JP3087801B2 - robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a structure of an arm of an industrial robot, and more particularly to a robot for moving two arms extending along two axes orthogonal to each other.

[0002]

2. Description of the Related Art Conventionally, as an apparatus for moving two arms respectively extending along two axes orthogonal to each other, as disclosed in Japanese Patent Application Laid-Open No. 3-55137, for example, There is known a configuration in which an entire horizontal arm to which a hand is attached is advanced and retracted along a horizontal direction. In this conventional example, one arm protrudes rearward of the other arm as the hand moves in the horizontal direction. A device that prevents such an arm from protruding rearward is described in the present application. There is Japanese Patent Application No. 3-57258 already filed by the same applicant.

FIG. 13 shows the structure of a conventional apparatus according to the prior application. Describing this conventional configuration, reference numeral 100 indicates a first guide member extending in the vertical direction. This first guide member 100
Is rotatably supported around a vertical axis by a motor 103 arranged in a base 101. At an upper end of the first guide member 100, a driving roller 104 that is driven to rotate by a motor 102 is attached, and at a lower end,
A drive roller 108 that is driven to rotate by a motor 106 is attached. Also, guide rails 110a, 110b and slide bearings 112a, 112b, 114a, 114b are provided on the front side of the first guide member 100.
, The second guide member 116 is guided so as to be vertically movable. The slide rail 118 and the slide bearing 12 are provided on the surface side of the second guide member 116.
The slide block 122 is slidably mounted along the horizontal direction via the first block.

A second guide member 116 has four idle rollers 124, 126, 12 on its one end surface.
8 and 130 are rotatably mounted, and two idle rollers 132 and 134 are mounted on the surface of the other end. On the other hand, one driven roller 136 is rotatably mounted on the front side of the slide block 122, and a mounting member 140 for mounting the hand 138 to the slide block 122 is fixed. Then, both ends are fixed to the fixing portion 142 of the slide block 122, and the driving rollers 104 and 108 described above are fixed.
And the six idle rollers 124, 126, 128, 1
A connection belt 144 is stretched between 30, 30, and 134 as shown. In this way, the rotation of the three motors 103, 102, 106 allows the slide block 122 to move in the vertical direction, the horizontal direction, and the circumferential direction, respectively. A fourth motor 142 is mounted above the hand 138 so that the hand 138 can rotate around its own axis.

[0005]

However, in the above-mentioned conventional apparatus, the second guide member 116 is disposed on the front side of the first guide member 100, and the slide block 122 is disposed on the front side of the first guide member 100. Therefore, as shown in FIG.
8, the movement trajectory along the second guide member 116 (shown by a straight line I) is offset from the rotation center A of the first guide member 100 by the distance shown by δ in the figure.

Normally, the second guide member 1 of the hand 138
When the movement trajectory I along the path 16 passes on the rotation center A of the first guide member 100, even if the hand 138 moves along the second guide member 116, the coordinates of the hand 138 are as shown in FIG. As shown, the radial distance is from r ₁ to r
_It only changes to ₂ , and the θ coordinate about the rotation center A does not change. Therefore, when the coordinates of the hand 138 are converted into XY orthogonal coordinates, the calculation is easy.

On the other hand, the movement locus I is
In the case of offset, as shown in FIG.
138 moves along the second guide member 116
And the coordinate of the hand 138 is r coordinate_Three To r_Four Strange
Not only the ₁ From θ_Two Change to
The calculation when converting to rectangular coordinates is troublesome.
You. In addition, the data of the r coordinate is also the movement locus of the hand 138.
Travel distance l along I₁ , L _Two Can be used as is
Since it is not possible, it is necessary to calculate it.
That is, in the above-described conventional apparatus, the hand 13
8 is the rotation center of the first guide member 100.
Because of the offset from A
There was a problem that calculation was troublesome.

