JPH06197513A - Running apparatus for industrial robot - Google Patents

Abstract

PURPOSE:To eliminate a drive mechanism for braking means laid along the longitudinal direction of a rack. CONSTITUTION:A braking means 11 is provided on a running truck 3 which engages with a straight guide 2 on a rack 1 to run with a driving force of a linear motor. Braking of the running truck 3 by means of the braking means 11 with activation by a linear motor 4 is cancelled and the braking means 11 is engaged with the straight guide 2 with deactivation of the linear motor 4. Thereby, the braking means 11 engages directly with the straight guide 2, stopping the running truck 3 during the linear motor 4 is deactivated and therefore the drive mechanism for the braking means 11 in the longitudinal direction of the rack 1 is unnecessary. Thereby, the number of element parts can be reduced, lowering the manufacturing cost and moreover the area occupied with the rack is reduced making easier the installation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device for an industrial robot in which a traveling carriage driven by a linear motor is guided by a linear guide of a gantry.

[0002]

2. Description of the Related Art FIG. 14 is a perspective view showing a conventional traveling device for an industrial robot. In the figure, (1) is a mount, (2) is a linear motion guide that is provided parallel to the mount (1) at a distance from each other,
(3) is a traveling carriage that is movably engaged with the linear guide (2),
(4) is a linear motor provided on the lower surface of the traveling carriage (3),
(5) is a secondary conductor provided on the frame (1) so as to face the linear motor (4), and (6) is a rotation for braking the traveling carriage (3) provided on the traveling carriage (3). Type brake, (7) is a position detector provided concentrically with the rotary shaft of the rotary type brake (6), (8) is a rack provided on the mount (1) in parallel with the linear guide (2), ( 9)
Is provided on the traveling carriage (3) and is equipped with brakes (6) and position detectors.
It is a pinion fixed to the shaft of (7) and meshing with the rack (8).

One end of (10) is a mount (1) and the other end is a traveling carriage.
It is a cable guide fixed to (3) and arranged laterally in a U-shape on the side, and an industrial robot (not shown) on the traveling carriage (3), a linear motor (4), a brake (6), and a position detector. A cable (not shown) for transmitting signals and power is housed in (7) to guide the cable in accordance with the movement of the traveling carriage (3).

The conventional traveling device for industrial robot is constructed as described above, and when the linear motor (4) is excited, a thrust force is generated between the linear motor (4) and the secondary conductor (5). The linear carriage (2) guides the traveling carriage (3) to travel. Further, when the traveling carriage (3) travels, the pinion (9) rotates through the rack (8), and the brake (6) and the position detector are detected.
(7) is driven, and the operation of the industrial robot traveling device is controlled based on the output of the position detector (7).

The cable guide (10) is used for the traveling carriage (3).
As it travels, it is transferred while maintaining the horizontal U-shape. In addition, the brake (6) is released when the normal linear motor (4) is energized and rotates in the same way as the position detector (7). And stop the carriage (3).

[0006]

In the conventional industrial robot traveling apparatus as described above, it is necessary to provide the drive mechanism including the rack (8) and the pinion (9) for at least the operation of the brake (6). . Therefore, there are problems that the number of constituent parts of the traveling device for an industrial robot is increased, a complicated labor is required for manufacturing, the area of the gantry (1) is increased, and installation restrictions are increased.

The present invention has been made to solve the above problems, and an object thereof is to obtain a traveling device for an industrial robot that does not require a drive mechanism along the longitudinal direction of the cradle for braking means.

[0008]

In a traveling apparatus for an industrial robot according to the present invention, a traveling carriage that is moved by being guided by a linear guide provided on a frame, and a linear motor provided on the traveling carriage, The secondary conductor provided on the pedestal and arranged to face the linear motor, the brake body which is configured to be displaceable and is urged by the urging body in the linear motion guide direction on the traveling trolley, and the traveling trolley. A braking means that is provided and that blocks the displacement of the braking body by the biasing body at a position away from the linear guide by the biasing of the linear motor, and releases the blocking of the displacement of the braking body by deactivating the linear motor. Is provided.

[0009]

In the industrial robot traveling apparatus of the present invention constructed as described above, when the linear motor is deenergized, the braking means directly engages with the linear guide, whereby the traveling of the traveling carriage is braked.

