessory or cable of this device can be attached to the Z-axis slider 97. In this case, by attaching the accessory and cable of the device to the Z-axis slider 97, it is possible to prevent interference between the device and the accessory and cable, and to effectively use the work space. Can be prevented from being bent or disconnected.
Further, since the hollow rod 113 is installed on the Z-axis slider 97, the hollow rod 113 and the Z-axis of the Z-axis slider 97 (vertical axis in FIG. 1, orthogonal to the X-axis direction and the Y-axis direction). The movement in the direction) is synchronized. Therefore, a new configuration for synchronization is unnecessary, and complicated control for realizing the synchronization is not required. The configuration is simplified and the control is easy. Can be achieved.

In addition, according to the first embodiment, it is possible to simplify the configuration and reduce the size of the apparatus without requiring complicated control.
That is, a Z-axis ball screw 85 and a hollow rod 113 that is rotated separately from the Z-axis ball screw 85 are arranged on the same axis, and the hollow rod 113 has a hollow portion 115 formed therein. Since the Z-axis ball screw 85 is accommodated in the Z-axis actuator 36, the Z-R axis actuator 36 can be miniaturized and the configuration can be simplified.

  The Z-axis ball screw 85 is rotated by a Z-axis ball screw motor 133, and the hollow rod 113 is rotated by a hollow rod motor 203. That is, the Z-axis ball screw 85 and the hollow rod 113 can be rotated separately. Therefore, for example, when the hollow rod 113 is rotated, even the Z-axis ball screw 85 is not rotated and the position of the hollow rod 113 is not shifted, and the position of the hollow rod 113 is adjusted. Complex control can be eliminated.

  Incidentally, as described above, the hollow rod 113 is formed with the hollow portion 115, and the Z-axis ball screw 85 is accommodated therein, so that the hollow rod 113 moves in the Z-axis direction. Even so, the hollow rod 113 and the Z-axis ball screw 85 arranged coaxially do not interfere with each other.

Next, a second embodiment of the present invention will be described with reference to FIGS.
The work robot 501 according to the second embodiment is a horizontal articulated work robot (scalar robot) as shown in FIGS. 12 and 13, and is in an XY two-dimensional plane with respect to the base 503. A first arm 505 that is rotatably installed, a second arm 507 that is rotatably mounted in an XY two-dimensional plane with respect to the first arm 505, and a Z-axis with respect to the second arm 507 The rod 509 is movable in the direction (vertical direction in FIG. 12) and is rotatable around the Z axis. A mounting object (not shown) is attached to a mounting portion 510 on the tip side (lower side in FIG. 12) of the rod 509 via a jig (not shown).

  As shown in FIG. 14, the base 503 has a cylindrical base housing 511, and a first motor 513 is installed inside the base housing 511. The first motor 513 includes a first motor case 515, a stator 517 fixed to the inner peripheral side of the first motor case 515, and a permanent magnet rotatably mounted on the inner peripheral side of the stator 517. And a first motor side output shaft 521 fixed to the center position of the rotor 519.

A mounting member 523 is fixed to the upper side of the first motor 513 in FIG. Also, an encoder 525 is installed on the lower side of the first motor 513 in FIG. The encoder 525 has an encoder case 527 installed on the lower side of the first motor case 515 in FIG. 14, and the lower end side of the first motor side output shaft 521 in FIG. 14 protrudes into the encoder case 527. ing. An encoder wheel 529 is fixed to the lower end side of the first motor side output shaft 521 in FIG. 14, and an encoder scale (not shown) is displayed on the encoder wheel 529. A substrate 530 is installed in the encoder case 527 and below the encoder wheel 529 in FIG. The substrate 530 is provided with a light source and a sensor (not shown). The light from the light source is reflected on the encoder wheel 529, and the light reflected by the sensor is detected. When the first motor 513 is driven and the first motor-side output shaft 521 is rotated, the encoder wheel 529 is also rotated. Therefore, the intensity of light detected by the sensor is determined by an encoder (not shown) of the encoder wheel 529. Depending on the scale, the rotation of the first motor side output shaft 521 is detected.
In the second embodiment, the encoder 525 is an incremental type encoder.

A first speed reducer 531 is installed on the upper side of the first motor 513 in FIG. 14 via the mounting member 523. The first reduction gear 531 is a reduction gear using a planetary gear mechanism. The first reduction gear 531 has a first reduction gear case 533, and a sun gear 535 connected to the first motor-side output shaft 521 is rotatably installed in the first reduction gear case 533. Has been. A plurality of planetary gears 537 are engaged with the sun gear 535. The plurality of planetary gears 537 are also meshed with an annular internal gear 539 fixed to the inner peripheral surface of the first reduction gear case 533.
The first reducer 531 is rotatably provided with a first reducer-side output shaft 541, and the planetary carrier portion 543 is disposed on the lower end side in FIG. 14 of the first reducer-side output shaft 541. Is formed. A planetary gear rotating shaft 545 on which the planetary gear 537 is rotatably installed is projected and formed on the planetary carrier portion 543 toward the lower side in FIG.

With such a configuration, when the sun gear 535 is rotated by the rotation of the first motor side output shaft 521, the plurality of planetary gears 537 rotate and revolve around the sun gear 535. By the revolution of the planetary gear 537, the first reduction gear side output shaft 541 is rotated via the planetary carrier portion 543. Further, the number of teeth of the sun gear 535, the planetary gear 537, and the internal gear 539 is appropriately set according to the reduction ratio of the first reduction gear 531.
As shown in FIG. 14, the attachment member 523 is screwed into the first reduction gear case 533 by passing a plurality of bolts 47 through the through holes of the attachment member 523, thereby fitting into the first reduction gear case 533. It is fixed. The mounting member 523 is fixed to the first motor case 515 by a plurality of bolts 47 that pass through the mounting member 523 and are screwed into the first motor case 515.

