JPH04152079A - Industrial robot device - Google Patents

Abstract

PURPOSE:To disperse the weight supported by a machine frame and lift body to both sides of the machine frame, and to miniaturize the machine frame and lift body while securing the stiffness thereof sufficiently, by fitting the lift body to which a tool is fitted and a rotation driving means to the machine frame with their being arranged at both sides of the machine frame. CONSTITUTION:A lift body 2 to which a tool (welding gun) W is fitted, and a rotation driving means 22 for lifting this lift body 2 are fitted to a machine frame 11 with their being arranged at one part of the surface 11a side of and the other part surface 11b side of the machine frame 11 respectively. So heavy weight bodies are dispersed at both sides of the machine frame 11, therefore the machine frame 11, etc., become possible to be miniaturized while securing the stiffness thereof. A pinion 23 is bitten with a rack 20 fixed to the extension part of the lift body 2, this pinion 23 is turned by the rotation driving means 22 fixed to the machine frame 11 to lift the lift body 2. Consequently, the rotating shaft centers of the pinion 23 and rotation driving means 22 become in a horizontal posture at a fixed position for a pedestal 1.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention includes an elevating body provided on a base so as to be movable up and down,
The present invention relates to an industrial robot device in which a tool such as a welding gun for performing a predetermined work is attached to the elevating body so as to be able to rise and fall freely.

(Prior art) Conventionally, as this type of robot device,
The one disclosed in Japanese Patent No. 433 is known.

In this robot device, an elevating body is supported by a curved plate-shaped support frame erected on the base of the robot body via a pair of guide rails, and a tool is attached to the upper end of the elevating body. etc. are attached, and the elevating body is engaged with a screw shaft extending vertically and rotatably attached to the support machine frame via a nut, and further the work arm is attached to the support machine frame. The screw shaft is rotated by a lifting electric motor fixed to the lifting body to raise and lower the lifting body together with the working arm, and the working arm is rotated by a rotating electric motor fixed to the lifting body.

In this robot device, in order to reduce the load on the mechanism for lifting and lowering the lifting body and rotating electric motor, etc., that is, the guide rail, screw shaft, lifting electric motor, etc.
The screw shaft is arranged on the front side where the working arm extends with respect to the elevating body and the rotating electric motor.

However, in such a robot device, the elevating body, screw shaft, electric motor for elevating, etc. are arranged concentrated on one surface side of the support machine frame and are attached to the support machine frame. When a large welding gun or the like is attached to the working arm, a large unbalanced load is generated on the supporting machine frame, etc. In such a case, the structure of the supporting machine frame etc. should be enlarged to improve its rigidity. This has the disadvantage of increasing the size of the robot device.

In addition, in such a robot device, the lifting body is raised and lowered together with the nut by rotating a screw shaft which is engaged with the lifting body through the nut and is rotated by a lifting electric motor provided so as to extend in the vertical direction. Since the space around the screw shaft is largely occupied by the nut and the electric motor for lifting and lowering, it is difficult to utilize that space for arranging other parts of the robot device. This was a factor that hindered miniaturization of the device.

(Problems to be Solved) The present invention solves such inconveniences, and in a robot device equipped with an elevating body to which a tool such as a welding gun is integrally attached so as to be able to move up and down, the structure related to the elevating and lowering of the elevating body can be reduced in size. It is an object of the present invention to provide a robot device that can be used as a robot device, and that can effectively utilize the space around the robot device.

(Means for Solving the Problems) In order to achieve the above object, the industrial robot device of the present invention is provided with an elevating body provided on a base so as to be movable up and down, and a tool for performing a predetermined work is attached to the elevating body. In an industrial robot device that can be freely raised and lowered integrally with An elevating body is disposed on one surface side of the machine frame and is engaged with the guide rail so as to be able to rise and fall freely, and has a portion extending from one side surface of the elevating body to the other surface side of the machine frame. is extended, and a rack extending in the vertical direction is fixed to the extending portion at a position on the other surface side, and a pinion meshed with the rack is rotationally driven to raise and lower the elevating body. It is characterized in that the rotational drive means is disposed on the other surface side of the machine frame and is fixed to the machine frame.

(Function) According to this means, the elevating body to which the tool is attached and the rotational drive means for raising and lowering the elevating body are located on one surface side and the other surface side of the machine frame, respectively. Since it is arranged and attached to the machine frame, heavy objects are distributed on both sides of the machine frame, and therefore, it becomes possible to make the machine frame etc. compact while ensuring its rigidity.

The pinion is engaged with the rack fixed to the extending portion of the elevating body, and the pinion is rotated by a rotary drive means fixed to the machine frame to raise and lower the elevating body. As a result, the rotation axes of the pinion and the rotational drive means are in a horizontal position at a fixed position with respect to the base, and for example, when the rotational drive means is constituted by a drive motor or the like, other parts are attached above and below the rotational drive means and the pinion. It becomes possible to form a space in which such items as the like can be placed.

