JP4928793B2 - Orthogonal robot axis moving device using linear motor - Google Patents

Description

  The present invention relates to a shaft moving device for an orthogonal robot using a linear motor.

Since the moving device for the axis of the orthogonal robot using the conventional linear motor has the linear motor coil on the mover side, the wire for supplying electricity to the coil is dragged when the mover is moved. Therefore, it was necessary to use means for protecting the cable. However, dragging of a cable or the like accompanying the movement of the mover in this type of moving apparatus has a drawback that it is not only dangerous for the surroundings but also increases the installation area of the apparatus. Therefore, non-contact power feeding has been desired. As such a technique related to non-contact machine dielectric, for example, the following is known as a patent document.
JP 2003-319504 A

  As described above, the dragging of the cable or the like accompanying the movement of the mover in this type of moving device is not only dangerous to the surroundings, but also has the disadvantage of increasing the installation area of the device. Providing an industrial robot device having a configuration has been a problem.

  An object of the present invention is to provide an electric wire that supplies electricity to the coil when the mover moves in the moving device having the linear motor coil on the mover side of the moving device for the axis of the orthogonal robot using the conventional linear motor as described above. In addition, the present invention provides a moving device for an axis of an orthogonal robot having a linear motor coil on the side of the mover that eliminates the dragging of cables and the like accompanying the movement of the mover of the moving device. is there.

  For this purpose, the present inventors have reached the conclusion that the external wiring is eliminated, the safety is achieved, and the moving device has a small space.

In order to achieve the above-mentioned object, the present invention provides an apparatus for moving an axis of an orthogonal robot using a linear motor, and a permanent magnet fixed to the inner bottom of the frame on the stator side of the linear motor, and the permanent magnet. Arranged in the linear motor and provided in the lower side of the mover side inside the linear motor, and attached to both ends of the coil, respectively, so as to supply electricity to the coil that drives the mover. And is attached to the inner side of the frame on the stator side facing the tip on the side opposite to the coil of the contact, and is always moved when the mover moves. A power transmission plate for power transmission extended in the moving direction of the mover so as to contact the contact, and a shaft moving device for an orthogonal robot using a linear motor, It was.

  Further, the position of the mover is detected between a linear encoder head fixed to the mover and a scale attached to the stator side frame facing the head, and a position detection signal detected by the head. Is preferably transmitted by a wireless communication means.

  According to the present invention, there is no external wiring, and hence there is no dragging of the cable or the like due to the movement of the mover, and the shaft moving device uses a linear motor that is smaller and safer.

Next, an example of an embodiment of an axis robot moving apparatus according to the present invention will be described with reference to FIGS. In the description, although there are a plurality of axes moving devices for the orthogonal robot, such as the X, Y, and Z axes, since they are all the same, one of them will be described as an example.
In FIG. 1, reference numeral 1 denotes a moving device for an axis of an orthogonal robot that is moved by a linear motor 2. A table 6 that is guided by a guide 4 provided on a frame 3 and includes a mover 5 is It moves by a predetermined distance L in the left-right direction. A plurality of linear motors 2 are alternately arranged on the frame 3 so as to have N and S poles, and fixed permanent magnets 7 (7a, 7b. (8U, 8V, 8W).

  Contacts 9 are attached to both ends of the coils 8U, 8V, and 8W, respectively, and are securely fixed to the table 6, and the tip on the side opposite to the coil faces the inner surface A of the frame 3. The inner surface A of the frame 3 extends in the direction of movement of the table 6 and extends in the direction of movement of the table 6 where the tip of the contactor 9 always contacts with the movement of the table 6, and electricity from a power source (not shown) is supplied. A power transmission plate 10 for sending is attached.

  In addition, a movable element 5, that is, a position sensor 11 for detecting the movement position of the table 6 is attached to the axis moving device 1 of the orthogonal robot. A head 12 is attached to the table 6, and a scale 13 is attached to the frame 3. Is installed. Supply of driving electricity to the head 12 of the position sensor 11 is performed by using a contact (not shown) provided on the movable element side as in the linear motor 2 described above, and a contact when the movable element is moved. This is performed by a power transmission plate (not shown) for power transmission extending in the moving direction of the mover so as to come into contact with. The detection result detected by the head 12 is transmitted by radio means to the frame 3 (not shown) or to a controller in a fixed part other than the axis moving device 1 of the orthogonal robot.

  Since this apparatus is configured as described above, the movable element 5, that is, the table 6 does not drag the cable even though the movable element 5, that is, the table 6 moves. It became a moving device for the shaft.

It is explanatory drawing which shows the outline | summary of one Example of the moving apparatus with which this invention is applied. It is explanatory drawing which shows the outline | summary of one Example of the moving apparatus with which this invention is applied, and is an enlarged view of the cross section BB figure of FIG. It is explanatory drawing which shows the outline | summary of one Example of the moving apparatus with which this invention is applied, and is the enlarged view of the cross section CC of FIG. It is explanatory drawing which shows the outline | summary of one Example of the moving apparatus with which this invention is applied, and is an enlarged view of the cross section DD of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot axis moving device 2 Linear motor 3 Frame 4 Guide 5 Movable element 6 Table 7 Permanent magnet 8 Coil 9 Contactor 10 Power transmission plate 11 Position sensor 12 Head 13 Scale

Claims (2)

In an orthogonal robot axis moving device using a linear motor,
A permanent magnet fixed to the frame inner bottom of the stator side of the linear motor;
A coil disposed opposite the permanent magnet and provided on the lower side of the mover side inside the linear motor;
A contact attached to each end of the coil, extending horizontally to supply electricity to the coil for driving the mover, and fixed to the mover;
It is attached to the inner side of the frame on the stator side facing the tip on the side opposite to the coil of the contact, and is extended in the moving direction of the mover so that it always contacts the contact when the mover moves. Power transmission plate for power transmission,
An apparatus for moving an axis of an orthogonal robot using a linear motor characterized by comprising:   The position of the mover is detected between a linear encoder head fixed to the mover and a scale mounted on the stator side frame facing the head, and the position detected by the head is detected. The apparatus for moving an axis of an orthogonal robot according to claim 1, wherein the signal is transmitted by wireless communication means.

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