  A base 551 is fixed to the lower end of the base housing 511 in FIG. As shown in FIGS. 12 and 13, the base 551 has through holes 553, 553, 553, and 553 (one of these four through holes 553 is not shown) drilled at four corners. The base 503 and thus the robot 501 are installed by screwing these four through holes 553 through bolts (not shown) to installation locations (not shown). As shown in FIG. 14, the base 551 is positioned with respect to the base housing 511 by positioning pins 555 and 555, and a bolt (not shown) is passed through a through hole (not shown) of the base 551. The base housing 511 is fixed to the base housing 511 by screwing.

A bearing case 561 is fixed to the upper end of the base housing 511 in FIG. The bearing case 561 has a bearing case body 563 first. As shown in FIG. 14, the bearing case main body 563 is positioned with respect to the base housing 511 by positioning pins 565 and other positioning pins (not shown), and as shown in FIGS. A bolt 567 is passed through a through hole (not shown) of the case main body 563 and screwed into the base housing 511 to be fixed to the base housing 511.
Further, as shown in FIG. 14, a through hole 569 extending in the vertical direction in FIG. 14 is formed at the center of the bearing case body 563, and the lower side of the through hole 569 in FIG. The upper end side in FIG. 14 of the first reduction gear 531 is inserted and fixed.

  A bearing 571 is installed at the upper end of the bearing case body 563 in FIG. The bearing 571 includes an outer ring 573, an inner ring 575 that is rotatably installed inside the outer ring 573, and a plurality of rollers 577 that are rotatably installed between the outer ring 573 and the inner ring 575. ing. The plurality of rollers 577 are alternately arranged in direction, and the bearing 571 is a cross roller type bearing.

  Further, an outer ring presser 579 is installed on the upper side of the bearing case main body 563, and the outer ring 573 of the bearing 571 is interposed and fixed between the outer ring presser 579 and the bearing case main body 563. As shown in FIGS. 12 and 13, the outer ring retainer 579 is screwed into the bearing case main body 563 through a plurality of bolts 581 through a through hole (not shown) of the outer ring retainer 579. It is fixed.

A first arm rotating shaft 583 is fixed to the inner ring 575 of the bearing 571. A through hole 585 extending in the vertical direction in FIG. 14 is formed in the first arm rotating shaft 583, and the first reduction gear side output shaft 541 is inserted into and connected to the through hole 585. Yes. Further, a key groove 587 is formed on the inner peripheral surface of the through hole 585 of the first arm rotating shaft 583, and a key groove 589 is also formed on the first reduction gear side output shaft 541. By inserting and engaging the key 591 in these key grooves 587 and 589, the first arm rotating shaft 583 and the first reduction gear side output shaft 541 are connected via the key 591. The key 591 is pressed and fixed by a set screw 595 screwed into a female screw portion 593 formed in a direction orthogonal to the through hole 585 of the first arm rotating shaft 583.
Further, a flange portion 597 is formed on the upper side of the first arm rotating shaft 583 in FIG. 14, and an inner ring presser 599 is installed on the lower side of the first arm rotating shaft 583 in FIG. . The inner ring 575 of the bearing 571 is fixed by being interposed between the flange portion 597 of the first arm rotating shaft 583 and the inner ring presser 599.

  As shown in FIG. 14, one end side (the right end side in FIG. 14) of the first arm 505 is connected to the first arm rotating shaft 583. Further, as shown in FIGS. 12 and 13, the first arm 505 passes a plurality of bolts 601 (six in this second embodiment) through a through hole (not shown) of the first arm 505, and The first arm rotating shaft 583 is fixed to the first arm rotating shaft 583 by screwing.

  Further, a control board housing portion 611 is installed on the right side of the base housing 511 in FIG. The control board storage unit 611 includes a cylindrical control board storage unit body 613, and a control board (not shown) is provided inside the control board storage unit body 613.

An end cover 615 is installed at the lower end of the control board housing section 613 in FIG. 14, and a cable penetrating member 617 is installed in the end cover 615. The end cover 615 is fixed to the control board storage unit body 613 by passing a plurality of screws 619 through through holes (not shown) of the end cover 615 and screwing into the control board storage unit body 613. Yes.
Further, an end cover 621 is installed at the upper end in FIG. 14 of the control board storage unit main body 613, and one end side (right end side in FIG. 14) of the self-standing cable cover 623 is provided on the end cover 621. Engaged and fixed. The end cover 621 is fixed to the control board storage unit body 613 by passing a plurality of screws 125 through through holes (not shown) of the end cover 621 and screwing into the control board storage unit body 613. Yes. One end side of the self-supporting cable cover 623 can be detached from the control board storage unit body 613 together with the end cover 621.

Further, as described above, the second arm 507 is rotatably connected to the other end side (the left end side in FIG. 14) of the first arm 505.
The second arm 507 has a second arm housing 631 first. As shown in FIG. 13, the second arm housing 631 has a substantially U-shaped cross-sectional shape. As shown in FIG. 14, a second motor 633 and a second speed reducer 635 are installed in the second arm housing 631. The second motor 633 has the same configuration as the first motor 513 described above, and includes a second motor case 637, a stator 639, a rotor 641, and a second motor-side output shaft 643. The second speed reducer 635 has the same configuration as the first speed reducer 531 described above. The second speed reducer case 645, the sun gear 647, the planetary gear 649, the internal gear 651, and the second speed reducer side output shaft. 653.