[0010]

EXAMPLES Example 1. 1 to 4 are views showing an embodiment of the present invention, FIG. 1 is a perspective view showing a traveling device for an industrial robot, and FIG. 2 is an enlarged side view of a braking means portion of the traveling device for an industrial robot in FIG. 3, FIG. 3 is a diagram for explaining the operation of the braking means of FIG. 2, and FIG. 4 is an enlarged side view of the position detector portion of FIG. In the figure, (1) is a gantry, (2) is a linear guide that is provided parallel to the gantry (1) at a distance from each other, and (3) is a linear guide (2).
The traveling carriage engaged movably with the vehicle, (4) is a linear motor provided on the lower surface of the traveling carriage (3), and (5) is provided on the gantry (1) and is arranged to face the linear motor (4). The secondary conductor is

Reference numeral (11) is a braking means provided on the traveling carriage (3), which is arranged on both sides of the linear guide (2) in the cross-sectional direction, and the upper end thereof is a fulcrum shaft (12) on the traveling carriage (3). The lower end of which is pivotally supported by the arm (13) facing the side surface of the linear guide (2), and the arm (13).
The braking piece (14) provided at the lower end of the arm and facing the side surface of the linear motion guide (2), the roller (15) pivotally attached to the middle of the arm (13), and the lower end of the arm (13) and the roller (15). Urging body (1) composed of a tension coil spring, which is connected at both ends to a pin (16) provided between the both ends and urges both arms (13) toward each other.
A cam rod (20) formed by a braking body (18) composed of (7) and a cam (19) provided on the traveling carriage (3) and having a wedge shape at the tip and arranged between the rollers (15). ), One end is a cam rod (2
The other end is connected to the traveling carriage (3) to the cam rod (2)
(0) is urged in the upward direction by a tension coil spring (21), an electromagnetic coil provided on the traveling carriage (3), etc. to operate the cam rod (20) to pull the coil spring (21). Actuator (23) constituted by a drive element (22) that pushes down against
It is formed by.

(7) is a position detector provided on a rotating arm (24) whose one end is pivotally supported on the traveling carriage (3), and is fixed to the lower end of the rotary shaft to a side surface of the linear guide (2). Friction roller (2
5) and a compression coil spring that is provided between the traveling carriage (3) and the rotating arm (24) and presses the friction roller (25) in the direction of the linear guide (2) via the rotating arm (24). It is composed of (26). (10) is a cable guide that has one end fixed to the gantry (1) and the other end fixed to the traveling carriage (3) and is arranged in a lateral U shape on the side surface. The industrial robot (not shown) on the traveling carriage (3) ),
A cable (not shown) for transmitting signals and electric power is housed in the linear motor (4), the brake (6), and the position detector (7) to guide the cable according to the movement of the traveling carriage (3). .

When the linear motor (4) of the industrial robot traveling apparatus constructed as described above is not excited, the actuating body (23) is deenergized, and the cam rod (20) is pulled by a tension coil spring ( The cam (19) is lifted by 21), and the cam (19) is arranged at a lifted position apart from the roller (15). For this reason, the urging body (17) draws the arms (13) toward each other, and the braking piece (14) is pressed against the side surface of the linear guide (2) to be in the state shown in FIG. 2 and the braking means (11). As a result, the traveling carriage (3) is braked.

When the linear motor (4) is excited, a thrust is generated between the linear motor (4) and the secondary conductor (5), and the traveling carriage (3) is guided by the linear guide (2). Although the vehicle travels while being guided, the actuating body (23) is biased by the excitation of the linear motor (4), and the cam rod (20) descends against the biasing force of the tension coil spring (21). This causes the cam (19) to move to the roller (15).
, The arm (13) separates from each other against the biasing force of the biasing body (17). Then, the pressing of the side surface of the linear guide (2) by the braking piece (14) is released, and the state shown in FIG. 3 is reached, and the braking of the traveling vehicle (3) by the braking means (11) is released.

The friction roller (25) rolls on the side surface of the linear guide (2) by the traveling of the traveling carriage (3) and the position detector (7).
Is activated, the position of the traveling carriage (3) is detected and the traveling carriage (3) is detected.
Is controlled.

As described above, in the embodiment shown in FIGS. 1 to 4, the rack (1) is provided with a drive mechanism such as a rack and a pinion for achieving the functions of the position detector (7) and the braking means (11). There is no need. Therefore, the number of constituent parts of the traveling device for an industrial robot can be reduced, the manufacturing device can be easily manufactured, and the manufacturing cost can be reduced. In addition, the required area of the gantry is reduced, and restrictions on installation are reduced, so that the gantry can be easily installed.