In order to solve this problem, it is sufficient that the movement trajectory I of the hand 138 passes over the center of rotation A. Various methods are conceivable. (A) The first guide member 100 is offset on the base 101 as shown in FIG. (B) As shown in FIG. 16, the attachment member 140 is extended to offset the center of the hand 138.

However, in the above method (a),
Since the moment of inertia about the rotation center A increases by the offset of the first guide member 100, there is a problem that the load on the first motor 103 increases.

In the above method (b), the second guide member 116 is used as shown in FIG.
It is necessary to lengthen the mounting member 140 in order to avoid interference between the
Of the mounting member 140 and an increase in the moment of inertia around the rotation center A due to an increase in the weight of the mounting member 140. When the mounting member 140 is extended downward, the height of the robot must be further increased to secure a work area.

Further, apart from the above problem, since the drive rollers 104 and 108 are located at positions distant from the surface of the first guide member 100, the shafts of the motors 102 and 106 must be lengthened. In addition, there was a problem that the strength of the shaft had to be increased.

Accordingly, the present invention has been made in view of the above-mentioned problem, and a main object of the present invention is to cause a movement locus of a hand to pass over a rotation center of a first guide member without increasing an inertia moment. The purpose is to provide a robot that has the same configuration. Another object of the present invention is to provide a robot capable of shortening a shaft of a motor that rotationally drives a driving roller.

[0013]

Means for Solving the Problems The above-mentioned problems are solved,
In order to achieve the object, the robot of the present invention includes a base,
A first guide member rotatably supported around a rotation axis along the vertical direction in a state where the first guide member extends along the vertical direction on the base; and First rotation driving means for rotating about a rotation axis, first and second driving rollers rotatably mounted near both ends on the front surface side of the first guide member, respectively, Second and third rotational driving means for rotationally driving the second driving roller, a supporting member movably attached in a vertical direction to a surface side of the first guide member, and the supporting member Four idle rollers rotatably supported by the member, one end is fixed to the surface side of the support member,
A second guide member extending in the horizontal direction, two idle rollers rotatably supported on the back side of the other end of the second guide member, and a back side of the second guide member;
A slide member movably attached along a horizontal direction, one driven roller rotatably supported by the slide member, and the six rotatable idle rollers fixed at both ends to the slide member; 4 is provided on the support member, comprising: a driven roller, a connection belt stretched over the first and second drive rollers, and a hand attached to the slide member in a vertical direction. The two idle rollers are disposed between the front surface of the first guide member and the back surface of the second guide member, and the connecting belt is connected to the front surface of the first guide member and the second guide member. In the state located between the back of the member,
The six idle rollers, the driven roller, and the first
And a second drive roller.

[0014]

In the robot according to the present invention, each of the second and third rotation driving mechanisms includes a motor, a reduction mechanism for reducing the rotation of the motor, and an encoder for detecting the rotation of the motor. It is characterized by being constituted.

Further, in the robot according to the present invention, the two idle rollers arranged on the second guide member can be adjusted in position in the extending direction of the second guide member. I have.

Further, in the robot according to the present invention, the first and second driving rollers, four idle rollers disposed on the support member, and two idle rollers disposed on the second guide member Is characterized in that each of the connecting belts is constituted by a timing belt having teeth formed on both sides thereof.

Further, in the robot according to the present invention, the second and third rotary driving means for driving the first and second driving rollers respectively have a brake mechanism.

Further, in the robot according to the present invention, the driven roller rotatably supported by the slide member is provided with a brake mechanism which operates to stop the rotation.

Further, in the robot according to the present invention, each of the brake mechanisms is configured to release the braking force when the power is supplied to the brake mechanism and to exert the braking force when the power is stopped.

[0021]

According to the robot of the present invention constructed as described above, the second guide member is disposed on the front surface side of the first guide member via the support member, and the second guide member is provided with the second guide member. Since the slide block is arranged on the back side,
The distance offset from the rotation center of the first guide member by the thickness of the support member and the second guide member can be canceled by attaching the slide block and the hand to the back surface side of the second guide member. The movement trajectory of the hand can pass through the center of rotation of the first guide member.