The second speed reducer 635 is fixed to the second arm housing 631, and the second motor 633 is fixed to the second speed reducer 635 via an attachment member 655.
Further, the lower end side in FIG. 14 of the second reduction gear side output shaft 653 is fixed to the first arm 505. Accordingly, when the second motor 633 is driven, the second arm 507 is rotated and driven with respect to the first arm 505.
The mounting member 655 is fixed to the second speed reducer 635 by inserting a bolt 657 through a through hole (not shown) of the mounting member 655 and screwing it into the second speed reducer case 645. The mounting member 655 is fixed to the second motor 633 by passing a bolt (not shown) through a through hole (not shown) of the mounting member 655 and screwing it into the second motor case 637.

  Further, an encoder 661 is installed on the upper side of the second motor 633 in FIG. The encoder 661 has the same configuration as the encoder 525 described above, and includes an encoder case 663, an encoder wheel 665, a substrate 667, and the like, and detects the rotation of the second motor 633.

A ball nut 671 is rotatably installed on the left side of the second arm housing 631 in FIGS. 14 and 15. As shown in FIG. 15, the ball nut 671 first has a ball nut main body 673. The ball nut main body 673 has a substantially cylindrical shape, and an internal thread portion 675 is formed on the inner peripheral surface. In addition, a no-load circulation path (not shown) is formed inside the ball nut body 673. Further, a flange portion 677 is formed on the upper side of the ball nut main body 673 in FIG.
End caps 679 and 681 are installed on both ends of the ball nut body 673. A return path (not shown) is formed inside these end caps 679 and 681.

  The ball nut main body 673 is interposed and held between the ball nut holding member 683 and the ball nut holding member 685. The flange portion 677 of the ball nut main body 673 is sandwiched between the ball nut holding members 683 and 685, and bolts 687 (not shown) are inserted into through holes (not shown) of the ball nut holding member 685 and the flange portion 677 of the ball nut main body 673. The ball nut holding members 683 and 685 and the ball nut main body 673 are integrated with each other by screwing into the ball nut holding member 683 through (shown in FIG. 13).

  The ball nut holding member 685 is provided with a grease nipple 689, and the ball nut is passed through the grease supply path 691 of the ball nut holding member 685 and the grease supply path 693 of the ball nut main body 673. Grease is supplied into the main body 673.

  As shown in FIGS. 13 and 15, a tooth portion 695 is formed on the outer peripheral side of the ball nut holding member 685.

A bearing 701 is installed on the bottom surface of the second arm housing 631 on the left side in FIGS. 14 and 15. This bearing 701 is also a cross-roller type bearing and has the same configuration as the above-described bearing 571, and includes an outer ring 703, an inner ring 705, and a roller 707.
The lower end side in FIG. 15 of the ball nut holding member 683 is inserted inside the inner ring 705 of the bearing 701. The ball nut holding member 683 has a stepped portion 709, and an inner ring presser 711 is installed on the lower end side of the ball nut holding member 683. The inner ring 705 of the bearing 701 is inserted and fixed between the stepped portion 709 of the ball nut holding member 683 and the inner ring presser 711. The outer ring 703 of the bearing 701 is also inserted and fixed between the bottom surface of the second arm housing 631 and the outer ring presser 713. With such a configuration, the ball nut 671 is rotatably installed with respect to the second arm housing 631.

A ball screw 721 is screwed onto the ball nut 671. A male screw portion 723 is formed on the outer peripheral surface of the ball screw 721.
A space between the male screw portion 723 of the ball screw 721 and the female screw portion 675 of the ball nut body 673, a return path (not shown) of the end cap 679, a no-load circulation path (not shown) of the ball nut body 673, and A plurality of steel balls 725 circulate in a return path (not shown) of the end cap 681.

The second arm housing 631 is provided with a third motor 731 through a motor housing 729. The third motor 731 has the same configuration as the first motor 513 described above, and includes a third motor case 733, a stator 735, a rotor 737, and a third motor side output shaft 739.
A timing pulley 741 is fixed to the distal end side (lower side in FIG. 15) of the third motor side output shaft 739. A tooth portion 743 is formed on the timing pulley 741.

A timing belt 745 having a tooth portion is wound between the ball nut 671 and the timing pulley 741. The timing belt 745 is engaged with the teeth 695 of the ball nut holding member 685 and the teeth 743 of the timing pulley 741, and the rotation of the third motor side output shaft 739 is transmitted to the ball nut 671. It has become so.
Note that an encoder 747 is installed above the third motor 731 in FIG. The encoder 747 has the same configuration as the encoder 525 described above, and includes an encoder case 749, an encoder wheel 751, a substrate 753, and the like, and detects the rotation of the third motor 731.
When the ball nut 671 is rotated by the third motor 731 via the timing belt 745, the ball screw 721 is moved in the Z-axis direction (vertical direction in FIG. 15).

Further, a rod support member 761 is fixed to the tip side of the ball screw 721 (the lower end side in FIG. 15). A rod 509 is rotatably supported by the rod support member 761.
As shown in FIG. 15, the rod support member 761 is formed with a ball screw mounting through hole 763, and the ball screw 721 is inserted into the ball screw mounting through hole 763. A ball screw fixing bush 765 is provided on the tip side (the lower end side in FIG. 15) of the ball screw 721. A tapered through hole 767 is formed in the ball screw fixing bush 765, and the tip end side (the lower end side in FIG. 15) of the ball screw 721 is inserted into the through hole 767.

