JPH0551586U - robot - Google Patents

Abstract

(57) [Abstract] [Purpose] It is possible to reduce the number of cables for signal transmission and power supply, etc., as compared with the conventional one, and the occurrence of cable disconnection and noise intrusion due to the operation of each drive axis. (EN) A robot capable of reducing the number of wirings and simplifying the wiring work. [Structure] X drive shaft 1a, Y drive shaft 1b, Z drive shaft 1c
Include an X drive rail 2a, a Y drive rail 2b, and
An X motor controller / driver 3a, a Y motor controller / driver 3b, and a Z motor controller / driver 3c, which integrate a Z drive rail 2c, a drive motor and a drive / control mechanism, are provided. Each motor controller driver 3a, 3b, 3c is provided with an optical transmission mechanism 4 for transmitting control information. A power supply rail 5 is provided on each of the drive rails 2a, 2b, 2c, and these power supply rails 5 are provided on the Y motor controller / driver 3b and the Z motor controller / driver 3c.
A current collector 6 is provided so as to come into contact with.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a robot used for various industries.

[0002]

[Prior Art]

 Conventionally, so-called orthogonal robots in which a plurality of drive shafts having drive rails and drive motors are arranged so as to be orthogonal to each other have been widely used. In such a robot, it is necessary to send a control signal, a drive signal, etc. to each drive axis, and to supply electric power. Therefore, in the conventional robot, a cable is connected to each drive shaft and the control signal and electric power are supplied by this cable.

[0003]

[Problems to be solved by the device]

 However, in the conventional robots described above, the cables for signal transmission and power supply move with the movement of each drive axis, so if these cables are broken or if these cables become long, noise is easily picked up. Therefore, there is a problem that it becomes weak against noise. Further, in recent years, robots such as four axes of XYZ-θ have tended to be multi-axis in recent years. Therefore, the number of cables for performing signal transmission and electric power supply increases, and wiring work becomes difficult. There is also the problem of becoming difficult.

The present invention has been made in response to such a conventional situation. It is possible to reduce the number of cables for performing signal transmission, power supply, etc., as compared with the related art, and to operate each drive shaft. The purpose of the present invention is to provide a robot capable of simplifying the wiring work and reducing the occurrence of cable breakage and noise intrusion from the cable.

[0005]

[Means for Solving the Problems]

 That is, the robot of the present invention is a robot having a plurality of drive shafts having a drive rail and a drive motor, and a motor drive control mechanism provided on each drive shaft for controlling the drive of the drive motor and the motor drive control. An optical transmission mechanism for transmitting control information between the mechanisms, and a power supply rail provided along the drive rail and supplying electric power to each of the drive shafts are provided.

[0006]

[Action]

 In the robot of the present invention having the above-mentioned configuration, each drive shaft is provided with a motor drive control mechanism for driving and controlling the drive motor, and control information is transmitted by the optical transmission mechanism, and the motor drive control mechanism is provided along the drive rail. Power is supplied to each drive shaft by the power supply rail.

Therefore, it is possible to reduce the number of cables for performing signal transmission, power supply, etc., as compared with the related art, and it is possible to reduce the occurrence of cable disconnection and the intrusion of noise from the cables accompanying the operation of each drive shaft. The wiring work can be simplified.

[0008]

【Example】

 Hereinafter, details of a robot of the present invention will be described with reference to the drawings for an embodiment. FIG. 1 shows the configuration of a robot according to an embodiment of the present invention. In the figure, 1a is an X drive shaft, 1b is a Y drive shaft, 1c is a Z drive shaft, and these drive shafts are orthogonal to each other. Are arranged as follows. These X drive shaft 1a, Y drive shaft 1b, and Z drive shaft 1c respectively include an X drive rail 2a, a Y drive rail 2b, and a Z drive rail 2c, and an X motor controller that integrates a drive motor and a drive control mechanism. A driver 3a, a Y motor controller / driver 3b, and a Z motor controller / driver 3c are provided.