Further, since the four idle rollers disposed on the support member are disposed between the front surface of the first guide member and the rear surface of the second guide member, the positions of these four idle rollers are , Not far from the surface of the first guide member. Therefore, the first and second drive rollers can also be arranged at positions that are not far from the surface of the first guide member, and the rotation shafts of the second and third rotation drive means do not become longer, and these There is no need to increase the strength of the shaft.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the robot according to the present invention will be described below in detail with reference to the accompanying drawings.

FIGS. 1 to 3 are views showing the structure of the robot of the present invention.
Numeral 0 denotes a cylindrical robot. This cylindrical robot 10
A rotary drive unit 12 including a servomotor with an encoder and a speed reducer, an orthogonal two-axis moving device 14 driven to rotate around a vertical axis by the rotary drive unit 12, and an orthogonal two-axis A hand 16 that is movably supported along the vertical direction and the horizontal direction, and performs a predetermined clamping operation of a component (not shown);
Drive mechanism 1 composed of a servomotor with an encoder for rotationally driving the motor about a vertical axis and a speed reducer
8 is roughly provided. Note that the above-described rotation drive unit 12
Is configured to rotationally drive the entire orthogonal two-axis moving device 14 and stop at an arbitrary position.

Here, the configuration of the orthogonal two-axis moving device 14 will be described.

The orthogonal two-axis moving device 14 used in the robot of this embodiment is directly connected to the rotation drive unit 12,
A first guide member 20 that is driven to rotate about a vertical axis is provided. The first guide member 20 is formed of a substantially long plate-like member extending along the vertical direction. On the surface of the first guide member 20, a pair of guide rails 22a and 22b are attached in parallel with each other in a state of extending along the vertical direction. These guide rails 2
2a, 22b have two pairs of slide bearings 24a,
A support member 29 is vertically movably supported via 24b, 26a, 26b. A second guide member 28 is fixed to the surface of the support member 29. The second guide member 28 is formed of a substantially long plate-like member extending along the horizontal direction. The two slide bearings 24 and 26 described above are attached to the back surface of the support member 29.

A pair of slide rails 30a and 30b are provided on the rear surface of the second guide member 28, that is, on the surface facing the surface of the first guide member 20, so as to extend in the horizontal direction. They are mounted in parallel (see FIGS. 4 and 5). The slide rail 30 has two pairs of slide bearings 32a, 32b, 33a, 33b.
A slide block 34 is slidably supported along the horizontal direction via the slide blocks 34 (see FIGS. 4 and 5). The rotary drive mechanism 18 described above is fixed to the slide block 34, and the hand 16 is detachably attached to the lower end of the rotary drive mechanism 18.
The hand 16 is driven to rotate around a vertical axis by a rotation drive mechanism 18. Note that the slide rail 30 is configured to terminate within the extension range of the second guide member 28. With such a configuration, the hand 16 can be moved vertically, horizontally,
It is possible to move to an arbitrary position in a three-dimensional space by a combination of four degrees of freedom of rotation around two rotation axes and rotation around its own central axis.

On the upper and lower surfaces of the first guide member 20, first and second drive rollers 38 and 40 having the same diameter are rotatably supported. And
First and second servo motors 42 and 44 for rotationally driving the first and second drive rollers 38 and 40 are attached to the upper and lower surfaces of the first guide member 20, respectively. And the first and second drive rollers 3
Reference numerals 8 and 40 are connected to first and second servo motors 42 and 44 via first and second speed reduction mechanisms 50 and 51, each of which is composed of a pair of large and small pulleys and a timing belt. These first and second servo motors 42, 44
In order to detect the rotational drive amount of each drive roller 38, 40, a rotary encoder 46,
48 are connected. These rotary encoders 4
6 and 48 are connected to a control unit 54 as shown in FIG.
The control of the speed and the rotation angle of each of the second servomotors 42 and 44 is executed.

