JPH03213233A - Successively provided motion mechanism - Google Patents

Abstract

PURPOSE:To move a plurality of moving bodies independently of each other by successively providing a plurality of two-dimensional motion mechanisms in which the moving body is moved to an arbitrary position in a single plane. CONSTITUTION:A slider 14 of the first two-dimensional motion mechanism 10 can be moved to an arbitrary position in a square plane 16, and a slider 18 of the second two-dimensional motion mechanism 12 can be moved to an arbitrary position in a square plane 20. The two-dimensional motion mechanisms 10, 12 are successively connected in line with each other, and base beds 22, 24 are connected so as to be formed substantially as an integral unit through a connecting tool 26 by setting up the first two-dimensional motion mechanism 10 on the base bed 22 and the second two-dimensional motion mechanism 12 on the base bed 24. In such a way as mentioned, touring action or the like, followed by complicated movement, can be performed when a tool, robot head, workpiece, etc., are mounted to a moving body because a plurality of the moving bodies can be moved independently of each other.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to an articulated movement mechanism.

(Background Art) A two-dimensional movement mechanism for moving a moving body such as a slider to an arbitrary position within one plane is disclosed in US Patent No. 4.729.
Some of them are disclosed in Japanese Patent Publication No. 536 and Japanese Patent Application Laid-open No. 191533/1983. In addition, the applicant of the present application also
No. 134209 has been filed for a two-dimensional motion mechanism.

In any two-dimensional movement mechanism, a tool for tooling, a robot head for work, or a workpiece is attached to the moving body,
The moving body is used by moving it to an appropriate position within one plane.

However, the above-mentioned two-dimensional movement mechanism has only one moving body, and there is a problem that it cannot cope with the case where, for example, it is desired to move a plurality of tools or robot heads independently of each other.

Therefore, the present invention is characterized in that it provides a continuous movement mechanism that can move a plurality of moving bodies independently of each other.

(Problem to be solved by the invention) In order to solve the above problems, the present invention includes the following configuration.

That is, it is characterized by a plurality of two-dimensional movement mechanisms that move a moving body to an arbitrary position within one plane.

(effect) The effect will be explained.

Since a plurality of two-dimensional movement mechanisms are arranged in series, a plurality of moving bodies can be moved independently by each two-dimensional movement mechanism. Therefore, by attaching tools, robot heads, workpieces, etc. to the movable body, it becomes possible to move a plurality of tools, robot heads, workpieces, etc. independently from each other.

(Embodiments) Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows (a) a plan view and (b) a partially cutaway front view of the two connected type movement mechanisms of this embodiment.

In the figure, IO is the first two-dimensional movement mechanism, and 1
2 is a second two-dimensional movement mechanism. In the first two-dimensional movement mechanism 10, a slider 14, which is a moving body, is movable to any position within a rectangular plane 16. On the other hand, in the second two-dimensional movement mechanism 12, a slider 18, which is a moving body, is movable to any position within the rectangular plane 20.

First two-dimensional movement machine horizontal 10 and second two-dimensional movement mechanism 12
are installed consecutively. The first two-dimensional movement mechanism 10 is a base 2
2, the second two-dimensional movement mechanism 12 is installed on the base 24
is installed on top. The bases 22 and 24 are connected via a connector 26 so as to be substantially integral.

Next, the first and second two-dimensional movement mechanisms 10S12 will be explained. Since both form the configuration of Rima-, the first two
The dimensional movement mechanism 10 will be explained, and the explanation of the second two-dimensional movement mechanism 12 will be omitted.

FIG. 2 shows an upper cover 30 of the first two-dimensional movement mechanism 10.
, shows a plan view with the gearbox cover 32 removed.

In the figure, the base 22 is a rectangular frame with the center cut out.

34 and 36 are X-axis ball screws, which are arranged parallel to each other in the same plane. The X-axis ball screw 34 is directly driven and rotated by a motor 38 which is an X-axis drive means. A convex gear 40 is connected to the X-axis ball screw 36.
．． The rotational force of the motor 38 is transmitted through a first transmission mechanism including a transmission shaft 114, a transmission shaft 114, and the like. Note that 46 is a coupler, which connects the gear shaft 48 and the motor shaft 50.

