JPH04122590A - Rectangular coordinate type robot - Google Patents

Abstract

PURPOSE:To enlarge an action area and increase action speed by forming at least one of uniaxial robots in such a way that its arm and slider can be both movable in an absolute coordinate system. CONSTITUTION:When a Y-axis robot 3 is driven, its arm 12 is moved together with a slider 13 on the Y-axis by the stroke Y1 within a range from the continuous line position to the chain line position. As a result, the slider 13 can be moved in the range of a stroke Y(= Y1+ Y2) that is the sum of its own stroke Y2 and the stroke Y1 of the arm 12 in an absolute coordinate system, and thus its action area is enlarged in large degree.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a Cartesian coordinate robot constructed by assembling a plurality of single-axis robots having relatively movable arms and sliders so as to be perpendicular to each other.

(Prior art) There are two types of such Cartesian coordinate robots: arm type and moving arm type. In the arm type, the arm is fixed and moves with respect to the slider or arm, and in the moving arm type, the arm is fixed and moves with respect to the slider or arm. In contrast, the slider is fixed and the arm moves relative to the slider.

So, if you combine two single-axis robots.

It is possible to give two-dimensional motion to the arm or slider, and by combining three, it is possible to give three-dimensional motion.

(Problem to be solved by the invention) However, in conventional Cartesian coordinate robots, even if they are of the cylindrical type, the single-axis robots that constitute them are either arms or sliders. Since only one arm or slider was configured to be movable relative to the other, the operating area of the arm or slider was limited by the length of the arm, and there was also a limit to its operating speed.

The present invention has been made in view of the above problems.

The purpose is to provide a Cartesian coordinate robot that can expand its operating area and increase its operating speed.

Means for Solving Problem 1) In order to achieve the above object, the present invention provides a Cartesian coordinate robot constructed by assembling a plurality of single-axis robots having relatively movable arms and sliders so as to be orthogonal to each other. The present invention is characterized in that at least one of the single-axis robots is configured such that its arm and slider are movable together in an absolute coordinate system.

(Operation) According to the present invention, the arm and slider of at least one single-axis robot can both move with respect to other single-axis robots, and the arm and slider can move relatively, so the absolute coordinate system In this case, the arm (slider) can move by the sum of its own stroke and the stroke of the slider (arm),
Its operating area has been expanded to about twice that of the conventional one.

The operating speed (absolute speed) is equal to the sum of the speed of the arm and the speed of the slider, and its increase is attempted.

(Example) An example of the present invention will be described below based on the attached sections.

FIG. 1 is a front view of a Cartesian coordinate robot according to the present invention, and FIG. 2 is a side view of the same robot.

The orthogonal coordinate axis robot 1 according to the present invention is constructed by assembling three single-axis robots, that is, an X-axis robot 2, a Y-axis robot 3, and a Z-axis robot 4 so that they are perpendicular to each other.

The above X-axis robot 2 has an X-axis (direction perpendicular to the paper surface of Fig.
It has an arm 5 installed long along the arm 5, and a slider 7 that slides in the X-axis direction along the guide rod installed on the arm 5, and the slider 7 is driven by a motor built in the arm 5. It is made to slide by a ball screw mechanism (both not shown).

The slider 7 of the X-axis robot 2 has the Z
An axis robot 4 is vertically mounted, and the Z-axis robot 4 has an arm 8 that stands up on a slider 7, and a two-axis robot (as shown in FIGS. 1 and 2) along a guide 9 provided on the arm 8. The slider 10 includes a slider 10 that slides in the vertical direction.

The slider 10 is also slid by a ball screw mechanism (both not shown) driven by a motor built into the arm 8.

By the way, in order to drive and control a motor (not shown) built into the Z-axis robot 4, it is necessary to electrically connect the X-axis robot 2 and the Z-robot 4 by wiring, but this example The wiring is protected by being enclosed in a flexible duct-shaped protective case 11.

The Y-axis robot 3 is supported on the slider 10 of the two-axis robot 4, and the Y-axis robot 3 also includes an arm 12 and a slider 13 that are relatively movable. The arm 12 and slider 13 of the Y-axis robot 3 are configured to be slidable in the Y-axis direction (horizontal direction in FIG. 1) with respect to the Z-axis robot 4 (absolute coordinate system). Note that the arm 12 is slid in the Y-axis direction by a ball screw mechanism (not shown) driven by a motor 14. Further, the slider 13 constitutes a rotless cylinder, which is also moved relative to the arm 12 along the guide 15 on the Y axis.

When the orthogonal coordinate robot l according to this embodiment is used for taking out a workpiece in a machine tool such as a lathe, the hand for attaching and detaching the workpiece is attached to the slider 13 of the Y-axis robot 3, and the hand x, y along with slider 13.

Move arbitrarily in the rectangular coordinate space of the Z axis. That is, when the X-axis robot 2 is driven, its slider 7 moves along the guide 6 along the X-axis with the Y-axis robot 3 and the Z-axis robot 4 in the range from the solid line position to the chain line position in FIG.
When the Z-axis robot 4 is driven, its slider 10 moves along the guide 9 along the Z-axis along with the Y-vehicle robot 3 by a stroke Δ2 in the range from the solid line position to the chain line position in FIG. It is possible.

Furthermore, if the Y-axis robot 3 is driven, its arm 12 can move along the Y-axis together with the slider 13 over a stroke ΔY in the range from the solid line position to the chain line position in FIG. Then, the slider 13 moves on the Y axis with respect to the arm 12 in the first direction.
Since the slider 13 can move by a stroke ΔY in the range from the solid line position to the chain line position in the figure, the slider 13 ends up with the illustrated stroke ΔY(
=ΔY1+ΔY2), and its operating area is greatly expanded.

Therefore, the X-axis robot 2. If the Y-axis robot 3 and the Z-axis robot 4 are driven and controlled simultaneously, the hand attached to the slider 13 of the Y-axis robot 3 can move arbitrarily in the three-dimensional space defined by the strokes ΔX, ΔY, and ΔZ. Carry out the specified workpiece removal work. In Fig. 1,
A indicates the operating area of the slider 13 (hunt) in the YZ plane.

Furthermore, since the operating speed (absolute speed) V of the slider 13 is a value (v++v2) that is the sum of its own operating speed v2 and the operating speed v1 of the arm 12, the slider 13
The operating speed of the hand attached to the machine is dramatically increased, and work efficiency is further increased.

Furthermore, when the Cartesian coordinate robot 1 is used to take out a workpiece as in this embodiment.

Since the amount of movement of the arm 12 relative to the stroke required for work can be suppressed to about 1/2 of the conventional value, there is also the advantage that interference between the arm 12 and machine tools etc. can be avoided.

(Effect of the invention) As is clear from the above description, according to the present invention.

In a Cartesian coordinate robot configured by assembling a plurality of single-axis robots having arms and sliders capable of relative movement so as to be perpendicular to each other, at least one of the single-axis robots has its arms and sliders together in an absolute coordinate system. Since it is configured to be movable, it is possible to expand the operating area and increase the operating speed.

[Brief explanation of drawings]

FIG. 1 is a front view of a Cartesian coordinate robot according to the present invention, and FIG. 2 is a side view of the same robot.

Claims (1)

[Claims] In a Cartesian coordinate robot configured by assembling a plurality of single-axis robots having relatively movable arms and sliders so as to be orthogonal to each other, at least one of the single-axis robots has an arm and a slider that are both aligned in an absolute coordinate system. A Cartesian coordinate robot characterized by being configured to be movable.