On the other hand, as shown in FIG. 3, the inside of a support member 29 formed in a box shape whose upper and lower left and right sides are opened are aligned with the first and second drive rollers 38 and 40 in the vertical direction. In this state, the first and second idle rollers 56 and 58 which are vertically separated by the first distance d1 and the second idle rollers 56 and 58 are located rightward of the first and second idle rollers 56 and 58 in the drawing. While being displaced by the distance d2, it is also deviated above the first idle roller 56 and below the second idle roller 58, respectively.
Third and fourth idle rollers 60 and 62 vertically spaced apart by a third distance d3 longer than that are rotatably supported. That is, a total of four idle rollers 56, 58, 60, 62 are rotatably supported inside the support member 29.

On the surface of the end of the second guide member 28 opposite to the side fixed to the support member, the fifth and sixth ends are vertically separated by a fourth distance d4. Idle rollers 64 and 66 are rotatably supported.
A driven roller 68 is rotatably supported on the surface of the slide block 34 described above. The height of the center position of the driven roller 68 is set to be the same as the height of the intermediate position between the first and second idle rollers 56 and 58.

In this embodiment, the first and second driving rollers 38 and 40, the first to sixth idle rollers 56, 58, 60, 62, 64 and 66, and the driven roller 68 Is formed to have the same diameter, but is not limited to having the same diameter. The first distance d1 described above is set to exactly the same length as the diameter of the driven roller 68. Further, the above-described second distance d2
Is set to exactly the same length as the diameter of the first or second drive roller 38, 40.

The first and second driving rollers 38, 4
The first and second idle rollers 56 and 58 are positioned so that the outer periphery thereof is in contact with a tangent line extending along the vertical direction on the left side of FIG. , 40, the third and fourth idle rollers 60, 62 are respectively positioned such that the outer periphery thereof is in contact with a tangent line extending along the vertical direction on the right side in the figure. Further, the fifth idle roller 64 is positioned so that the outer periphery thereof is in contact with a tangential line extending along the horizontal direction below the third idle roller 60, and the horizontal direction above the fourth idle roller 62. The sixth idle roller 66 is positioned so that the tangential line extending along the outer periphery is in contact with the outer periphery.

Further, the upper surface of the slide block 34 is provided with a surface which is in contact with a tangential line extending horizontally along the lower side of the fifth idle roller 64, and the upper surface of the sixth idle roller 66. A timing belt fixing portion 70 having a surface, which is in contact with a tangent line extending along the horizontal direction as a lower end surface, is fixed.

Here, the driving rollers 38 and 40 described above are used.
And the first to sixth idle rollers 56, 58, 60,
A single timing belt 72 is stretched between the rollers 62, 64, 66 and the driven roller 68 as described below. That is, one end of the timing belt 72 is
After being fixed to the upper end surface of the fixing portion 70 and being wrapped around the outer periphery of the fifth idle roller 64 with its inner surface engaged, the outer surface thereof was engaged with the outer periphery of the third idle roller 60. And then the first drive roller 3
8 is wound around the outer periphery of the first idler roller 56 with its inner surface engaged, and then wound around the outer periphery of the first idler roller 56. The outer surface of the second idler roller 58 is engaged with the outer surface of the second drive roller 4.
0, with its inner surface engaged with the outer surface of the fourth idle roller 62, and then with the outer surface engaged with the outer surface of the fourth idle roller 62. Finally, the other end is fixed to the lower end surface of the fixing portion 70.

The timing belt 72 has a large number of teeth formed on both sides. The first and second drive rollers 38 and 40 with which the tooth surfaces of the timing belt 72 are engaged, and the first and second idle rollers 5
6, 58, and third and fourth idle rollers 60, 62.
, The fifth and sixth idle rollers 64 and 66, and the driven roller 68 are constituted by toothed rollers having teeth meshing with the teeth on the outer periphery.