Further, 52.54 is also a coupler. X-axis ball screw 34.
The tip end portion (left end portion in the drawing) of 36 is pivotally supported by a suitable support frame 56.

Reference numerals 58 and 60 indicate Y-axis ball screws, which are parallel to each other, in the same plane, and have a space between the X-axis ball screws 34 and 6;
They are arranged so that they intersect perpendicularly within the plane.

The Y-axis ball screw 58 is directly driven and rotated by a motor 62 which is a Y-axis drive body.

The rotational force of the motor 62 is transmitted to the Y-axis pole screw 60 via a second transmission mechanism consisting of convex toothed gears 64 and 66 and a transmission shaft 68. In addition, 70 is a coupler and the gear shaft 7
2 and a motor shaft 74 are connected. Moreover, 76.78 is also a coupler. In addition, the tips of the Y-axis ball screws 58, 60 (lower ends in the drawing) are also supported by an appropriate support frame 80...
is supported by.

Reference numerals 82 and 84 designate X-axis drive bodies, which are screwed onto the X-axis ball screws 34 and 36, respectively, and whose rotation is prevented by an X-axis rod, which will be described later, so that the X-axis ball screws 34.3
6 rotate in the same direction so that they can simultaneously move in the X-axis direction.

Reference numerals 86 and 88 indicate Y-axis drive bodies, which are screwed into Y-axis ball screws 58.60, respectively, and are prevented from rotating by Y-axis rods, which will be described later, so that Y-axis ball screws 58.6
0 can be moved simultaneously in the Y-axis direction by rotating in the same direction.

Reference numeral 90 denotes an X-axis rod, which is arranged parallel to the Y-axis, penetrates the slider 14 which is a moving body, and has both ends fixed to the X-axis drive bodies 82 and 84, respectively.

As a result, the slider 14 moves in the X-axis direction as the X-axis drive bodies 82 and 84 whose rotation is prevented by the X-axis rod 90 move in the X-axis direction.

Reference numeral 92 denotes a Y-axis rod, which is arranged parallel to the X-axis, penetrates the slider 14 which is a moving body, and has both ends fixed to Y-axis drive bodies 86 and 88, respectively.

Therefore, the Y-axis rod 92 is connected to the X-axis rod 90 and the slider 14.
Orthogonal internally. The slider 14 moves in the Y-axis direction as the Y-axis drive bodies 86 and 88 whose rotation is prevented by the Y-axis rod 92 move in the Y-axis direction. This combination of movement in the X-axis direction and Y-axis direction allows the slider 14 to move to any position within the rectangular plane 16. In addition,
The X-axis rod 90 and the Y-axis rod 92 are preferably metal rods having appropriate rigidity and elasticity.

The motor 38.62 is provided so as to protrude outward from the side surface of the gearbox 32 (see FIG. 1), but it is also possible to arrange it above the gearbox 32 via a coupling mechanism such as a gear. be. In other words, if the motors 38 and 62 are disposed above the gearbox 32 and there are no objects protruding outward from the sides of the two-dimensional movement mechanism, - Other two-dimensional movement mechanisms can be connected in series.

The two-dimensional movement mechanism shown in the figure above was adopted because the positioning accuracy of the moving body is very high. The driving means for the movable bodies 86, 88 may be a belt drive mechanism driven by the motor 38, 62 instead of a ball screw.

Furthermore, as the type of each two-dimensional movement mechanism, a type in which an X-axis moving mechanism is mounted on a Y-axis moving mechanism, as disclosed in U.S. Patent No. 4.729.536, is also adopted. can do.

FIGS. 3 and 4 show examples of devices using the above-mentioned continuous movement mechanism.

The example in FIG. 3 is the slider 1 of the first two-dimensional movement mechanism 100.
02 and the slider 106 of the second two-dimensional movement mechanism 104
A robot arm 108, 110 is attached to each. The robot arm 108 moves while gripping the component 114 on the component stage 112 as the slider 102 moves, while the robot arm 110 moves while the slider 10
The robot arm 108.110 grasping the 0 part 114.11B is moved in the air or on the assembly stage 120.
This is a device for assembling parts 114 and 118 to finish a product 122. Product 1 by COD camera 124
The assembly of 22 is monitored. In the case of this device, the robot arms 10B and 110 are movable independently of each other, so the slider 102.10, which is a moving body,
Combined with the high positioning accuracy of 6, it is possible to carry out sophisticated and complex assembly work. Note that the movement of the sliders 102 and 106 and the operations of the robot arms 10B and 110 are of course controlled by the computer.