A pressing member 769 is press-fitted into the through hole 767 of the ball screw fixing bush 765. The tip side of the pressing member 769 (upper side in FIG. 15) has a tapered shape corresponding to the shape of the through hole 767 of the ball screw fixing bush 765, and when the pressing member 769 is moved upward in FIG. The diameter of the ball screw fixing bush 765 is increased to press the inner peripheral surface of the ball screw mounting through hole 763 of the rod support member 761, and the inner peripheral surface of the pressing member 769 is the tip side of the ball screw 721 (FIG. 15). Middle and lower end side). As a result, the rod support member 761 is fixed to the tip side (the lower side in FIG. 15) of the ball screw 721.
The ball screw fixing bush 765 and the pressing member 769 are fixed by passing a plurality of bolts 771 through through holes (not shown) of the ball screw fixing bush 765 and the pressing member 769 and screwing them into the rod support member 761. ing.

  In addition, with such a configuration, the ball screw 721 and the rod 509 are coupled via the rod support member 761, so that when the ball screw 721 is moved in the Z-axis direction (vertical direction in FIG. 15). The rod 509 is also moved in the Z-axis direction (vertical direction in FIG. 15).

  The rod 509 is rotatably supported by bearings 773 and 773 installed in a through hole 772 formed in the rod support member 761. These bearings 773 are rotatably held by the outer ring 775, an inner ring 777 installed inside the outer ring 775, a retainer 779 installed between the inner ring 777 and the outer ring 775, and the retainer 779. And a plurality of steel balls 781.

Further, outer rings 775 and 775 of the bearings 773 and 773 are formed by a stepped portion 783 formed on the lower side of the through hole 772 in FIG. 15 and a bearing presser 785 installed on the upper side of the through hole 772 in FIG. It is inserted and fixed. The bearing retainer 785 is fixed by passing a plurality of bolts 787 through a through hole (not shown) of the bearing retainer 785 and screwing it into the rod support member 761.
Further, the inner rings 777 and 777 of the bearings 773 and 773 are inserted and fixed between a stepped portion 789 formed on the rod 509 and the bearing retainer 791.

A spline nut 801 is installed on the left end side of the second arm housing 631 in FIGS. 14 and 15.
The spline nut 801 includes a spline nut body 803. The spline nut main body 803 has a substantially cylindrical shape, and has a through hole 805 extending in the vertical direction in FIG. Four spline grooves 807, 807, 807, and 807 (of which two spline grooves 807 and 807 are not shown) extend and are formed in the vertical direction in FIG. 15 on the inner peripheral surface of the through hole 805. Has been.

The rod 509 is installed through the through hole 805 of the spline nut body 803. The rod 509 is formed with four spline grooves 809, 809, 809, 809 corresponding to the four spline grooves 807, 807, 807, 807, and is configured as a spline shaft.
The spline nut body 803 has a no-load circulation path (not shown) formed therein, and a space between the spline groove 807 and the spline groove 809 and both end sides of the no-load circulation path. A return path (not shown) that communicates with each other is formed. The unloaded circulation path (not shown), one return path among the return paths, the space between the spline groove 807 and the spline groove 809, and the other return path among the return paths, A plurality of steel balls 813 are rolling. Thus, the rod 509 is engaged with the spline nut 801, and the rod 509 is allowed to move in the Z-axis direction (vertical direction in FIG. 15) relative to the spline nut 801, and the rod 509 is Along with the rotation of the spline nut 801, the spline nut 801 can be rotated around the Z axis (centering on the vertical axis in FIG. 15).

Further, the spline nut main body 803 is installed to be rotatable around the Z axis (about the vertical axis in FIG. 15) with respect to the second arm housing 631 via a bearing 815. This bearing 815 is also a cross roller type bearing and has the same configuration as the above-described bearing 571, and includes an outer ring 817, an inner ring 819, and a roller 821.
The outer ring 817 is fixed to the second arm housing 631 by an outer ring presser 818. The inner ring 819 is fixed to the spline nut body 803 by an inner ring presser 820.

Further, as shown in FIGS. 15 to 17, a rod-side stopper 823 is installed on the spline nut main body 803. The rod side stopper 823 and its base end side (left side in FIG. 15) are inserted and fixed in a through hole 825 orthogonal to the through hole 805 of the spline nut body 803, and its distal end side (right side in FIG. 15) is fixed. The spline nut 801 protrudes to the outer peripheral side. The rod-side stopper 823 includes a female screw portion 827 formed orthogonal to the upper side of the through hole 825 in FIG. 15 and a female screw portion 829 formed orthogonal to the lower side of the through hole 825 in FIG. It is fixed by set screws 831 and 833 to be screwed together.
Further, a cushioning material 834 made of an elastic member is crowned on a side (right side in FIG. 15) of the rod side stopper 823 that protrudes to the outer peripheral side of the spline nut 801.

  A cap 835 is installed on the upper side of the spline nut body 803 in FIG. The lower side of the cap 835 in FIG. 15 is inserted into the through hole 805 of the spline nut body 803 and penetrated by the rod 509, and the upper end side (upper end side in FIG. 15) of the spline nut body 803 is closed. doing. The cap 835 passes four bolts 839, 839, 839, 839 through a through hole (not shown) of the cap 835, the female screw part 837 of the spline nut body 803, the female screw part 827, and other not shown. The two female screw portions are fixed by screwing each other.

