JPH05337851A - Arm turning robot - Google Patents

Abstract

PURPOSE:To embody high speed performance and light weight by erecting a second shaft guide means of vertical direction on a movable base part movable along a first shaft guide means of horizontal direction, and supporting a robot head at a rotary moving body fitted in the turnable and vetically movable state to the second shaft guide means. CONSTITUTION:A movable base part 14 is screwed with a ball screw 10 serving as a first shaft guide means supported at a frame 12 through bearing, and the movable base part 14 can be reciprocated in the direction A by the rotation of the ball screw 10 rotated by a servo motor 16. A ball screw spline shaft (BS shaft) 18 serving as a second shaft guide means is erected out of rotation on the upper face of the movable base part 14, and a rotary moving body 26 is fitted to this BS shaft 18 in such a way as to be movable in the direction B and rotatable around the BS shaft 18. This rotary moving body 26 is moved vertically by the rotation of a ball screw nut rotated by a servo motor 42 and also turned by the rotation of a spline cylinder rotated by a servo motor 44. A robot head 48 is then supported at the rotary moving body 26 through an arm 46.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an arm swivel robot, and more particularly to an arm swivel robot for moving the position of a robot arm which can be swung in a plane and in a direction perpendicular to the plane. Regarding

[0002]

2. Description of the Related Art Conventionally, arm swiveling robots have been used for various operations in unmanned factories and the like. The conventional arm rotation type robot has the following configuration. A base fixed to the floor of the factory, a first arm extending from the base and rotatable about the axis of the base by a first motor provided on the base, and a tip of the first arm. A second arm that is pivotally mounted and is rotatable within the swivel plane of the first arm; and a second motor that is provided at the pivotally mounted portions of the first arm and the second arm and that rotates the second arm. From a robot head that is provided at the tip of the second arm and is movable in a direction perpendicular to the turning planes of the first arm and the second arm, and an actuator that moves the robot head in a direction perpendicular to the turning plane. Become. The first in the above arm swivel robot
By pivoting the arm and the second arm via the first motor and the second motor, it is possible to position the robot head in a plane position in the pivot plane. Further, since the robot head can be moved up and down by the actuator, the robot head can be moved to an arbitrary three-dimensional position.

[0003]

However, the conventional arm swivel robot described above has the following problems. The second arm, the second motor, the robot head, and the actuator are provided ahead of the tip of the first arm, and there is a problem that the operation cannot be performed at a high speed because the weight increases. Further, since the weight ahead of the tip of the first arm is large, the bending moment acting on the first arm is large, and the first arm is significantly damaged, and in order to prevent this damage, the first arm is attached to the base. There is also the problem that the mounting structure must be made more robust. Therefore, an object of the present invention is to provide an arm swivel robot having a small weight load.

[0004]

In order to solve the above problems, the present invention has the following constitution. That is, the first axis guide means arranged in the first axis direction in the plane, the movable base portion movable in the first axis direction along the first axis guide means, and the movable base portion First along the first axis guide means
First axis driving means for moving in the axial direction, second axis guide means provided in the movable base portion and arranged in the second axis direction perpendicular to the plane, and the second axis guide means. A rotary moving body that is movable along the second axis guide means and is rotatable around the second axis guide means, and the rotary moving body moves in the second axis direction along the second axis guide means. A second shaft driving means for moving the rotary moving body around the second shaft guide means, and an arm provided on the rotary moving body. Is characterized by.

[0005]

[Operation] The operation will be described. By driving the first axis drive means, the movable base portion can be moved in the first axis direction. Further, since the arm can be rotated around the second axis guide means together with the rotation moving body by driving the rotation driving means, the movement of the movable base portion in the first axis direction and the movement of the rotation moving body. The position of the arm tip can be moved to an arbitrary position within the arm swivel plane by the rotation around the second shaft guide means. In addition, the second axis guide means,
Since the rotary moving body, the second shaft driving means, and the rotary driving means are provided on the movable base portion, it is possible to reduce the weight load acting on the arm tip portion.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. (First Embodiment) A first embodiment will be described with reference to FIG. Reference numeral 10 denotes a ball screw which is an example of a first shaft guide means, and is arranged in the frame 12 so as to be rotatable about an axis. The ball screw 10 is arranged in the direction of arrow A, which is the first axial direction. The frame 12 is fixed to the floor or the like via bolts or the like. A movable base portion 14 is screwed into the ball screw 10. Movable base part 14
In the frame 12, the rotation around the ball screw 10 is prevented by an appropriate mechanism (for example, a ridge and a groove). The movable base portion 14 moves in the direction of arrow A when the ball screw 10 rotates about the axis.

Reference numeral 16 is a first servomotor which is an example of a first axis driving means, and is fixed to the end of the frame 12. The first servomotor 16 rotates the ball screw 10 about the axis. Reference numeral 18 denotes a ball screw / spline shaft (hereinafter referred to as a BS shaft) that is an example of a second shaft guide means, and is fixed to the upper surface of the movable base portion 14. The BS shaft 18 is arranged in the up-down direction (direction of arrow B) which is the second axial direction, and is not rotatable about the axis. A male screw 20 is engraved on the outer peripheral surface of the BS shaft 18, and a plurality of spline grooves 22 are engraved in the axial direction (see FIG. 4). The BS shaft 18 is formed in a hollow pipe shape. Reference numeral 26 denotes a rotary moving body which is movable in the direction of arrow B along the BS shaft 18 and
Can be rotated around. The structure of the rotary moving body 26 will be described with reference to FIG.

