JP3185456B2 - Robot traveling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device for a robot, on which a robot is mounted and travels on a predetermined track.

[0002]

2. Description of the Related Art Conventionally, a traveling trajectory is set between a plurality of machine tools, and a robot is placed on the trajectory and travels, thereby causing the robot to carry in and out a work to a machine tool. The device is used. As shown in FIG. 6, such a traveling device includes a base 5 fixed to a floor surface.
0, two rails 51 parallel to each other are installed.
A mounting plate 56 is mounted thereon via a guide member 52, and a robot 54 is placed on the mounting plate. The traveling device 60 has a motor 57 attached thereto, and a pinion 55 attached to the motor 57 meshes with a rack 58 installed in parallel with the rail 51. With such a configuration, the traveling device 60
Is driven by the motor 57 to drive the rail 51
Along the direction perpendicular to the plane of FIG.

[0003]

In order to allow the traveling device 60 to travel stably as described above, the rails 51 should be prevented from generating play between the rails 51 and the guide members 52.
Must be accurately attached to the base 50. Therefore, the base 50, which is the installation surface, also needs to be accurate. For this reason, the mounting surface to the floor surface, which is the lower surface of the base 50, and the mounting surface of the rail 51, which is the upper surface of the base 50, are machined, and the base 50
Is processed so that the upper surface of the is horizontal.

[0004] However, the machining of the base 50 performed to stably drive the traveling device 60 is as follows.
The longer the traveling distance of the traveling device 60, the more difficult it becomes. Therefore, the machining of the base 50
This was largely related to the cost increase of the entire traveling device. The present invention has been made in order to solve the above-described problems, and has as its object to reduce the cost of a traveling device by eliminating machining of a base, which is an installation surface of the traveling device.

[0005]

According to the present invention, as a means for achieving the above-mentioned object, a mounting plate on which a robot is mounted is provided, and the robot runs on two rails by a driving device to perform a predetermined operation on the robot. In a traveling device of a robot to be performed, a guide member that slides on the two rails,
A support installed on the guide member that slides on one of the two rails, and a rotary connection unit that connects the support and the mounting plate so as to be rotatable around an axis parallel to a traveling direction of a traveling device. And a deformable member that is installed on the guide member that slides on the other of the two rails, supports the mounting plate, and is displaceable in a direction perpendicular to the direction in which the traveling device travels. It is.

[0006]

The mounting plate is connected rotatably about an axis parallel to the traveling direction of the traveling device by a rotary connecting portion of the column, and is displaced around an axis perpendicular to the traveling direction of the traveling device by the deformable member. Since the connection is possible, the guide member slides along each of the two rails even when an error occurs between the two rails when the traveling device is driven by the driving device. Therefore, the traveling device is 2
Tilt the mounting plate to match the errors that occur in the book rails. Since this inclination is reproduced in the same way on the movement locus of the traveling device, if the operation of the robot is taught on this movement locus, the operation of the robot is not affected.

[0007]

Embodiments of the present invention will be described with reference to the drawings. The traveling device of the present embodiment has a robot mounted thereon and travels along rails 25 and 26 installed on the base 12. As shown in FIGS. 1 to 3, the base 12 is provided on a base 11 installed on the floor surface, and two parallel rails 25 and 26 are laid on the base 12. In FIG. 1, a drive side traveling plate 45 is mounted on a left rail 25 via a guide member 35. Two of the guide members 35 are attached in the longitudinal direction of the rail 25, and have a plurality of balls inside and slide on the rail 25. A driven traveling plate 46 is mounted on the right rail 26 via a guide member 36. Two driven-side traveling plates 46 are arranged in the longitudinal direction, and one guide member 36 is attached to each of the two driven-side traveling plates 46. The guide member 36 has the same structure as the guide member 35.

Two columns 18 are fixed to the driving side traveling plate 45, and the elastic plate 22 (deformable member) is attached to each of the driven side traveling plates 46. The mounting plate 30 on which the robot is mounted is supported by the above four members, that is, the two columns 18 and the two elastic plates 22. Reference numeral 20 in FIG. 1 indicates a base portion of the robot.

The driving side traveling plate 45 has a motor 17.
(Drive device) is attached, and the motor 17 rotates the pinion 23 via a speed reduction mechanism 21 having gears 21a and 21b. Pinion 23
Are engaged with a rack 24 laid in parallel with the rails 25 and 26. Therefore, when the motor 17 is driven, the traveling device travels along the rails 25 and 26.

The column 18 supports a driving-side traveling plate 45 via a rotation connecting portion 19. This rotation connecting portion 19
The drive-side traveling plate 45 is rotated about an axis parallel to the longitudinal direction of the rails 25 and 26 (hereinafter, referred to as a traveling direction), and the distal end portion 18a of the column 18 and the drive-side traveling plate 45 are rotated.
Are rotatably connected by a support shaft 19b. The support shaft 19b is supported via a bush 19e, and one end of the support shaft 19b is fixed to a fixing plate 19c.
And the bolt 19d are fixed to the mounting portion 19a. With such a configuration, the mounting plate 30 is allowed to tilt around an axis parallel to the running direction, but is not allowed to tilt around an axis orthogonal to the running direction.