  As shown in FIG. 17, a grease nipple 841 is installed on the outer peripheral surface of the spline nut main body 803. From the grease nipple 841, as shown in FIG. 15, the rod 509 and the through-hole 805 of the spline nut main body 803 are passed through grease supply paths 843 and 843 formed on the lower side of the cap 835 in FIG. 15. Supply grease to the space between.

A rotating member 845 is rotatably installed on the outer peripheral side of the spline nut main body 803. The rotating member 845 includes a sliding ring 847 having an L-shaped cross section installed on the inner side and a stopper installing ring 849 fixed to the outer peripheral side of the sliding ring 847.
The inner peripheral surface side of the sliding ring 847 and the lower surface in FIG. 15 are coated with, for example, fluororesin so that the rotating member 845 can rotate smoothly.

As shown in FIGS. 15 to 17, a rotating member-side stopper 851 is detachably installed on the rotating member 845. As shown in FIG. 17B, the rotating member side stopper 851 is provided with positioning through holes 853 and 853, and the positioning through holes 853 and 853 and the stopper installation ring of the rotating member 845 are provided. By positioning positioning pins 857 and 857 into positioning recesses 855 and 855 formed in 849, positioning of the rotating member side stopper 851 with respect to the rotating member 845 is performed.
Further, the bolt through hole 859 is formed between the positioning through holes 853 and 853 of the rotating member side stopper 851, and the bolt 863 is passed through the bolt through hole 859 so that the stopper of the rotating member 845 is installed. The rotating member side stopper 851 is fixed by screwing into a female screw portion 861 formed on the ring 849 for use.
The bolt 863 is penetrated to the sliding ring 847 side, and the stopper installation ring 849 is fixed to the sliding ring 847 by the bolt 863.

The size and position of the rotating member side stopper 851 are set so that the rod side stopper 823 contacts the rotating member side stopper 851 when the spline nut 801 is rotated with respect to the rotating member 845. ing.
Further, as shown in FIG. 19A, the spline nut 801 and thus the rod 509 can rotate with respect to the rotating member 845 until the rod-side stopper 823 contacts the rotating member-side stopper 851. .

Further, depending on the rotation direction of the spline nut 801, the rotating member side stopper 851 is moved by the rod side stopper 823 from two directions (left side and right side in FIG. 19A) as shown in FIG. 19A. Abutted. In the second embodiment, as shown in FIG. 19A, the spline nut 801 and thus the rod 509 can rotate 310 ° with respect to the rotating member 845.
The angle at which the spline nut 801 and the rod 509 can rotate with respect to the rotating member 845 is set by the size of the rotating member side stopper 851.

  Further, the rotating member 845 is urged by the spline nut 801 when the spline nut 801 is rotated and the rod side stopper 823 is brought into contact with the rotating member side stopper 851, thereby the spline nut 801. In the same direction.

A timing pulley 865 is fixed to the lower side of the spline nut body 803 and the upper side of the bearing 815. The timing pulley 865 has teeth, and a plurality of bolts 867 are passed through a through hole (not shown) of the timing pulley 865 so that the female threaded portion 829, the female threaded portion 837 of the spline nut body 803, and other It is fixed by screwing into a female screw portion (not shown).
Further, a sensor 869 is installed in the second arm housing 631 below the timing pulley 865 (lower side in FIG. 15).

A fourth motor 871 as a rod motor is installed on the lower side of the third motor 731 of the second arm housing 631 in FIG. The fourth motor 871 has the same configuration as the first motor 513 described above, and includes a fourth motor case 873, a stator 875, a rotor 877, and a fourth motor side output shaft 879.
A timing pulley 881 is fixed to the distal end side (the upper side in FIG. 15) of the fourth motor side output shaft 879. A tooth portion 883 is formed on the timing pulley 881.

A timing belt 885 is wound between the spline nut 801 and the timing pulley 881. The timing belt 885 is engaged with the timing pulley 865 on the spline nut 801 side and the tooth portion 883 of the timing pulley 881, and the rotation of the fourth motor side output shaft 879 is transmitted to the spline nut 801. It is like that.
An encoder 887 is installed on the lower side of the fourth motor 871 in FIG. The encoder 887 has the same configuration as the encoder 525 described above, and includes an encoder case 889, an encoder wheel 891, a substrate 893, and the like, and detects the rotation of the fourth motor 871.
When the spline nut 801 is rotated by the fourth motor 871 via the timing belt 885, the rod 509 is rotated around the Z axis (centering on the vertical axis in FIG. 15).

As shown in FIGS. 13 and 16, a first rotation regulating member 901 and a second rotation regulating member 903 are installed on the distal end side (lower side in FIG. 16) of the second arm housing 631. The rotation member side stopper 851 is disposed between the first rotation restriction member 901 and the second rotation restriction member 903, and the rotation member 845 is attached to the first rotation restriction member 901 or the second rotation restriction member 903. It can rotate in the range until it abuts.
In the case of the second embodiment, as shown in FIGS. 19B and 19C, the rotating member 845 can rotate by 27 ° + 27 ° = 54 °.
The rotatable angle of the rotating member 845 is set by the positions of the first rotation restricting member 901 and the second rotation restricting member 903.