Next, a mechanism for applying tension to the timing belt 72 will be described. The fixing block 52 for fixing the fifth and sixth idle rollers 64 and 66 to the second guide member 28 has a structure similar to that shown in FIGS. The second guide member 28 is fixed with a bolt 53 so that the position can be adjusted in the extending direction of the guide member 28.
The tension is applied to the timing belt 72 by rotating the bolt to adjust the position of the fixed block 52.

As shown in FIG. 6, the belt fixing portion 70 sandwiches the timing belt 72 between the timing belts 73a and 73b having the same tooth pitch as that of the timing belt 72, and further tightens the fixing plate 71 with bolts. It is fixed by.

Here, as shown in FIG.
4 includes a teaching procedure storage unit 74 for storing the moved procedure of the hand 16 that has been taught, and a hand 16
For example, a keyboard input unit 76 for teaching the movement procedure of the hand 16 via a keyboard or the like, and a keyboard input mode in which the movement procedure of the hand 16 is taught via the input unit 76, or the hand 16 is moved manually to directly An input mode switching switch 78 for switching between direct input mode and direct input mode is connected. That is, when the keyboard input mode is set in the storage unit 74 by the switching switch 78,
The moving procedure set via the keyboard input unit 76 is
When the direct input mode is set and stored in the teaching procedure storage unit 74, the position of the hand 16 that has been manually moved is determined by the first and second rotary encoders 4.
In a state in which the output information from the units 6 and 48 is converted, the output information is directly stored in the teaching procedure storage unit 74.

Next, with reference to FIGS. 8 to 11, the operation of moving the hand 16 in the orthogonal two-axis moving device 14 having the above-described configuration will be described.

First, as shown in FIG. 8, the first drive roller 38 is rotated counterclockwise by the first servo motor 42, and at the same time, the same amount is rotated by the second servo motor 44 by the same amount. The second driving roller 40 is rotated clockwise. As a result, the portion of the timing belt 72 located between the first idle roller 56 and the driven roller 68, and the second idle roller 58 and the driven roller 6
8, both of which change so as to increase the length by the same amount, and
The portion of the timing belt 72 located between the fifth idle roller 64 and the fixed portion 70 and the portion of the timing belt 72 located between the sixth idle roller 66 and the fixed portion 70 have the same length. Will be changed to shorten the length by the same amount. Therefore, the second guide member 28
In this case, only the slide block 34 is sent out to the right in the figure along the horizontal direction without any movement in the vertical direction.

Next, as shown in FIG. 9, the first driving roller 38 is rotated clockwise by the first servo motor 42, and at the same time, the same amount is rotated by the second servo motor 44 by the same amount. The second driving roller 40 is rotated counterclockwise. As a result, the portion of the timing belt 72 located between the first idle roller 56 and the driven roller 68, and the second idle roller 58 and the driven roller 6
8, both portions of the timing belt 72 change so as to shorten the length by the same amount, and
The portion of the timing belt 72 located between the fifth idle roller 64 and the fixed portion 70 and the portion of the timing belt 72 located between the sixth idle roller 66 and the fixed portion 70 have the same length. It will be changed to make the length longer by the same amount. Therefore, the second guide member 28
In this case, only the slide block 34 is sent out to the left in the figure along the horizontal direction without any movement in the vertical direction.

As shown in FIG. 10, the first and second drive rollers 38 and 40 are rotated counterclockwise by the same amount by the first and second servo motors 42 and 44 in a state where they are both synchronized. . As a result, the second idle roller 58
The part of the timing belt 72 located between the second idler roller 62 and the second drive roller 40 and the part of the timing belt 72 located between the fourth idle roller 62 and the second drive roller 40 are The length of the timing belt 72 is changed so as to increase the length by the same amount, and is located between the first idle roller 56 and the first drive roller 38, and the third idle roller 60 and the third The portion of the timing belt 72 located between the one drive roller 38 and the timing belt 72 is changed so that the length thereof is shortened by the same amount. Accordingly, the slide block 34 does not move along the left-right direction, and only the second guide member 28 is sent upward in the drawing.