(Example) An example of an industrial robot device of the present invention will be described with reference to FIGS. 1 to 3. Figures 1 and 2 are a plan view and a side view of the robot device, respectively, and Figure 3 is from ■ to ■ in Figure 1.
FIG.

In FIGS. 1 to 3, ■ is a base, 2 is an elevating body provided on the base 1 so as to be able to rise and fall freely, and the elevating body 2 has a tool for performing a predetermined work, for example, indicated by imaginary lines. A welding gun W is integrally attached so as to be movable up and down.

The base 1 includes a first base 3, a second base 4 provided on the first base 3, and a third base 5 provided on the second base 4.
and a fourth base 6 provided on the third base 5. In this case, the second base 4 is provided movably on a pair of horizontal guide rails 7.7 laid parallel to each other on the first base 3, and the third base 5 4 is movably provided on a pair of horizontal guide rails 8.8 which are laid parallel to each other in a direction orthogonal to the guide rails 7.7. Further, the fourth base 6 is rotatable within a predetermined angle via a bearing 10 (shown in FIGS. 2 and 3) on a vertical shaft 9 integrally formed approximately at the center of the third base 5. is supported by. A plate-shaped machine frame 11 is erected vertically on the fourth base 6.

The elevating body 2 includes a plate-shaped main body portion 12 that is disposed in a position substantially parallel to one surface portion 11a of the machine frame 11 (hereinafter referred to as the first surface portion 11a). , from one end of the main body 12 to the other surface 11b (hereinafter referred to as second surface 11b) of the machine frame 11 in a vertical position so as to intersect with the machine frame 11 with a gap therebetween. a pair of guide rails 14, the main body 12 of which extends vertically on the first surface 11a of the machine frame 11 and is fixed in parallel to each other; .14 so that it can be raised and lowered freely. In this case, the elevating body 2 has an overhang 1 extending from the upper end of the main body 2a toward the machine frame 11.
5 is a piston tod 16 that is vertically extendable and retractable of a balance cylinder 16 that is erected on the fourth base 6 between it and the machine frame 11.
a, and is elastically supported by the balance cylinder 16 via the piston tod 16a.

Furthermore, a mounting member 1 is attached to the back surface of the main body 2a of the elevating body 2.
A drive motor 18 with a reducer is fixedly installed via 7,
A welding gun W is fixed to the drive shaft 18a of the drive motor I8. In this case, the axis of the drive shaft 18a of the drive motor 18 is oriented in a horizontal direction parallel to the machine frame 11, and the welding gun W is moved from the tip of the drive shaft 18a to the machine frame 11.
The tip extends substantially parallel to the second base 4.
It is largely separated from the machine frame 11 toward the end side. The welding gun W is rotatable around the axis of its drive shaft 18a by the operation of the drive motor 18, and is also movable up and down integrally with the elevating body 2 via the drive motor 18. .

The welding gun W is rotatable around the vertical axis 9 integrally with the fourth base 6, and integrally with the third base 5 along the guide rails 8, 8. It is said to be movable,
Further, a guide rail 7.7 is integrally formed with the second base 4.
It is said that it can be moved freely along the

On the other hand, in FIGS. 1 to 3, reference numeral 19 denotes a lifting means for raising and lowering the elevating body 2. As shown in FIGS.

This elevating means 19 is integrally formed with a rack 20 that is fixed to the tip of the extending portion 13 of the elevating body 2 and extending in the vertical direction, and an upper portion of the second surface portion 11b of the machine frame 11. A drive motor 22 with a reduction gear, which is a rotary drive means according to the present invention, is fixed to a mounting portion 21 parallel to the body 11 in a horizontal position, and a drive shaft 22a of the drive motor 22 is inserted into the rack. By rotating the pinion 23 by a drive motor 22L, the elevating body 2 is raised and lowered via the rack 20.

Note that, as shown in the second figure, a hydraulic and pneumatic device 24 attached to the machine frame 11 is disposed below the drive motor 22.

In addition, in FIGS. 1 to 3, 25 is a first moving means for moving the second base 4 on the guide rail 7.7;
26 is a second moving means for moving the third base 5 on the guide rail 8.8, and 27 is a rotating means for rotating the fourth base 6.

As shown in the second figure, the first moving means 25 includes a support 28 fixed to the first base 3 in parallel with the guide rail 7.7.
, a drive motor 29 with a reducer fixed to the second base 4, and a pinion 30 inserted into the drive shaft 29a of the drive motor 29 and meshed with the rack 28. 30 is rotated and transferred along the rack 27, the second base 4 is moved together with the drive motor 29 on the guide rail 7.7.