In FIG. 4, 28 is a ball screw nut, which is rotatable in the housing 30 about the axis. Ball screw nut 28 and housing 30
A steel ball 34 is inserted between the inner surface and the inner surface to form a ball bearing. Ball screw nut 28 is BS
It is screwed onto the male screw 20 of the shaft 18. Reference numeral 32 is a spline cylinder, which is rotatable in the housing 30 about an axis. Spline tube 32 and housing 30
A steel ball 36 is also inserted between the inner surface and the inner surface to form a ball bearing. The spline cylinder 32 is provided with a protrusion on the inner peripheral surface thereof, and the spline groove 22 of the BS shaft 18 is provided.
Is engaged with. With this configuration, the ball screw nut 2
When 8 rotates and the spline cylinder 32 does not rotate, the rotary moving body 26 makes a linear motion on the BS shaft 18 in the direction of arrow B. When the ball screw nut 28 and the spline cylinder 32 rotate, the rotary moving body 26 rotates about the BS shaft 18.
Further, if the spline cylinder 32 rotates and the ball screw nut 28 does not rotate, the rotary moving body 26 linearly moves on the BS shaft 18 in the direction of the arrow B and rotates about the BS shaft 18, that is, a spiral. Do exercise.

A timing pulley 38a is fixed to the upper end surface of the ball screw nut 28 on the upper surface side of the housing 30. The BS shaft 18 is a timing pulley 38.
a is inserted without contact. The rotational force is transmitted to the timing pulley 38a via the timing belt 40a. 38b is a timing pulley, and the housing 30
The lower surface side is fixed to the lower end surface of the spline cylinder 32. The BS shaft 18 penetrates the timing pulley 38b in a non-contact manner. The rotational force is transmitted to the timing pulley 38b via the timing belt 40b.

Referring again to FIG. 1, reference numeral 42 denotes a second servo motor, which is fixed to the rotary moving body 26. The rotation output of the second servomotor 42 is the timing belt 40a.
Is transmitted to the ball screw nut 28 via the pin to rotate the ball screw nut 28. A third servomotor 44 is fixed to the rotary moving body 26. The rotation output of the third servo motor 44 is transmitted to the spline cylinder 32 via the timing belt 40b to rotate the spline cylinder 32. Therefore, the second servomotor 42, the timing belt 40a, the timing pulley 38a, and the ball screw nut 28 constitute a second shaft drive means for moving the rotary moving body 26 in the arrow B direction along the BS shaft 18. ..

Further, in addition to the second servo motor 42, the timing belt 40a, the timing pulley 38a, and the ball screw nut 28, the third movable servo motor 44, the timing belt 40b, the timing pulley 38b, and the spline cylinder 32 are used as the rotary moving body 26. A rotation driving means for rotating the shaft in the direction of arrow C about the BS shaft 18 is configured. Reference numeral 46 denotes an arm, which extends horizontally outward from the outer peripheral surface of the housing 30 of the rotary moving body 26. The arm 46 is formed in a hollow pipe shape. Reference numeral 48 denotes a robot head, which is provided at the tip of the arm 46.
The robot head 48 can be opened and closed by an air cylinder device 50. The air supply tube for driving the air cylinder device 50 is connected from the rotary moving body 26 via the inside of the arm 46. Reference numerals 52a, 52b, and 52c denote guide chains, and a power cord for driving the second servomotor 42 and the third servomotor 44 and an air supply tube for driving the air cylinder device 50 are guide chains 52c,
Wiring and piping are performed via the guide chain 52b, the inside of the BS shaft 18, and the guide chain 52a.

In the arm swivel robot constructed as described above, the first servo motor 16 is driven to move the movable base portion 14 in the direction of arrow A, and the second servo motor 42 and the third servo motor are moved. The plane position of the robot head 48 at the tip of the arm 46 can be determined by driving 44 to rotate the rotary moving body 26 around the BS shaft 18 in the direction of arrow C. When the plane position of the robot head 48 is determined, the height position of the robot head 48 can be determined by driving the second servo motor 42 to move the rotary moving body 26 in the direction of arrow B along the BS axis 18. it can. In the robot of the first embodiment, the arm 4
Even within the turning range of 6, since the movable base portion 14 moves along the ball screw 10, it is possible to operate the robot head 48 within the range. Also, arm 4
Since only the robot head 48 and the air cylinder device 50 are disposed ahead of the tip of 6, the weight is significantly reduced as compared with the conventional arm swing type robot. Therefore,
The high speed movement of the robot head 48 can be easily performed, and
The structure can be simplified.