Then, as shown in FIG. 11, the first and second
The first and second drive rollers 38 and 40 are rotated clockwise by the same amount in a state of being synchronized by the servo motors 42 and 44. As a result, the first idle roller 56
The portion of the timing belt 72 located between the first idler roller 60 and the first drive roller 38 and the portion of the timing belt 72 located between the third idle roller 60 and the first drive roller 38 are both The length of the timing belt 72 changes so as to shorten the length by the same amount, and is located between the second idle roller 58 and the second drive roller 40, and the fourth idle roller 62 and the fourth The portion of the timing belt 72 located between the second drive roller 40 and the second drive roller 40 is changed so that its length is increased by the same amount. Therefore, the slide block 34 does not move along the left-right direction, and only the second guide member 28 is fed downward in the figure.

As described above, in the orthogonal two-axis moving device 14 of this embodiment, when the two servo motors 42 and 44 are rotated in the same rotational direction in synchronization with each other, the second guide member 28 The servomotors 42 and 44 are moved along the vertical direction in a state where the torques are combined. Further, when the two servo motors 42 and 44 are rotated in different rotational directions in synchronization with each other, the second guide member 28 itself stops in both the vertical direction and the horizontal direction. Only the slide block 34 is moved along the left-right direction with the torques of the two servo motors 42 and 44 combined.

In this embodiment, a brake mechanism 80 for locking the driven roller 68 is connected to the driven roller 68 described above. This brake mechanism 8
The connection state of 0 is as shown in FIG.
That is, the driven roller 68 penetrates a through hole formed in the slide block 34, and a pair of bearings 82a, 82
A support shaft 68a rotatably supported by the support shaft 2b and a coaxially fixed tip of the support shaft 68a.
2 is provided with a toothed roller main body 68b to be bridged. The brake mechanism 80 is connected to the rear end of the support shaft 68a, that is, the end protruding toward the back side of the slide block 34. The brake mechanism 80 operates when the power supply to the brake mechanism is stopped, and the brake is activated.
8 is made unrotatable, and the brake is released when the power is supplied thereto. As shown in FIG. Have been.

By locking only the driven roller 68 via the brake mechanism 80 in this manner, the slide block 34 can be moved in the horizontal direction by an external force, but the second guide member 28 is moved in the vertical direction. You will not be able to move along. Therefore, as shown in FIG.
In the state where the orthogonal two-axis moving device 14 is applied to the motor 0, for example, the power failure or the work on that day is completed, and the brake mechanism 8
Even when energization to 0 is interrupted, the second guide member 28, which is the direction of movement with respect to gravity, does not fall, so that safety against energization stop is ensured.

On the other hand, when the direct teaching mode is set by the switching switch 78, the power to the first and second servomotors 42 and 44 is turned off, and the power to the rotary encoders 46 and 48 is not turned off. When the power supply to the brake mechanism 80 is stopped and the rotation of the driven roller 68 is disabled, the slide block 3 is stopped.
Accordingly, the hand 16 attached thereto can be manually moved along the horizontal direction. In this way, moving the hand 16 in the horizontal direction by the direct teaching operation can be performed very easily. In the direct teaching operation, when the hand 16 must be moved in the vertical direction, it goes without saying that the power supply to the brake mechanism 80 may be restarted.