As shown in FIGS. 1 and 2, the second moving means 26 includes a rack 31 fixed to the second base 4 in parallel with the guide rail 8.8, and a rack 31 fixed to the third base 5. It consists of a drive motor 32 with a reduction gear, and a pinion 33 inserted into the drive shaft 32a of the drive motor 32 and meshed with the rack 3I.
Similar to the moving means 25, the third base 5 is placed on the guide rail 8.
I try to move it on 8.

As shown in FIGS. 1 and 2, the rotating means 27 includes a drive motor 35 with a reduction gear fixedly installed on the third base 5 via a gear case 34, and a drive motor 35 with a reduction gear attached to the peripheral edge of the fourth base 6. A substantially sector-shaped gear 36 is fixedly installed, and the gear 36 is connected to the gear case 34.
It is meshed with a gear 37 inserted into a drive shaft (not shown) of a drive motor 35 through an idle gear 38. Then, the drive motor 35 drives the gears 37, 38, 36.
The fourth base 6 is rotated within a predetermined angle around the vertical axis 9 through the .

Next, the configuration of the machine frame 11, the elevating body 2, etc., which are the main parts of the present invention, in such a robot device will be explained.

As described above, the drive motor 22 is attached to the machine frame 11, and the drive motor 8 and the welding gun W are also attached via the elevating body 2, so that it supports these heavy objects. Among these heavy objects, the drive motor 22 is attached to the second surface portion 11b side of the machine frame 11, and the drive motor 8 and welding gun W are attached to the first surface portion 11a side of the machine frame 11. Therefore, the weight of these heavy items is distributed to both sides of the machine frame 11, and therefore, application of uneven loads to the machine frame 11 and the elevating body 2 is suppressed. Therefore, the machine frame 11 and the elevating body 2 can be made relatively small while ensuring sufficient rigidity.

In this case, in particular, since the welding gun W extends substantially parallel to the machine frame 11, even though the tip of the welding gun W is largely separated from the machine frame 11, the machine frame 11 can easily support the weight of the welding gun W, and the machine frame 11 can be made smaller without any problems.

Moreover, in the elevating means 19 for elevating and lowering the elevating body 2,
By making the elevating body 2 go up and down via a rack 20 fixedly extending in the vertical direction on the extension portion 13 of the elevating body 2 and a pinion 23 meshed with the rack 20, the drive motor 22 It becomes possible to form a space above and below it in a horizontal position, and these spaces can be
It can be effectively used for arranging 4 etc.

When the elevating body 2 is raised and lowered, the pinion 23 is rotated at a predetermined position, and the rack 20 meshed with the pinion 23 is raised and lowered together with the elevating body 2. The space above and below can also be used for arranging other parts, etc., as necessary.

(Effects) As is clear from the above description, according to the industrial robot device of the present invention, the elevating body on which the tool is attached and the rotary drive means are disposed on both sides of the machine frame and attached to the machine frame. As a result, the weight supported by the machine frame and the elevating body is distributed to both sides of the machine frame, and therefore, the machine frame and the elevating body can be downsized while ensuring sufficient rigidity.

Then, a pinion is engaged with a rack fixedly extending in the vertical direction on the extending portion of the elevating body, and the pinion and the pinion are rotated by a rotation drive means fixed to the machine frame to raise and lower the elevating body. By doing so, the rotational axes of the pinion and the rotational drive means are in a horizontal position at a fixed position relative to the base, and therefore, for example, when the rotational drive means is constituted by a drive motor or the like, the rotational drive means and the rotational drive means are in a horizontal posture. A space can be formed above and below the pinion in which other parts can be placed without any hindrance, and by placing other parts in this space, the space can be used effectively, and the robot device can be Miniaturization can be achieved.

[Brief explanation of drawings]

1 and 2 are respectively a plan view and a side view of an example of the industrial robot device of the present invention, and FIG.
FIG. ■...Base 2...Elevating body 11...Machine frame 11a, llb...Machine frame surface portion 13...Extending portion 14...Guide rail 2
0...Rack 23...Pinion 22...
・Rotation drive means (drive motor with reducer) W...tool (
welding gun)

Claims (1)

[Claims] 1. In an industrial robot device that is equipped with an elevating body that is movable up and down on a base, and in which a tool for performing a predetermined work is attached to the elevating body so that it can be raised and lowered, A guide rail extending vertically is fixed to one surface of a flat plate-shaped machine frame, and the elevating body is disposed on the one surface side of the machine frame, and the elevating body is mounted on the guide rail. An extension part is provided to extend from one side of the elevating body to the other surface side of the machine frame, and a vertically extending part is attached to the extension part at a position on the other surface side. An extending rack is fixedly installed, and rotational drive means for raising and lowering the elevating body by rotationally driving a pinion meshed with the rack is disposed on the other surface side of the machine frame, and a rotary drive means is provided on the other surface side of the machine frame. An industrial robot device characterized by being permanently installed.