(Second Embodiment) Next, a second embodiment will be described with reference to FIG. The same members as those in the first embodiment are designated by the same reference numerals as those in the first embodiment, and the description thereof will be omitted. In the second embodiment, a plurality of (two in this embodiment) rotary moving bodies 26a and 26b are arranged on one BS shaft 18. The structure of each of the rotary moving bodies 26a and 26b is the same as that of the rotary moving body 26 of the first embodiment.
The description is omitted. In this embodiment, the rotary moving bodies 26a, 26
Since the operation of b can be performed independently of each other, the component 54a held by the robot head 48a of the rotary moving body 26a and the component 54b held by the robot head 48b of the rotary moving body 26b as shown in the figure. It is possible to assemble and in the air.

(Third Embodiment) Next, a third embodiment will be described with reference to FIG. The same components as those of the preceding embodiment are designated by the same reference numerals as those of the preceding embodiment, and the description thereof will be omitted. In the third embodiment, the ball screw 10 which is an example of the first shaft guide means is fixed in the frame 12 so as not to rotate about the axis. Fixed ball screw 1
A plurality (two in this embodiment) of movable base portions 14 with respect to 0
a and 14b are screwed onto the ball screw 10 so as not to rotate. The structure of the movable base portion 14a will be described with reference to FIG. In FIG. 5, reference numeral 16a denotes a first servomotor which is an example of a first axis driving means, and the movable base portion 14a.
It is fixed to. A timing pulley 62a is fitted on the output shaft 60 of the first servomotor 16a.

Reference numeral 64 denotes a rotary nut, which is disposed inside the movable base portion 14 and is rotatably engaged with the ball screw 10. The timing pulley 62b is fixed to the left end surface of the rotary nut 64, and
A timing belt 66 is stretched over the 2a. As a result, the rotary nut 64 can be rotated by the first servomotor 16a. When the rotary nut 64 rotates, the movable base portion 14a moves to the ball screw 1
Perform linear motion along 0. The ball screw 10 is inserted through the timing pulley 62b in a non-contact manner. The movable base portion 14b also has the same structure as the movable base portion 14a, and the movable base portion 14b is moved along the ball screw 10 by driving the first servomotor 16b mounted on the movable base portion 14b. Perform a linear motion.

Since the first servomotors 16a and 16b are provided on the movable base portions 14a and 14b, respectively, the movable base portions 14a and 14b can be linearly moved independently of each other. Each movable base portion 14a, 14b has a first
The same BS shaft 18, rotary moving body 26, and arm 4 as in the embodiment
6, a robot head 48 and the like are provided, and two robots can be independently driven except that the ball screw 10 is shared. It is also possible to have two robots perform joint work such as assembly.

In each of the above embodiments, the ball screw is used as the first shaft guide means, but the movable base part may be moved in the first axis direction by using a belt or a cylinder mechanism. As the second axis guide means, not the BS axis,
A ball screw or cylinder mechanism may be used. Regarding the structure of the rotary moving body, it does not screw and engage with the BS shaft, but the structure in which the ball screw or the cylinder mechanism is used for the movement in the second axis direction and the rotation is performed by the kick cylinder or the like. Good. Although various preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and for example, the second servomotor 42 and the third servomotor provided in the rotary moving body 26 can be used. Servo motor 44 of 1
Needless to say, more modifications can be made without departing from the spirit of the invention, for example, by replacing each servo motor with an appropriate clutch mechanism (see, for example, Japanese Patent Application No. 2-37846).

[0018]

When the arm swivel robot according to the present invention is used, since the second axis guide means, the rotary moving body, the second axis drive means, and the rotary drive means are provided on the movable base portion, the area ahead of the arm tip is provided. , Can be significantly reduced in weight compared to the conventional arm swivel robot. Therefore, the weight load acting on the arm tip portion can be reduced, and high-speed movement is possible, and the structure is simplified, which is a remarkable effect.

[Brief description of drawings]

FIG. 1 is a perspective view showing a first embodiment of an arm turning type robot according to the present invention.

FIG. 2 is a perspective view showing a second embodiment of an arm swivel robot according to the present invention.

FIG. 3 is a perspective view showing a third embodiment of an arm swivel robot according to the present invention.

FIG. 4 is a cross-sectional view showing the structure of a rotary moving body in each example.

FIG. 5 is a sectional view showing a structure of a movable base portion of a third embodiment.

[Explanation of symbols]

 10 Ball Screw 14 Movable Base Section 16, 16a, 16b First Servo Motor 18 BS Axis 26 Rotating Moving Body 42 Second Servo Motor 44 Third Servo Motor 46 Arm

Claims (1)

[Claims] 1. A first axis guide means arranged in a first axis direction in a plane, a movable base portion movable in the first axis direction along the first axis guide means, and the movable base. A first shaft drive means for moving the base portion in the first axial direction along the first shaft guide means, and a second axial direction which is provided on the movable base portion and is orthogonal to the plane. A second shaft guide means, a rotary movable body that is movable along the second shaft guide means in the second axial direction, and is rotatable around the second shaft guide means, and the rotary movable body. A second axis drive means for moving the second axis guide means in the second axis direction, and a rotation drive means for rotating the rotary moving body around the second axis guide means. An arm swiveling robot, comprising: an arm provided on the rotary moving body.