As described above, in the robot of one embodiment, the support member 29 is provided on the surface of the first guide member 20.
Since the second guide member 28 is vertically movably attached through the, and the hand 16 is attached to the back surface of the second guide member 28 via the slide block 34,
As shown in FIG. 1, which is a view of FIG. 1 as viewed from above, a straight line I indicating the movement locus of the center C of the hand 16 can pass through the rotation center A of the first guide member 20. Thereby, even when the hand 16 moves along the second guide member 29 (when the hand 16 moves along the straight line I), the coordinates of the hand 16 can be converted to the orthogonal coordinate system by a simple calculation. Can be. Also, the first guide member 2
Since there is almost no need to shift 8 with respect to the rotation center A, the moment of inertia around the rotation center A does not increase. (Other Embodiments) It is needless to say that the present invention is not limited to the configuration of the above-described embodiment, and can be variously modified without departing from the gist of the present invention.

For example, in the above-described embodiment, the brake mechanism 80 is described as being connected to the driven roller 68. However, the present invention is not limited to such a configuration, and the brake mechanism 80 may be connected to the driven roller 68. In place of the mechanism 80 or in addition to the brake mechanism, the first and second
The servo motors 42 and 44 may be provided with brake mechanisms for locking the respective output shafts.
Here, each brake mechanism is configured to release the braking force when electric power is supplied thereto, and to apply the braking force when the supply of electric power is cut off. As described above, the first and second servo motors 42 and 44 are locked on the respective output shafts by the respective brake mechanisms, so that the second guide member 28 is prevented from moving in the vertical direction and slides. The horizontal movement of the block 28 is also prohibited. Thus, each servo motor 4
By attaching a brake mechanism to the second and the second 44, it is possible to prevent the second guide member 28 from dropping when power is stopped,
As in the case where the brake mechanism 80 is provided in the above-described embodiment, safety at the time of stopping power supply at the time of a power failure or the like is ensured.

Further, in the above-described embodiment, the example in which the orthogonal two-axis moving device 14 is used for the cylindrical robot 10 has been described. However, the present invention is not limited to such an application. With the one guide member 20 fixed and the hand 16 supported on the slide block 34, it can also be used as a two-axis orthogonal robot.

In the above-described embodiment, the driving force is transmitted through the timing belt 72 having teeth. However, the present invention is not limited to such a configuration, and the transmission of driving force is not limited to such a configuration. You can use a timing belt that does not have
There is no problem even if the driving force is transmitted by a chain, a wire, or the like.

[0052]

As described above, according to the robot according to the present invention, the second guide member is disposed on the front surface side of the first guide member via the support member, and the second guide member is provided with the second guide member. Since the slide block is arranged on the back side, the distance offset from the center of rotation of the first guide member by the thickness of the support member and the second guide member is set on the back side of the second guide member. By attaching the hand and the hand, the movement can be canceled, and the movement locus of the hand can pass through the rotation center of the first guide member.

Since the four idle rollers disposed on the support member are disposed between the front surface of the first guide member and the rear surface of the second guide member, the positions of these four idle rollers are , Not far from the surface of the first guide member. Therefore, the first and second drive rollers can also be arranged at positions that are not far from the surface of the first guide member, and the rotation shafts of the second and third rotation drive means do not become longer, and these There is no need to increase the strength of the shaft.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the configuration of an embodiment of a robot according to the present invention from the front side.

FIG. 2 is a perspective view showing the configuration of one embodiment of the robot according to the present invention from the back side.

FIG. 3 is a front view showing the configuration of an embodiment of the robot according to the present invention.

FIG. 4 is a sectional view taken along line AA of FIG. 3;

FIG. 5 is a sectional view taken along line BB of FIG. 4;

FIG. 6 is a diagram showing a fixed state of the connecting belt.

FIG. 7 is a block diagram schematically showing a configuration of a control system in the cylindrical robot shown in FIG.

FIG. 8 is a front view showing a state in which only a slide block is moved rightward in the figure.

FIG. 9 is a front view showing a state in which only the slide block is moved to the left in the figure.

FIG. 10 is a front view showing a state in which only a second guide member is moved downward in the figure.