Example 2. 5 to 7 are views showing another embodiment of the present invention, FIG. 5 is a perspective view showing a traveling device for an industrial robot, and FIG. 6 is an enlarged side view of a braking means portion of the traveling device for an industrial robot in FIG. 7 and 8 are diagrams for explaining the operation of the braking means of FIG. 1 to 4 other than FIGS. 5 to 7.
The configuration is similar to that of the above-mentioned embodiment. In the figure, (1) is a pedestal, (2) is a linear motion guide provided in parallel to the gantry (1) apart from each other, (3) is a traveling carriage that is movably engaged with the linear motion guide (2), Reference numeral (4) is a linear motor provided on the lower surface of the traveling carriage (3), and reference numeral (5) is a secondary conductor provided on the pedestal (1) so as to face the linear motor (4).

A braking means (11) is provided on the traveling carriage (3) and is composed of a braking body (18) and an operating body (23) which will be described later. That is, (18) is a braking body, which is arranged on both sides of the linear guide (2) in the cross-sectional direction, and the upper end is the traveling carriage.
The lower end of which is pivotally supported by the fulcrum shaft (12) on (3), the lower end of which is provided on the arm (13) facing the side surface of the linear guide (2) and the lower end of the arm (13) on the side surface of the linear guide (2). The opposing braking piece (14), the roller (15) pivotally attached to the middle of the arm (13), and the lower end of the arm (13) and the roller (1)
5) is composed of a biasing body (17) consisting of a tension coil spring, both ends of which are connected to a pin (16) provided between the arms (13) to bias the arms (13) toward each other. .

Reference numeral (23) denotes an actuating member, which is provided on the linear motor (4) and has a wedge-shaped tip and a cam rod (20) formed with cams (19) arranged between the rollers (15), Guide rods (29) and guide rods that are fastened to the traveling carriage (3) by the nuts (27) and hung down and inserted into the cam rod (20) through the bearings (28).
A spacer (30) fitted between the traveling carriage (3) and the cam rod (20) by being fitted to the (29) and both ends of the guide rod (29) fitted to the guide rod (29). The compression coil spring (31) held on the large diameter portion and the lower surface of the cam rod (20) and the traveling carriage (3) provided on the lower surface of the cam rod (20) facing the large diameter portion at the lower end of the guide rod (29). ) To prevent excessive lowering of the linear motor (4) to maintain a gap between the traveling carriage (3) and the linear motor (4).
It is composed of (32).

(10) One end is the mount (1) and the other end is the traveling carriage
It is a cable guide fixed to (3) and arranged laterally in a U-shape on the side, and an industrial robot (not shown) on the traveling carriage (3), a linear motor (4), a brake (6), and a position detector. A cable (not shown) for transmitting signals and electric power is housed in (7) to guide the cable according to the movement of the traveling carriage (3).

When the linear motor (4) of the industrial robot traveling apparatus configured as described above is not excited, the linear motor (4) and the cam rod (20) are driven by the biasing force of the compression coil spring (31). Ascend and the cam (19) of the cam rod (20) will
It will be located in a raised position away from 5). Therefore, the biasing body
The arms (13) are attracted to each other by (17) and the braking piece (14) is pressed against the side surface of the linear guide (2) to be in the state shown in FIG. 6, and the traveling carriage (3) is brought by the braking means (11). Is braked.

When the linear motor (4) is excited, a thrust force is generated between the linear motor (4) and the secondary conductor (5), and the traveling carriage (3) is guided by the linear guide (2). Travels while being guided, but the linear motor (4) is excited by the excitation of the linear motor (4).
Is lowered toward the secondary conductor (5) by the attractive force. Therefore, the cam rod (20) moves down against the biasing force of the compression coil spring (31). As a result, the cam (19) intervenes between the rollers (15), so that the arm (13) separates from each other against the biasing force of the biasing body (17). And the linear motion guide by the braking piece (14)
(2) The pressure on the side surface is released to the state shown in FIG. 7, and the braking of the traveling carriage (3) by the braking means (11) is released.