Further, since the rotating member 845 can rotate with respect to the spline nut 801 and thus the rod 509, the rod-side stopper 823 is connected to the spline nut 801 and the rod 509 from the left side in FIG. Even after contacting the rotating member side stopper 851, as shown in FIG. 19B, the rotating member side stopper 851 can rotate until it contacts the second rotation regulating member 903.
Further, the spline nut 801 and the rod 509 are arranged as shown in FIG. 19C even after the rod side stopper 823 comes into contact with the rotating member side stopper 851 from the right side in FIG. The rotating member side stopper 851 can rotate until it contacts the first rotation restricting member 901.

  Therefore, as described above, the spline nut 801 and thus the rod 509 can be rotated by 310 ° relative to the rotating member 845, and the rotating member 845 can rotate by 54 °. The nut 801 and thus the rod 509 can be rotated by 310 ° + 54 ° = 364 °.

In addition, when the rod 509 is rotated to any end of the rotatable range, the encoder 887 is reset to set the origin of the rotational position of the rod 509.
The first rotation restricting member 901 and the second rotation restricting member 903 are fixed to a hole (not shown) formed in the second arm housing 631 by press fitting and adhesion. Further, cushioning materials 905 and 905 made of elastic members are respectively crowned on the protruding side of the first rotation restricting member 901 and the second rotation restricting member 903.
Further, as described above, the rod 509 is moved in the Z-axis direction (vertical direction in FIG. 1) and rotated around the Z-axis center (rotated around the vertical axis in FIG. 1). Therefore, the Z-R axis actuator is installed on the distal end side (left side in FIG. 1) of the second arm 507 of the robot 501.

  Further, as shown in FIGS. 13 and 14, a cover 911 is installed on the right side of the second arm housing 631 in FIGS. 13 and 14, and the other end side of the self-standing cable cover 623 (on the cover 911 ( The left side in FIGS. 13 and 14 is engaged and fixed. The cover 911 passes through the cover 911 and is fixed by a plurality of screws 913 that are screwed into the second arm housing 631. The other end side of the self-supporting cable cover 623 can be detached from the second arm housing 631 together with the cover 911.

  Further, the upper side of the second arm housing 631 on the left side in FIGS. 13 and 14 is covered with a drive cover 915 as shown in FIG. Further, the tip of the second arm housing 631 (the left end in FIGS. 13 and 14) is closed by an end cover 917. Further, the fourth motor 871 installed on the lower side of the second arm housing 631 in FIG. 14 is covered with a motor cover 919.

Next, the operation of the second embodiment will be described.
The work robot 501 drives the first motor 513 to rotate the first arm 505 about the Z axis (about the vertical axis in FIG. 12) relative to the base 503. As a result, the second arm 507 side of the robot 501 is rotationally moved within the XY two-dimensional plane with the base 503 as the center.
Further, the robot 501 drives the second motor 633 to rotate the second arm 507 around the Z axis with respect to the first arm 505 (about the vertical axis in FIG. 12). . As a result, the rod 509 installed on the distal end side (left side in FIG. 12) of the second arm 507 is in the XY two-dimensional plane with the distal end side (left side in FIG. 12) of the first arm 505 as the center. It is rotated.
By such movement of the first arm 505 and the second arm 507, an attachment object (not shown) attached to the attachment portion 510 of the rod 509 is moved to an arbitrary position in the XY two-dimensional plane. .

  Further, the robot 501 drives the third motor 731 to move the attachment object (not shown) attached to the rod 509 and thus the attachment portion 510 in the Z-axis direction (vertical direction in FIG. 12).

Further, the robot 501 drives the fourth motor 871 so that the rod 509 and thus the mounting object (not shown) mounted on the mounting portion 510 is moved around the Z axis (centering on the vertical axis in FIG. 12). ) Rotate.
At this time, the angle at which the rod 509 can be rotated is a predetermined angle of 360 ° or more by the first rotation restricting member 901 and the second rotation restricting member 903 via the rotating member 845 provided with the rotating member side stopper 851. The range is regulated (364 ° in the case of this embodiment).
For example, as shown by the solid line in FIG. 19A, when the rod 509 is rotated in one direction (counterclockwise direction in FIG. 19A), the spline nut 801 is also rotated in the same direction. At this time, the rod-side stopper 823 installed on the spline nut 801 is brought into contact with the rotating member-side stopper 851, and the rotating member 845 is also urged and rotated. As shown in FIG. 19B, the rotating member 845 is brought into contact with the second rotation restricting member 903, and the amount of rotation of the spline nut 801 and the rod 509 in one direction is restricted. Become.

  For example, as shown by the phantom line in FIG. 19A, when the rod 509 is rotated in the other direction (clockwise direction in FIG. 19A), the spline nut 801 is also rotated in the same direction. At this time, the rod-side stopper 823 installed on the spline nut 801 is brought into contact with the rotating member-side stopper 851, and the rotating member 845 is also urged and rotated. As shown in FIG. 19C, the rotating member 845 is brought into contact with the first rotation restricting member 901, and the amount of rotation of the spline nut 801 and thus the rod 509 in the other direction is restricted. Become.

Note that the amount of rotation of the rod 509 is controlled by a soft method within a range immediately before the rotation member-side stopper 851 of the rotation member 845 contacts the first rotation restriction member 901 or the second rotation restriction member 903. It is comprised so that. That is, the rotation angle of the rod 509 is detected by the encoder 887, and based on this, the control, that is, the rotation member side stopper 851 of the rotation member 845 is applied to the first rotation restriction member 901 or the second rotation restriction member 903. Control is performed so that the amount of rotation of the rod 509 is restricted within a range just before the contact.
Further, when the rod 509 is rotated to any end of the rotatable range, that is, when the rotating member side stopper 851 is in contact with the first rotation restricting member 901 or the second rotation restricting member 903. By resetting the encoder 887, the origin of the rotational position of the rod 509 is set.

