JPH02160484A - Coordination robot for double arms for industrial use - Google Patents

Abstract

PURPOSE:To make double arm parts not interfering each other by constituting an interference part by the nut part fixed on a housing and the bolt part screwed with this nut part and providing a detect-part detecting the approach of the housing to this bolt part. CONSTITUTION:When Y axial main body 25 and 26 are relatively approached, the promixity switch 48 incorporated in the bolt part 47 in an interference part detects the Y axial main body part 25. The feeding of a current onto a motor is stopped based on this detection signal. After this stoppage, the stopper rubber 49 provided on the bolt part 47 screwed with the nut part 46 fixed to a housing is abutted with the Y axial main body part 25 prior to the mutual Y axial main body parts 25, 26 being interfered. Accordingly, the minimum separation distance between the Y axial main body part 25 and 26 is held constant. Moreover, the min. separation distance between the Y axial main body part 25 and 26 is freely adjusted by rotating this bolt part 47.

Description

[Detailed description of the invention] Industrial applications The present invention relates to an industrial multi-arm collaborative robot.

Background of the Invention In recent years, there has been an increasing demand for multi-arm collaborative robots for industrial robots, which are compatible with small-space, high-efficiency production systems.

An example of the above-mentioned multi-arm collaborative robot will be described below with reference to the drawings. Figure 4 shows a conventional multi-arm collaborative robot. In Figure 4, 1.2 is the X-axis main body, 3.4
6.6 is a portion of the X-axis slider that slides in the X-axis direction, 6.6 is a Y-axis main body portion, and 7.8 is a portion of the Y-axis slider that slides in the Y-axis direction. 9.10 is an X-axis main body part, and 11.12 is a part of a two-axis slider that slides in the X-axis direction. Figure 6 is Figure 41
．． 2 is a perspective perspective view of a part of the X-axis main body part of No. 2 and a part of the X-axis slider of No. 3.4. FIG.

In FIG. 5, 13 is a motor, and 14 is a plate that fixes the motor. 16 is directly connected to the output shaft of the motor with a bow/L' screw.

A plate 16 supports the ball screw shaft. 1
Numeral 7 is a nut that is screwed onto the pole screw shaft. 18 is a linear guide laid parallel to the ball screw shaft, 19 is a slider that slides on the linear guide, and 2o is a housing that fixes the nut and is connected to the slider. 21 is the main body part, and 14 is the main body part.
16 plates and 18 linear guides are fixed.

The operation of the X-axis main body and part of the X-axis slider configured as above will be explained.

First, when the output shaft of the motor 13 rotates, the nut 17 is fixed to the housing 2o, so the housing 2o slides along the linear guide 18. Multi-arm cooperative movement is performed by independently controlling parts of the two X-axis sliders.

Problems to be Solved by the Invention However, the above configuration requires a large installation area;
It is not suitable for multi-arm emphasizing robots that aim to effectively utilize a small area. Furthermore, the X-axis main body and a portion of the X-axis slider each require a ball screw shaft and a linear guide, resulting in high costs. Furthermore, since a portion of the X-axis slider is independently controlled, there is a possibility that the two Y-axis tree bodies may interfere with each other due to a teaching error or the like.

Means for Solving the Problems In order to solve the above problems, the multi-arm collaborative robot of the present invention has a ball screw shaft that extends in one direction and is fixed at both ends, and a ball screw shaft that is installed parallel to the ball screw shaft. It has a linear guide and two or more sliding units, and the sliding unit slides along the housing and the linear guide, and is threadedly engaged with the slider coupled with the housing and the ball screw shaft to connect the housing and the bearing. In addition to having a structure in which a nut is connected through the nut and a drive unit that supplies power to the nut, the nut part is fixed to one Y-axis body part in order to prevent interference between the Y-axis wooden body parts, The interference part is screwed into the nut part and has a built-in detection part for detecting the approach of the interference part.

That is, an interference part is provided on one Y-axis main body, and the distance between the interference part and the Y-axis main body can be freely set, and the distance between the interference part and the other Y-axis main body is kept below a certain distance. By providing a limit switch that stops the current supply to the motor when this occurs, interference between the Y-axis wooden bodies is prevented.

Function The present invention has the above-described configuration, and by sharing the linear slider part and ball screw shaft of the two X-axis main bodies, the installation area is reduced, and the distance can be arbitrarily adjusted by rotating the bolt. In addition to providing an interference part that can interfere with the interference part, the supply of current to the motor is stopped before interference occurs with the interference part, thereby preventing collisions between the Y-axis wooden body parts.

EXAMPLE Hereinafter, a multi-arm collaborative robot according to an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view of a multi-arm cooperative robot according to the present invention.

In FIG. 1, 22 is the X-axis main body, 23.24 is a part of the X-axis slider that slides in the X-axis direction, and 26.26 is the X-axis body.
Y-axis main body attached to part of axis slider, 27.2
8 is a part of the Y-axis slider that slides in the Y-axis direction, 29.30
31 is a two-axis main body, and 32 is a part of a two-axis slider that slides in the X-axis direction. 33 is a part of a variable stopper.