Although not shown, the traveling carriage (3)
The friction roller rolls on the side surface of the linear motion guide (2) and the position detector (7) operates to detect the position of the traveling carriage (3) and control the traveling of the traveling carriage (3). It

As described above, in the embodiment shown in FIGS. 5 to 7, the rack (1) is provided with a drive mechanism such as a rack and a pinion for achieving the functions of the position detector (7) and the braking means (11). There is no need. Therefore, the number of constituent parts of the traveling device for an industrial robot can be reduced, the manufacturing device can be easily manufactured, and the manufacturing cost can be reduced. In addition, the required area of the gantry is reduced, and restrictions on installation are reduced, so that the gantry can be easily installed.

Example 3. 8 to 10 are views showing other embodiments of the present invention, FIG. 8 is a perspective view showing a traveling device for an industrial robot, and FIG. 9 is an enlarged side view of a braking means portion of the traveling device for an industrial robot in FIG. 10 and 11 are diagrams for explaining the operation of the braking means of FIG. It should be noted that, except for FIGS. 8 to 10, FIG.
The configuration is similar to that of the embodiment shown in FIG. In the figure,
(1) is a pedestal, (2) is a linear motion guide provided in parallel to the gantry (1) at a distance from each other, and (201) is a V-shaped cross section provided on the upper surface of the linear motion guide (2). Longitudinal groove, (3) is a traveling carriage that is movably engaged with the linear guide (2), (4) is a linear motor provided on the lower surface of the traveling carriage (3), and (5) is a mount (1) Is a secondary conductor which is provided on the opposite side of the linear motor and is opposed to the linear motor (4).

Reference numeral (11) is a braking means provided on the traveling carriage (3), which is composed of a braking body (18) and an operating body (23) which will be described later. That is, (18) is a braking body, which has a linear motion guide at the lower end.
A wedge-shaped portion (181) facing the vertical groove (201) of (2) is provided. (23) is an operating body, which is a traveling carriage made up of an electromagnetic coil and the like.
A drive element (2) that is provided on (3) and moves up the operating shaft when the braking body (18) is fixed to the lower end of the operating shaft and is energized.
2), and a traveling carriage fitted to the operating shaft of the drive element (22)
The urging body (17) is arranged between (3) and the braking body (18) and is composed of a compression coil spring that urges the braking body (18) downward.

(10) One end is the mount (1) and the other end is the traveling carriage
It is a cable guide fixed to (3) and arranged laterally in a U-shape on the side, and an industrial robot (not shown) on the traveling carriage (3), a linear motor (4), a brake (6), and a position detector. A cable (not shown) for transmitting signals and power is housed in (7) to guide the cable in accordance with the movement of the traveling carriage (3).

When the linear motor (4) of the industrial robot traveling apparatus configured as described above is not excited, the drive element (22) of the operating body (23) is deenergized and the braking body (18) )
Is urged downward by the urging force of the urging body (17). As a result, the wedge-shaped part (181) of the braking body (18) becomes a longitudinal groove of the linear guide (2).
9 is pressed against the (201) in a fitted state, and the traveling vehicle (3) is braked by the braking means (11).

When the linear motor (4) is excited, a thrust is generated between the linear motor (4) and the secondary conductor (5), and the traveling carriage (3) is guided by the linear guide (2). Although the vehicle travels while being guided, the drive element (22) of the actuating body (23) is biased by the excitation of the linear motor (4), and the braking body (18) resists the biasing force of the biasing body (17). Rise. As a result, the pressing of the linear guide (2) longitudinal groove (201) by the braking body (18) is released and the state shown in FIG. 10 is reached, and the braking of the traveling carriage (3) by the braking means (11) is released. .

As described above, also in the embodiments of FIGS. 8 to 10, when the linear motor (4) is not excited, the braking means (11) directly engages with the linear guide (2) to drive the vehicle. The carriage (3) is braked. Therefore, although detailed description is omitted, it is apparent that the same effects as those of the embodiments of FIGS. 1 to 4 can be obtained in the embodiments of FIGS. 8 to 10.

Example 4. 11 to 13 are also views showing another embodiment of the present invention, FIG. 11 is a perspective view showing a traveling device for an industrial robot, and FIG. 12 is an enlarged side view of a braking means portion of the traveling device for an industrial robot in FIG. 13 and 14 are diagrams for explaining the operation of the braking means of FIG. 11 to 1
3 is the same as that of the embodiment shown in FIGS.
In the figure, the same reference numerals as those in FIGS.
(2) is a linear motion guide that is provided parallel to the mount (1) at a distance from each other, (202) is an engagement surface formed on the side surface of the linear motion guide (2) and has a trapezoidal cross section, and (18) is With a braking body, the cross section is a linear motion guide
(2) It is formed in a shape that surrounds the head and has a linear motion guide at the lower end.
Inverse V-shaped braking surface (18) corresponding to the engaging surface (202) of (2)
1) has been formed.