FIG. 11 is a front view showing a state in which only the second guide member is moved upward in the drawing.

FIG. 12 is a view of the cylindrical robot viewed from above.

FIG. 13 is a perspective view showing a configuration of a conventional cylindrical robot.

FIG. 14 is a diagram showing a state in which the movement locus of the hand is shifted from the rotation center of the first guide member.

FIG. 15 is a diagram showing a state in which the first guide member is offset so that the movement locus of the hand passes through the rotation center of the first guide member.

FIG. 16 is a diagram showing a state in which the attachment member is extended so that the movement locus of the hand passes through the rotation center of the first guide member.

FIG. 17 is a view of FIG. 16 viewed from the right side.

DESCRIPTION OF SYMBOLS 10 Cylindrical robot 12 Rotation drive unit 14 Orthogonal biaxial moving device 16 Hand 20 First guide member 22a; 22b Guide rail 24; 26 Slide bearing 28 Second guide member 30 Slide rail 32 Slide bearing 34 Slide block 34a Through-hole 36 Mounting bracket 38 First drive roller 40 Second drive roller 42 First servo motor 44 Second servo motor 46 First rotary encoder 48 Second rotary encoder 54 Control unit 56 First Idle roller 58 second idle roller 60 third idle roller 62 fourth idle roller 64 fifth idle roller 66 sixth idle roller 68 driven roller 70 fixing part 72 timing belt 74 teaching procedure憶部 76 keyboard input unit 78 is switched switch 80 braking mechanism 82a; 82b Bearing

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 9/02 B25J 9/04 B25J 17/00

Claims (7)

(57) [Claims] A first guide member supported on the base so as to be rotatable about a rotation axis along the vertical direction while extending on the base along the vertical direction; First rotation driving means for rotating the guide member around the rotation axis on the base, and first and second rotatably mounted near both ends on the surface side of the first guide member, respectively. A second drive roller, and a second drive roller for rotating the first and second drive rollers.
And third rotation driving means; a support member movably attached to the surface of the first guide member along the vertical direction; four idle rollers rotatably supported by the support member; A second guide member having one end fixed to the front side of the support member and extending in the horizontal direction; and two idle rollers rotatably supported on the back side of the other end of the second guide member. A slide member movably mounted along the horizontal direction on the back side of the second guide member, one driven roller rotatably supported by the slide member, and both ends of the slide member. A fixing belt fixed to the six rotatable idle rollers, the driven roller, the first and second driving rollers, and a connecting belt attached to the sliding member in a vertical direction. And and a hand, the four idle rollers arranged on said support member, prior to
The surface of the first guide member and the back of the second guide member
Surface, and the connecting belt is
The front surface of the first guide member and the back surface of the second guide member
Between the six idle rollers and the front
The driven roller and the first and second driving rollers
A robot characterized by being passed . 2. The motor according to claim 2, wherein the second and third rotation driving mechanisms include a motor, a reduction mechanism for reducing rotation of the motor,
The robot according to claim 1, further comprising: an encoder that detects rotation of the motor. 3. The device according to claim 1, wherein the two idle rollers disposed on the second guide member are adjustable in position in a direction in which the second guide member extends.
The robot according to 1. 4. The first and second drive rollers, four idle rollers disposed on the support member, and two idle rollers disposed on the second guide member, each having a toothed roller. Wherein the connection belt is
The robot according to claim 1, comprising a timing belt having teeth formed on both sides. 5. The robot according to claim 1, wherein the second and third rotation driving means for driving the first and second driving rollers respectively include a brake mechanism. 6. The driven roller rotatably supported by the slide member is provided with a brake mechanism that operates to stop the rotation.
The robot according to 1. Wherein said each of the brake mechanism releases the braking force with the energization of the hand, claim 5 or <br/>, characterized in that is configured so as to exert a braking force by energization stop Or the robot according to 6 .