FIG. 2 is a perspective perspective view of the X-axis main body and a portion of the X-axis nullider. In FIG. 2, 34 is a ball screw shaft, and 35 and 36 are plates that fix both ends of the ball screw shaft. 37 is a linear guide, which is laid parallel to the ball screw axis. Reference numeral 38 denotes a main body portion to which the plate and the linear guide are fixed. The X-axis main body portion 22 is configured as described above. 3
9 is a motor, and 4o is a first rotating part, which is directly connected to the output shaft of the motor. Numeral 41 is a nut that is screwed into the ball screw shaft. 42 is the second rotating part;
It is directly connected to the nut. A timing belt 43 transmits the rotation of the first rotary part to the second rotary part. 4
4 is a slider that slides along the linear guide. 4
A housing 6 fixes the motor and the nut via a bearing. A portion of the 22 X-axis sliders is configured as described above. A portion of the X-axis slider 23 is configured in exactly the same manner as the portion of the X-axis slider 22.

The operation of the X-axis main body and part of the X-axis slider configured as above will be described below. First, when the motor 39 shown in FIG.
, and the nut 41 rotates. 4
When nut No. 1 rotates, nut No. 41 slides in the X-axis direction since the pole screw shaft is fixed. , 41 nuts are fixed to the housing 46 via bearings,
The housing and the slider 44 are connected. Therefore, the housing slides along the linear guide in the X-axis direction. FIG. 4 is a structural diagram of variable stopper 33 in FIG. 2. In FIG. 4, 46 is a nut part;
7 is a bore A/) portion which is screwed into the nut portion, and 48 is a proximity switch built in the bolt portion. 4
Reference numeral 9 is fixed to the bolt portion with a stopper rubber. 2
6°26 is fixed to the Y-axis main body portion in FIG.

The stopper of the multi-arm collaborative robot configured as described above will be explained with reference to FIGS. 2 and 3. First, the second
When the Y-axis main bodies of FIGS. 26 and 26 approach each other, the proximity switch 48 detects the Y-axis main body of 26 and stops supplying current to the motor before the Y-axis wooden bodies interfere with each other. Because the stopper rubber of 26 interferes with the Y-axis main body of 25,
The minimum distance between the Y-axis bodies of and 26 is kept constant. Furthermore, because of the screw structure, the minimum distance between the Y-axis wooden body parts can be freely adjusted by rotating the bolt part.

Effects of the Invention As described above, the present invention provides a pole screw shaft with both ends fixed, a linear guide laid in parallel to the ball screw, a slider that can slide on the sonia guide, a nut screwed with the ball screw shaft, and the nut. , the nut and the slider, a flange for fixing the drive part, and a variable stopper consisting of the nut part, bolt part, and detection part, so that the installation area is small and the double arms can be attached to each other. A multi-arm collaborative robot that does not interfere can be realized.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of the X-axis main body and part of the X-axis slider of an industrial multi-arm collaborative robot according to an embodiment of the present invention, FIG. 2 is a perspective view of the industrial multi-arm collaborative robot, and FIG. 3 is a perspective view of the industrial multi-arm collaborative robot. 4 is a sectional view of a variable mechanical stopper, FIG. 4 is a perspective view of a conventional industrial dual-arm cooperative robot, and FIG. 6 is a perspective perspective view of a portion of the X-axis main body and X-axis slider shown in FIG. 4. 37... Linear guide, 34... Ball screw shaft, 41... Nut, 44...
Slider, 42... Drive section, 33...
・Variable stopper, 46... Nut part, 47...
...Bot/l/bot section, 48...Detection section, 26
゜26・・・Interference part. Name of agent: Patent attorney Shigetaka Awano and 1 other person LL
Stud - 11,500 voices part 46---Gutsutto p 47---, port 1 and 43-Kiwakuni

Claims (2)

[Claims] (1) A ball screw shaft extending in one direction and fixed at both ends, a linear guide laid parallel to the ball screw shaft, two or more sliders sliding on this linear guide, and the slider a sliding unit provided above, the sliding unit comprising a nut that can be screwed onto the ball screw shaft and slidable along the axial direction by rotation, and a drive unit that rotates the nut. . An industrial multi-arm collaborative robot, comprising a housing that rotatably supports the nut and is fixed on the slider. (2) A ball screw shaft that extends in one direction and is fixed at both ends, a linear guide that is laid parallel to the ball screw shaft, two or more sliders that slide on this linear guide, and this slider. and a sliding unit provided on the ball screw shaft, the sliding unit rotatably supporting a nut that can be screwed onto the ball screw shaft and slidable along the axial direction by rotation, and a sliding unit that rotatably supports the nut. a housing fixed on the slider, and an interference part provided between the housings, the interference part consisting of a nut part fixed on the housing and a bolt part screwed into the nut part, An industrial multi-arm collaborative robot characterized in that the bolt part is provided with a detection part for detecting the approach of the housing.