JPH0435109Y2 - - Google Patents

Description

[Detailed description of the invention] (1) Technical field of the invention The invention relates to an industrial robot that performs various tasks by vertically sliding and rotationally swinging an action part having a gripping member at the tip, and the action part is simplified. This invention relates to an industrial robot that is lighter in weight and has improved motion performance and drive efficiency.

(2) Conventional technology and its problems Industrial robots not only have a remarkable effect on supporting various tasks in the assembly and manufacturing process, but also make great contributions to various industrial fields such as electronics and machinery in the process of their development. It has been developed as a derivative technology that has brought about For these reasons, improvements to industrial robots can be expected to not only improve the performance of the robot itself, but also have a ripple effect on all industrial fields through the accumulated technology of even minute improvements.

For example, the working parts of conventional industrial robots, including the gripping members and manipulators, are considered to have a nearly complete structure, and therefore, their driving performance is also considered to be close to the limit.

However, in the conventional industrial robot shown in FIGS. 1 and 2 as an example, a first motor m ₁ such as a pulse motor is provided on a base 2 fixed to a post ₁ . A vertical shaft 3a that is directly supported by the support base 2 is connected to the drive shaft, and the first actuating arm 3 is horizontally attached to the upper part of the vertical shaft 3a, and the upper end of the vertical shaft 3a is extended upward. The rotation base shaft 10 is provided therein. A vertical sliding shaft 14, which is rotatably supported by the tip of the first actuating arm 3 which is fixed to the rotating base shaft 10 and has an acting portion A at its tip, is driven to slide the acting portion A up and down. Sliding case 29
and a sliding drive section B consisting of a sliding tube 30. The mechanism for rotating and swinging the second operating arm 4 of the operating section A is a mechanism that rotates the rotational movement of the second motor m ₂ provided on the rotational axis 10 to a toothed pulley 26, a toothed belt 25, a toothed pulley 27, It is transmitted to the vertical sliding shaft 14 via the spline case 28 and the spline shaft 14a above the vertical sliding shaft 14. Further, the vertical movement of the operating portion A is performed by driving the piston cylinder 5 installed on the first operating arm 3 and vertically sliding the sliding tube 30 via the rod 12.

That is, the sliding case 29 and the sliding tube 3 are heavy objects.
0 is located at the free end of the first operating arm 3, the first motor that drives the first operating arm 3 to swing.
m ₁ will be subjected to a large load and will also have a large kinetic inertia. Therefore, the first motor _m1 is required to have a large driving torque, has a complicated structure and is large in size, and has disadvantages in that high-precision movement cannot be expected.

(3) Purpose of the invention Therefore, the present invention is provided in view of the above-mentioned circumstances, and is to simplify the structure of the sliding drive part of the action part provided in the first actuating arm to make it lighter and smaller. The purpose is to improve motion performance and drive efficiency, and to obtain high work accuracy.

(4) Features of the invention In order to achieve the above object, the features of the industrial robot of the invention are that a driving pulley that can slide up and down is fitted to the rotating base via a spline shaft, and A vertically moving pulley is fixed to a vertically supported vertical sliding shaft, and a rotation transmitting member is stretched between these driving and driven pulleys. Hereinafter, the present invention will be explained based on the drawings.

(5) An embodiment of the invention Figure 3 is a side partial sectional view showing an embodiment of the industrial robot according to the invention, Figure 4 is a front partial sectional view of the same, and Figure 5 is a portion showing the lever portion. A perspective view, FIG. 6 is a partial perspective view showing the operating part, and FIG. 7 is a perspective view.
The figure is a partial perspective view showing the pulley drive section. In the figure, elements that are equivalent to the configuration of the conventional device shown in FIG. 1 described above are given the same reference numerals.

In the figure, reference numeral 1 denotes a post properly fixed on the base. 2 is an abutment fixed to the post 1. A first motor m ₁ such as a pulse motor is provided on the pedestal 2, and a vertical shaft 3a directly connected to the pedestal ₂ is connected to the drive shaft of the first motor m1. The first operating arm 3 is horizontally attached to the upper part of the vertical shaft 3a. The upper end of the vertical shaft 3a extends upward to constitute a rotating base shaft 10, and this rotating base shaft 10 is provided with a second motor _m2 such as a pulse motor, and further has a spline shaft 19 fixed above. A pulley 11 is fitted onto the spline shaft 19 together with a spring 22, which is capable of vertically sliding along the spline shaft.
The upper end of the shaft 19 is rotatably fixed to a holding rod 6a provided horizontally at the upper end of a vertical rod 6 fixed upright on the first operating arm 3.