Next, the effect of the second embodiment will be described.
First, since the rotatable angle of the rod 509 is regulated by the first rotation regulating member 901 and the second rotation regulating member 903 via the rotating member 845 provided with the rotating member side stopper 851, a simple configuration is provided. Thus, the rotation of the rod 509 can be regulated within a predetermined range of 360 ° or more (in this embodiment, 364 °).
The rotation of the rod 509 can be restricted within a predetermined range of 360 ° or more even after the rod-side stopper 823 contacts the rotating member-side stopper 851. This is because the rotating member side stopper 851 can rotate until it comes into contact with the first rotation restricting member 901 or the second rotation restricting member 903.

Further, since the rotation of the rod 509 is restricted within a predetermined range of 360 ° or more, excessive rotation of the rod 509 is prevented, and for example, a cable or the like is attached to an attachment object (not shown) installed in the attachment portion 510. Can be prevented from being entangled with the work robot 501 or the like and disconnected.
Further, since the rotation of the rod 509 is restricted by a mechanical configuration in which the first rotation restricting member 901 and the second rotation restricting member 903 are installed, one end of the rotatable range of the rod 509 is restricted. It can be used as the origin of the encoder 887.
Further, since the origin of the encoder 887 can be set by such a mechanical configuration, the encoder 887 may be an incremental encoder, and the cost can be reduced.

Further, since the rotating member side stopper 851 is detachably installed on the rotating member 845, a plurality of types of rotating member side stoppers 851 having different sizes in the left-right direction in FIG. The rotation angle of the rod 509 can be easily changed by appropriately replacing the rotating member side stopper 851.
Further, by removing the rotation member side stopper 851, the first rotation restriction member 901 and the second rotation restriction member 903 can be easily switched to a state where the rotation of the rod 509 is not restricted. In this case, the sensor 869 can detect the origin of the rotational position of the rod 509.

  Further, since the rod side stopper 823, the first rotation restricting member 901, and the second rotation restricting member 903 are covered with cushioning materials 834, 905, 905 made of an elastic material, the rod side stopper 823, The impact and sound when the first rotation regulating member 901 and the second rotation regulating member 903 come into contact with the rotation regulating member side stopper 351 can be reduced.

  The rod 509 is a spline shaft in which a spline groove 809 is formed. Since the spline nut 801 is meshed with the rod 509, the rod 509 can be rotated and driven with a simple configuration.

The present invention is not limited to the first embodiment and the second embodiment.
First, in the first embodiment, the rotatable range of the hollow rod 113 is set to 380 °, and in the second embodiment, the rotatable range of the rod 509 is set to 364 °. The position, shape, size, etc. of the rotation range restricting member 287, the size of the rotating member side stopper 851, the positions of the first rotation restricting member 901, the second rotation restricting member 903, etc. are not limited thereto. By appropriately changing, various predetermined ranges of 360 ° or more can be set.
In the case of the first embodiment, the rod side stopper 271, the rotating member side first stopper 279, and the rotating member side second stopper 281 are provided with cushioning materials.
A cushioning material may also be installed on the rotation range regulating member 287.
Moreover, you may make it provide a buffer material in any one of the said rod side stopper 271 and the said rotation member side 1st stopper 279. FIG.
Moreover, you may make it provide a buffer material in any one of the said rotation member side 2nd stopper 281 and the said rotation range control member 287. FIG. In the case of the second embodiment, the rod side stopper 823, the first rotation restricting member 901, and the second rotation restricting member 903 are provided with cushioning material. However, the rotating member side stopper 851 is provided with cushioning material. May be installed.
In the first embodiment, the position of the rotating member side second stopper 281 relative to the position around the Z axis of the rotating member side first stopper 279 may be various.
Further, in the case of the first embodiment, the two slits 56 and 56 are provided to expose and arrange the attachment target fixing portions 102 and 102 of the slider 97, but one large opening portion is provided. There may be a configuration in which the upper surface side of the slider 97 is largely exposed and arranged.

A Z-axis motor unit 129 having a Z-axis ball screw motor 133 for rotating and driving the Z-axis ball screw 85 is disposed in parallel to the Z-axis ball screw 85. The case where it arrange | positions coaxially with the ball screw 85 is also considered. In this case, the size of the Z-R axis actuator 36 in the vertical direction (vertical direction in FIG. 6) increases, but the size in the horizontal direction (direction parallel to the plane perpendicular to the paper surface in FIG. 6) is reduced. Can be achieved.
In the first embodiment, the Z-axis ball screw 85 and the Z-axis ball nut 89 are used. However, other screw / nut mechanisms may be used. Of course, the same applies to the X-axis ball screw and the X-axis ball nut, and the Y-axis ball screw and the Y-axis ball nut.

The Z-axis motor unit 129 is provided with an electromagnetic brake 169, but a configuration in which the hollow rod motor unit 201 provided with the hollow rod motor 203 is also provided with an electromagnetic brake is also conceivable.
In the case of the first and second embodiments, the present invention has been described with reference to an example in which the present invention is applied to a tabletop orthogonal robot and a horizontal articulated scalar robot. However, the present invention is not limited thereto. It can be applied to vertical articulated scalar robots and other various robots.
In addition, the present invention is not limited to the illustrated configuration, and various modifications can be considered.