As shown in FIG. 2, the X motor controller / driver 3a, the Y motor controller / driver 3b, and the Z motor controller / driver 3c are provided with a light emitting element, a light receiving element, and the like arranged so as to face each other. Therefore, an optical transmission mechanism 4 for transmitting the control information is provided. Further, as shown in FIG. 3, the X drive rail 2a, the Y drive rail 2b, and the Z drive rail 2c are provided with a power supply rail 5 along the longitudinal direction thereof, and the Y motor controller / driver 3b, Z The motor controller driver 3c is provided with a current collector 6 made of a conductor configured to be slidable while being in contact with these power supply rails 5. A cable 7 for externally supplying control information, supplying power, and the like is connected to the X motor controller driver 3a.

In the robot of the present embodiment having the above configuration, the Y drive rail 2b moves along the X drive rail 2a under the control of the X motor controller / driver 3a, and the control from the Y motor controller / driver 3b is performed. Causes the Z drive rail 2c to move along the Y drive rail 2b, and by the control from the Z motor controller / driver 3c, along the Z drive rail 2c, the θ axis, a work processing mechanism, an article gripping mechanism, or the like (not shown). Moves. Thereby, the target work processing mechanism, the article gripping mechanism, etc. can be moved in the XYZ directions.

Further, external control information for the X drive shaft 1a, the Y drive shaft 1b, and the Z drive shaft 1c is given to the X motor controller driver 3a via the cable 7, and the Y drive shaft 1b and the Z drive shaft 1b are driven. The control information for the θ axis (not shown) provided on the shaft 1c and the Z drive rail 2c is configured to be transmitted from here via the optical transmission mechanism 4.

Power is supplied to the X motor controller / driver 3a by a cable 7 and is provided on the Y motor controller / driver 3b, the Z motor controller / driver 3c and the Z drive rail 2c (not shown). Power supply to the θ axis and the like is performed from the cable 7 via the power supply rail 5 and the current collector 6.

That is, in the robot of this embodiment, the X drive axis 1a, the Y drive axis 1b, and the Z drive axis 1c are provided with the X motor controller driver 3a, the Y motor controller driver 3b, and the Z motor controller driver 3c, respectively. The control information supplied to the X drive shaft 1a, which is a fixed shaft, via the cable 7 is transmitted to the Y motor controller / driver 3b, the Z motor controller / driver 3c, etc. by the optical transmission mechanism 4, and the electric power is , From the cable 7 via the power supply rail 5 and the current collector 6.

Therefore, it is not necessary to connect cables to the Y drive shaft 1b, the Z drive shaft 1c, etc. for external signal transmission and power supply, and the number of cables is reduced as compared with the conventional one. can do. For this reason, no disconnection of the cable occurs due to the operation of the Y drive shaft 1b, the Z drive shaft 1c, etc., and noise does not enter from the cable. Further, the wiring work is only required to connect the cable 7 to the X motor controller driver 3a, so that the wiring work is simplified as compared with the conventional case.

[0015]

[Effect of the device]

 As described above, according to the robot of the present invention, the number of cables for signal transmission and power supply can be reduced as compared with the conventional robot, and the disconnection of the cable due to the operation of each drive axis occurs. Also, it is possible to reduce the intrusion of noise from the cable and simplify the wiring work.

[Brief description of drawings]

FIG. 1 is a diagram showing a main configuration of a robot according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of an optical transmission device of the robot of FIG.

FIG. 3 is a diagram showing a configuration of a power supply rail of the robot of FIG.

[Explanation of symbols]

 1a X drive axis 1b Y drive axis 1c Z drive axis 2a X drive rail 2b Y drive rail 2c Z drive rail 3a X motor controller driver 3b Y motor controller driver 3c Z motor controller driver 4 optical transmission mechanism 5 power supply rail 6 Collector 7 cable

Claims (1)

[Scope of utility model registration request] 1. A robot provided with a plurality of drive shafts having a drive rail and a drive motor, wherein a motor drive control mechanism which is provided on each drive shaft and controls the drive of the drive motor, and between the motor drive control mechanism. A robot, comprising: an optical transmission mechanism for transmitting control information by means of; and a power supply rail which is provided along the drive rail and supplies electric power to each drive shaft.