On the other hand, the elastic plate 22 supports the mounting plate 30 via the L-shaped mounting plate 22c. Elastic plate 22
Is a plate material made of metal (iron, spring steel, etc.), and is attached by bolts 22a and 22b such that its wide plane direction is parallel to the rails 25 and 26. Further, since the elastic plate 22 is a metal plate material, it can be elastically deformed in a direction orthogonal to the wide plane direction, but is hardly elastically deformed in a direction parallel to the wide plane direction. It has become.

The operation of the traveling device of the present embodiment based on the above configuration will be described. FIG. 4 shows a model of the traveling device of the present embodiment. As can be seen from this model diagram, the traveling device has a mounting plate 30 supported by a column 18 having a rotary connection portion 19 and an elastic plate 22. Configuration. In such a configuration, when the motor 17 is driven, the pinion 23 rotates via the speed reduction mechanism 21,
The traveling device runs along the rack 24, ie, the rails 25,2.
Drive along 6. At this time, rail 25 and rail 26
The error in the direction perpendicular to the running direction generated on the base 11 and the base 12 causes the following three errors. That is, the rail 2 as shown in FIG.
When an error d occurs in the distance direction between the rail 5 and the rail 26,
There is a case where an error h occurs in the height direction between the rail 25 and the rail 26 as shown in (b) and an error θ occurs in the inclination between the rail 25 and the rail 26 as shown in (c). . In any of such cases, the guide members 35 and 36 engaging with the rails 25 and 26 respectively try to slide along the rails 25 and 26 where the error has occurred. At this time, since the support column 18 and the elastic plate 22 attached to the guide members 35 and 36 are connected by the attachment plate 30, the guide members 35 and 36 due to an error.
The elastic plate 22 is elastically deformed in accordance with the displacement, and as a result, the mounting plate 30 is inclined with the rotation connecting portion 19 as a fulcrum. Therefore, the guide members 35 and 36 are connected to the rails 25 and 2.
6 slides without generating backlash.

As described above, the traveling device of this embodiment travels while tilting the mounting plate 30 on which the robot is mounted in accordance with the error generated in the two rails 25 and 26. Since such an inclination is caused by a mounting error of the base portion 11 and the base 12 and a processing accuracy, the inclination similarly occurs every time on the traveling track. Therefore, if the operation of the robot is taught on the traveling track, the rail 25,
Accurate operation can be realized irrespective of the error generated in.
That is, the traveling device according to the present embodiment can cancel an error that has occurred on the traveling track by the operation of the robot on the traveling device.

As described above, in the traveling apparatus of the present embodiment, the elastic plate 22 is elastically deformed and the mounting plate 30 is inclined, so that even if an error occurs in the two rails 25 and 26, play occurs. You can run without letting it go. Further, a change in position caused by tilting the mounting plate 30 can be offset by the robot, so that there is no problem in work. Therefore, in the traveling apparatus of the present embodiment, since the base 11 and the base 12, which are the installation surfaces, do not require much precision, it is not necessary to secure the precision by machining them. Therefore, cost reduction of the traveling device can be realized.

In the embodiment described above, two elastic plates 2 are provided so as to correspond to the two columns 18 as shown in FIG.
2 is installed, but if you want to further enhance the elastic action,
A single elastic plate 22 may be arranged such that two columns 18 and one elastic plate 22 are located at each vertex of the triangle when viewed from above. In addition, the traveling device of the present embodiment has a configuration in which the mounting plate 30 is supported by the column 18 having the rotation connecting portion 19 and the elastic plate 22 as a deformable member. As shown in FIG. A similar effect can be obtained by using a column 82 having rotation connecting portions 80 and 81 at both ends instead of the elastic plate 22. Note that the rotation connecting portions 80 and 81 can be realized with the same configuration as the rotation connecting portion 19.

[0016]

As described above, the traveling device according to the present invention has the following features.
Without generating play between the rail and the guide member,
The vehicle travels while tilting the mounting plate in accordance with the error generated in the two rails. Since this inclination is reproduced in the same way on the movement locus of the traveling device, if the operation of the robot is taught on this movement locus, the operation of the robot is not affected.

Accordingly, the traveling device of the present invention does not require much precision of the installation surface of the two rails, so that machining or the like required for securing the accuracy of the installation surface is not required, and the cost of the traveling device can be reduced. .

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of a traveling device according to the present invention.

FIG. 2 is a view on arrow A of FIG. 1 showing the embodiment of the present invention.

FIG. 3 is a view on arrow B of FIG. 1 showing the embodiment of the present invention.

FIG. 4 is a diagram showing the operation of the embodiment of the present invention.

FIG. 5 is a diagram showing another embodiment of the present invention.

FIG. 6 is a diagram showing a conventional technique of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 17 Motor 18 Post 19 Rotation connection part 20 Robot base part 22 Elastic plate 25 Rail 26 Rail 30 Mounting plate 35 Guide member 36 Guide member

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 5/02 F16C 29/00 F16H 19/04

Claims (1)

(57) [Claims] A mounting plate on which the robot is mounted;
A traveling device for a robot that travels on two rails by a driving device and causes the robot to perform a predetermined operation. A guide member that slides on the two rails;
A support installed on the guide member that slides on one of the rails, and a rotary connection unit that connects the support and the mounting plate rotatably around an axis parallel to a traveling direction of a traveling device, A deformable member that is mounted on the guide member that slides on the other of the two rails, supports the mounting plate, and can be displaced in a direction perpendicular to a direction in which a traveling device travels. And the traveling device of the robot.