  The present invention relates to an actuator and a robot. In particular, the rotation of a rod that is moved in the axial direction and rotated and driven can be regulated within a predetermined range of 360 ° or more with a simple configuration. For example, it is suitable for a table top type, horizontal / vertical multi-joint work robot.

1 Working robot (robot)
36 Z-R axis actuator 113 Hollow rod (rod)
119 Spline nut 271 Rod side stopper 277 Rotating member 279 Rotating member side first stopper 281 Rotating member side second stopper 287 Rotation range restricting member (rotation range restricting portion)
288 First rotation restricting portion 290 Second rotation restricting portion 501 Robot 509 Rod (part of Z-R axis actuator)
801 Spline nut (part of Z-R axis actuator)
823 Rod side stopper (part of Z-R axis actuator)
845 Rotating member (part of Z-R axis actuator)
851 Rotating member side stopper (part of Z-R axis actuator)
901 First rotation restricting member (first rotation restricting portion) (part of Z-R axis actuator)
903 2nd rotation control member (2nd rotation control part) (a part of Z-R axis actuator)

Claims (14)

A rod that is axially moved and rotated and driven;
A rod-side stopper installed on the rod;
A rotatable member installed coaxially with the rod and rotatable;
A rotating member-side stopper installed on the rotating member;
A rotation range restricting portion including a first rotation restricting portion and a second rotation restricting portion;
Comprising
When the rod is rotated in one direction, the rod-side stopper is brought into contact with the rotating member-side stopper, the rotating member is also rotated in the one direction, and the rotating member-side stopper is the first of the rotation range restricting portion. The amount of rotation in one direction of the rod is regulated through the rotating member by being in contact with the rotation regulating unit,
When the rod is rotated in the other direction, the rod-side stopper is brought into contact with the opposite side of the rotating member-side stopper, the rotating member is also rotated in the other direction, and the rotating member-side stopper is rotated in the rotation range restricting portion. The actuator is characterized in that the amount of rotation of the rod in the other direction is restricted via the rotating member by being in contact with the second rotation restricting portion. The actuator according to claim 1, wherein
The rotating member side stopper is composed of a rotating member side first stopper and a rotating member side second stopper,
When the rod is rotated in one direction, the rod-side stopper is brought into contact with the rotating member-side first stopper, the rotating member is also rotated in the one direction, and the rotating member-side second stopper is controlled in the rotation range restriction. The amount of rotation in one direction of the rod is restricted via the rotating member by being in contact with the first rotation restricting portion of the portion,
When the rod is rotated in the other direction, the rod side stopper is brought into contact with the opposite side of the rotating member side first stopper, the rotating member is also rotated in the other direction, and is opposite to the rotating member side second stopper. The actuator is characterized in that the amount of rotation of the rod in the other direction is restricted via the rotating member by contacting the second rotation restricting part of the rotation range restricting part. The actuator according to claim 1, wherein
The rotating member side stopper is a single member,
When the rod is rotated in one direction, the rod-side stopper is brought into contact with a predetermined portion of the rotating member-side stopper, the rotating member is also rotated in the one direction, and another predetermined portion of the rotating member-side stopper is The amount of rotation in one direction of the rod is regulated through the rotating member by being in contact with the first rotation regulating unit of the rotation range regulating unit,
When the rod is rotated in the other direction, the rod-side stopper is brought into contact with the opposite side of the predetermined portion of the rotating member-side stopper, and the rotating member is also rotated in the other direction. The actuator is characterized in that the amount of rotation of the rod in the other direction is regulated through the rotating member by abutting the opposite side of another predetermined part to the second rotation regulating unit of the rotation range regulating unit. . In the actuator according to any one of claims 1 to 3,
The actuator is characterized in that the rotation range restricting portion is composed of a single member, and one end of the single member is the first rotation restricting portion and the other end is the second rotation restricting portion. In the actuator according to any one of claims 1 to 3,
The said rotation range control part is comprised from the 1st rotation control member which is said 1st rotation control part, and the 2nd rotation control member which is said 2nd rotation control part, The actuator characterized by the above-mentioned. In the actuator according to any one of claims 1 to 5,
The actuator according to claim 1, wherein the rotation range restricting portion is detachably installed. The actuator according to claim 4, wherein
An actuator characterized in that an arbitrary rotation range restricting member is attached from a plurality of types of rotation range restricting members having different intervals between the first rotation restricting portion and the second rotation restricting portion. In the actuator according to any one of claims 1 to 7,
The rod-side stopper and / or the rotating member-side stopper are detachably installed. The actuator according to any one of claims 1 to 8,
The actuator according to claim 1, wherein the rod side stopper and / or the rotating member side stopper is provided with a shock absorbing material for buffering an impact at the time of contact. The actuator according to any one of claims 1 to 9,
The actuator according to claim 1, wherein a buffer material that cushions an impact at the time of contact is installed in the rotation member side stopper and / or the first rotation restriction portion and the second rotation restriction portion of the rotation restriction portion. The actuator according to any one of claims 1 to 10,
A rod motor that rotates and drives the rod is installed.
The rod is a spline shaft, and a spline nut is meshed with the spline shaft.
An actuator characterized in that the rod is rotated and driven by rotating the spline nut by the rod motor.   A robot using the actuator according to any one of claims 1 to 11. The robot according to claim 12, wherein
It is a table top type orthogonal robot,
12. A robot using the actuator according to claim 1 as a Z-R axis actuator. The robot according to claim 12, wherein
A horizontal or vertical articulated robot,
12. A robot using the actuator according to claim 1 as a Z-R axis actuator.

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