A bearing portion 3b is provided at the free end of the first operating arm 3, and a vertical sliding shaft 14 is pivotally supported on this bearing portion 3b. The upper end of the vertical sliding shaft 14 is rotatably and slidably supported by a holding rod 6b provided at the upper end of the vertical rod 6. A pulley 16 is fixed to the vertical sliding shaft 14, and a pulley 11 is slidably fitted onto the spline shaft 19.
and the pulley 16 is connected to the transmission member 1 such as a wire rope.
7, so that the rotational motion of the rotating base shaft 10 can be transmitted to the vertical sliding shaft 14 (FIG. 7).

Furthermore, a sliding block 15 having flanges 15a, 15a at both ends of a body 15a is fixed to the vertical sliding shaft 14. A guide member 12a fixed to the tip of a lever lever 12 pivoted to the vertical rod 6 is rotatably connected to the sliding block 15 by pins 12b, 12b, etc. The rear end of the lever rod 12 is loosely connected by a pin 13 to the upper end of a plunger 5a protruding from a drive cylinder 5 provided on the first operating arm 3 (FIG. 5).

An operating portion A is provided at the lower end of the vertical sliding shaft 14. The operating portion A is comprised of a second operating arm 4 provided horizontally at the lower end of the shaft 14, a pick-up head 7 provided at the lower end of the second operating arm 4, and a gripping member 8 such as a finger. A cylinder 9 is built into the pick up head 7, and a plunger 9a from the cylinder 9 is normally urged upward by a spring 9b, and is pressed downward by hydraulic or pneumatic pressure. As shown in detail in FIG. 6, the gripping member 8 has fingers 8a, 8a pivoted on the pick up head 7, and connects the upper end of each finger 8a to the connecting rod 8.
It is connected to the plunger 9a via b and 8b. The attachment positions of the connecting rods 8b, 8b to the plunger 9a are normally the fingers 8a, 8b.
Make sure that it is above the attachment position to a.
As a result, by pushing down the plunger 9a, the attachment positions of the connecting rods 8b, 8b to the fingers 8a, 8a are separated from each other, and the fingers 8a,
A movement is obtained in which the lower ends of 8a approach each other,
As a result, the workpiece can be gripped.

Next, the operation of the industrial robot in the embodiment with the above configuration will be explained.

When the first motor _m1 fixed to the support base 2 is controlled and driven, the first actuating arm 3 and all the members attached thereto rotate and swing horizontally as shown by the arrows in FIG. T ₁ to workbench T ₂ or T ₃
The action part A can be moved to

By controlling and driving the second motor _m2 , the spline shaft 19 rotates, and the pulley 11 fitted thereto rotates.
The pulley 16 is rotated via the transmission member 17. As a result, the vertical sliding shaft 1 fixed to the pulley 16
4 rotates, the action part A swings as shown by the arrow in FIG.

Therefore, by controlling the rotation of the first motor m ₁ and the second motor m ₂ in combination, it is possible to move the action portion A to any position on the plane.

The vertical movement of the action part A is achieved as follows. By supplying hydraulic pressure or pneumatic pressure to the drive cylinder 5 and causing the plunger 5a to slide upward or downward, vertical motion is transmitted to the block 15 via the lever rod 12 and the guide member 12a connected to the plunger 5a. As a result, the vertical sliding shaft 14 on which the block 15 is fixed is arbitrarily moved up and down, and the action portion A is moved vertically. Such vertical sliding shaft 14
In order to prevent the relative position of the pulley 16 fixed to the shaft 14 from shifting relative to the opposing pulley 11 due to the vertical sliding movement of the pulley 11, the pulley 11 is elastically supported by a spring 22. There is. The spring 22 is set to have a spring force that allows the timing to be set. Therefore, the transmission member 17 is not subjected to excessive bending torque, and the pulley 11 can correct its position in the axial direction along the spline shaft 19. Therefore, the second motor m ₂
Both pulleys 11 and 16
It is possible to avoid such inconvenience that an error occurs in the amount of rotation to be transmitted due to a deviation in the relative position of the two.