The example shown in FIG. 4 is a transfer device. A transfer mechanism 202 is provided in which the planar position of a column 200 is fixed, and a transfer arm 204 can be rotated in the left-right direction by a motor 206. A sucker (suction head) 208 is provided at the tip of the transfer arm 204, and the parts 210 can be sucked and released by a vacuum generator (not shown).

A pallet 216 on which parts 210 are placed in advance is attached to the slider 214 of the first two-dimensional movement mechanism 212. On the other hand, a pallet 222 on which the parts 210 are placed is attached to the slider 220 of the second two-dimensional movement mechanism 218.

Since the transfer arm 204 can only draw the same trajectory, the sliders 214 and 220, which are movable bodies, change their positions each time they are transferred, pick up the parts 210 on the pallet 216 by suction with the sucker 20B, and move the parts 210 to the left. The parts 210 are moved onto the pallet 222 and the sucker 208
The parts 210 are released and transferred onto the pallet 222. In the case of this transfer device, the base 224 is formed integrally.

In the examples shown in FIGS. 1 to 3, the bases were provided separately for each two-dimensional movement mechanism and were connected together. In the example shown in Fig. 4, one common base is provided.Although both use a substantially integrated base, if the base is shared, the first and second two-dimensional movements The mechanisms (same for 3 or more) will be placed in the same vibration system, and each
Compared to the case where the dimensional movement mechanisms are placed in separate vibration systems, the timing deviation in the movement of the moving body can be suppressed as much as possible, and the accuracy can be improved.

Next, application examples will be explained with reference to FIGS. 5 to 7.

In the example shown in FIG. 5, four two-dimensional motion mechanisms 300.30
This is an example in which 2.304.306 are installed in series, and the mobile body 30B
, 310, 312, and 314, four tools, robot heads, workpieces, etc. can be attached and moved independently.

FIGS. 6 and 7 (in both figures, the motor for driving the moving body is not shown) are examples in which a plurality of two-dimensional movement mechanisms are three-dimensionally combined.

The example shown in FIG. 6 is an example in which two two-dimensional movement mechanisms 400 and 402 are combined at right angles, for example, both two-dimensional movement mechanisms 4
A workpiece (not shown) positioned between 00.402 and 402 can be tooled from two directions. Note that the angle θ between the two two-dimensional movement mechanisms 400 and 402 is not necessarily limited to a right angle.

In the example of FIG. 7, three two-dimensional motion mechanisms 500, 502,
・0 is an example of combining 504 at right angles to each other.
For example, a workpiece (not shown) positioned between three two-dimensional movement mechanisms 500, 502, and 504 can be tooled from three directions.

Incidentally, if the examples shown in FIGS. 6 and 7 are applied, it is also possible to combine a larger number of two-dimensional movement mechanisms.

Although various preferred embodiments of the present invention have been described above, the present invention is not limited to the above-mentioned embodiments, and it goes without saying that many modifications can be made without departing from the spirit of the invention. be.

(Effects of the Invention) By using the linked movement mechanism according to the present invention, a plurality of moving bodies can be moved independently of each other. Therefore, when a tool, robot head, workpiece, etc. is attached to a moving body,
Since they can be moved independently of each other, they have great effects such as being able to perform touring operations that involve complex movements.

[Brief explanation of drawings]

FIG. 1 shows an embodiment of the connected movement mechanism according to the present invention (
a) Plan view, (b) Partially cutaway front view, Fig. 2 is a plan view showing the structure of one of the two-dimensional movement mechanisms, and Figs. 3 and 4 are devices using the connected movement mechanism. , and FIGS. 5 to 7 are a plan view and a perspective view showing other embodiments. lO... First two-dimensional movement mechanism, 12... Second two-dimensional movement mechanism, 14... Slider, 16... Rectangular plane, 18...
...Slider, 20...Rectangular plane. Figure (b) Figure 3 Figure 04

Claims (1)

[Claims] 1. A continuous movement mechanism characterized by a plurality of two-dimensional movement mechanisms that move a moving body to an arbitrary position within a single plane.