As described above, also in the embodiments of FIGS. 11 to 13, the braking means (11) including the braking body (18) and the operating body (23) is provided, and the operating body is excited by the excitation of the linear motor (4). (twenty three)
The drive element (22) of the above is biased, and the braking body (18) is biased by the biasing body (17).
Rises against the urging force of. As a result, the pressing of the linear motion guide (2) engagement surface (201) by the braking surface (182) of the braking body (18) is released, and the state shown in FIG. 13 is reached, and the traveling carriage (3) by the braking means (11) is released. The braking of is released.

When the linear motor (4) is not excited, the braking body (18) descends due to the urging force of the urging body (17) and the linear guide (2) engages with the braking surface (182). The surface (201) is pressed. That is, the traveling of the traveling carriage (3) is braked by directly engaging the braking means (11) with the linear motion guide (2). Therefore, although detailed description is omitted, FIGS.
It is obvious that the same effect as that of the embodiment of FIGS. 1 to 4 can be obtained in the embodiment of FIG.

[0034]

As described above, according to the present invention, a traveling carriage that is guided and moved by a linear guide provided on a gantry, a linear motor provided on the traveling dolly, and a linear motor provided on the gantry. And a secondary conductor disposed opposite to each other, a brake body that is configured to be displaceable and that is provided in the traveling carriage and is urged in the linear guide direction by the urging body, and an urging of a linear motor that is provided in the traveling carriage. Thus, a braking means including an actuating body for preventing the displacement of the braking body by the urging body at a position away from the linear guide and canceling the displacement prevention of the braking body by deactivating the linear motor is provided.

As a result, when the linear motor is de-energized, the braking means directly engages the linear guide, whereby the traveling of the traveling carriage is braked. Therefore, it is not necessary to provide a drive mechanism such as a rack and a pinion on the base in order to achieve the function of the braking means, the number of constituent parts of the industrial robot traveling device can be reduced, and the manufacturing cost can be easily manufactured, thereby reducing the manufacturing cost. Then
In addition, there is an effect that the required area of the gantry is reduced and installation restrictions are lessened, which facilitates installation.

[Brief description of drawings]

FIG. 1 is a perspective view of a traveling device for an industrial robot showing a first embodiment of the present invention.

FIG. 2 is an enlarged side view of a braking means portion of the industrial robot traveling apparatus of FIG.

FIG. 3 is a diagram for explaining the operation of the braking means of FIG.

FIG. 4 is an enlarged side view of the position detector portion of FIG.

FIG. 5 is a perspective view of a traveling device for an industrial robot showing a second embodiment of the present invention.

FIG. 6 is an enlarged side view of a braking means portion of the industrial robot traveling apparatus of FIG.

FIG. 7 is a diagram for explaining the operation of the braking means of FIG.

FIG. 8 is a perspective view of a traveling device for an industrial robot showing a third embodiment of the present invention.

9 is an enlarged side view of a braking means portion of the industrial robot traveling apparatus of FIG.

FIG. 10 is a view for explaining the operation of the braking means of FIG.

FIG. 11 is a perspective view of a traveling device for an industrial robot showing a fourth embodiment of the present invention.

12 is an enlarged side view of a braking means portion of the industrial robot traveling apparatus of FIG.

FIG. 13 is a diagram for explaining the operation of the braking means of FIG.

FIG. 14 is a perspective view showing a conventional traveling device for an industrial robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cradle 2 Linear motion guide 3 Traveling vehicle 4 Linear motor 5 Secondary conductor 11 Braking means 17 Biasing body 18 Braking body 23 Actuating body

Claims (1)

[Claims] 1. A traveling carriage that is guided and moved by a linear motion guide provided on the mount, a linear motor provided on the travel carriage, and a linear motor provided on the mount so as to face the linear motor. A secondary conductor, a brake body that is displaceable and is provided in the traveling carriage and is urged in the linear motion guide direction by an urging body, and is provided in the traveling carriage and is operated by the urging of the linear motor. Braking means for preventing the displacement of the braking body by the urging body at a position away from the linear motion guide and releasing the displacement prevention of the braking body by deactivating the linear motor. Traveling equipment for industrial robots.