Gripping part 8 by fingers 8a in action part A
is driven by vertically sliding the plunger 9a with the cylinder 9, and this movement is transferred to the connecting rod 8 which forms the link mechanism.
This is accomplished by bringing the fingers 8a, 8a closer to each other and moving them apart.

Therefore, in addition to the combined movement of the swinging of the first actuating arm 3 and the second actuating arm 4, the vertical sliding shaft 14 is slid up and down by the drive of the drive cylinder 5, and the gripping member 8 is caused by the drive of the cylinder 9. By combining these gripping movements, it becomes possible to perform operations such as, for example, gripping the workpiece a with the gripping member on the workbench _T1 , lifting it, transporting it to the workbench _T2 , and gently lowering it.

As described above, according to the above embodiment, the number of elements attached to the vertical sliding shaft 14 located farthest from the post 1 that supports the entire device can be minimized, and the size and weight can be reduced. Therefore, the motion performance and precision of the motion section including the action section A and the first operation arm 3 are dramatically improved.

(6) Another embodiment of the invention FIG. 9 is a perspective view of the main part showing another embodiment of the invention. In the figure, the same reference numerals as in the previous embodiment indicate the same elements, and redundant explanation will be omitted.

Here, the spline shaft 1 in the above embodiment will be explained.
The pulley 11 fitted to the shaft 9 and the pulley 14 fixed to the vertical sliding shaft 14 are replaced with toothed pulleys 20 and 21, respectively. Along with this, double-toothed pulleys 20, 21
A toothed belt is used as the transmission member 17 that is stretched across the belt. According to the rotation transmission system with this configuration, the pulley 20 faithfully follows and moves along the spline shaft 19 in response to the positional displacement of the pulley 21 due to vertical sliding of the vertical sliding shaft ₁₄ . There is an advantage that the rotation is accurately transmitted to the shaft 14.

Further, as shown in another example in FIG. 10, it is also possible to rotate the pick up head 7 via a coupling 18 provided at the lower end of the vertical sliding arm 14 instead of the second working arm 4. .

Furthermore, although not shown, it is also possible to form other working parts such as a vacuum type suction cup in place of the pick up head. Although a case has been described in which the first and second motors are provided on the rotation axis, the present invention is not limited thereto.

(7) Effects of the invention As explained above, the invention provides the following effects.

○A A pulley is installed on the vertical sliding shaft that swings and moves the acting part up and down, and a pulley is installed on the rotating base shaft on the drive side, and the movement is transmitted to the acting part with an appropriate transmission member, making it easy to move the vertical sliding axis. , and can be configured to be lightweight and downsized.

○B The area around the action part can be made smaller and lighter, so
The inertia caused by the swinging of the operating arm can be significantly reduced, dramatically improving exercise performance.
Work accuracy is also increased, and driving force can be reduced, resulting in improved driving efficiency.

○C Since it can be applied to conventional assembly processes with simple design changes and assembly is easier, it has the potential to reduce robot manufacturing costs.

[Brief explanation of the drawing]

Figure 1 is a side partial sectional view showing the configuration of a conventional industrial robot, Figure 2 is a front partial sectional view, and Figure 3 is a side partial sectional view showing an embodiment of the industrial robot according to the present invention. FIG. 4 is a front partial sectional view, and FIG. 5 is a perspective view showing the lever part.
FIG. 6 is a partial perspective view showing the action section, FIG. 7 is a partial perspective view showing the rotation transmission section, FIG. 8 is a plan view for explaining the rocking motion, and FIG. 9 is a rotation in another embodiment. FIG. 10, which is a perspective view showing the transmission section, is a detailed explanatory diagram of another sliding drive section. 3...First operating arm, 14...Vertical sliding shaft, 4...
Second operating arm, 16...driven pulley, 10...rotation base shaft, 17...rotation transmission member, 11...driving pulley, 19...spline shaft.

Claims (1)

[Claims for Utility Model Registration] A vertical sliding shaft is pivotally supported at the tip of the first operating arm, the first operating arm is swung by a first motor provided with a rotational axis, and the first operating arm is pivoted toward the rotational axis side. second provided
In an industrial robot in which the vertical sliding shaft is rotated by a motor, a spline shaft is provided on the rotating shaft of the second motor, and a drive pulley that can vertically slide along the spline shaft is fitted, and the vertical sliding shaft is rotated by a motor. An industrial robot characterized in that a driven pulley is fixed to a sliding shaft, and a rotation transmission member is stretched between the driving pulley and the driven pulley.