JPH06328376A - Industrial robot - Google Patents

Abstract

PURPOSE:To provide an industrial robot smoothly moving its slider without heightening assembly precision. CONSTITUTION:A slider 14 is provided free to move on a base 12, a screw bar 20 is provided on the base 12, a female screw part to screw the screw bar 20 in it is provided on the slider 14, one end of the screw bar 20 is connected to a motor 28, the other end of the screw bar 20 is installed on the base 12 through a ball bearing 22, and between the ball bearing 22 and the base 12, an elastic member 32 is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a single-axis robot actuator type industrial robot.

[0002]

2. Description of the Related Art Conventionally, various single-axis robot actuator type industrial robots have been proposed. One of them has been industrial robot 10 shown in FIGS.
There is.

4 and 5, reference numeral 12 denotes a rectangular parallelepiped base on which the slider 14 slides in one direction (hereinafter, this direction is referred to as the X-axis direction).

Reference numerals 16 and 16 are two linear trajectory guides attached along the X-axis direction of the base 12.
Inside the slider 14, guide receivers 18 that move along the guides 16 are provided.

Reference numeral 20 is a screw rod mounted on the base 12 along the X-axis direction. The left end 20a of the screw rod 20 is fixed by a ball bearing 22 provided at the left end of the base 12. The ball bearing 22 is fixed between a pair of blocks 24, 24 provided on the upper surface of the base 12 (see FIG. 5). The right end portion 20b of the screw rod 20 is fixed by a ball bearing 26 provided near the right end portion of the base 12, and further, a coupling 3 for coupling with a motor 28.
It is linked to 0. The coupling 30 and the ball bearing 26 are fixed by a pair of blocks 32.

Reference numeral 34 is a female screw member that is screwed with the screw rod 20 provided on the back surface of the slider 14.

The operation of the industrial robot 10 having the above structure will be described.

When the motor 28 is driven, the coupling 3
The threaded rod 20 connected by 0 rotates. Screw rod 2
When 0 rotates, the internally threaded portion 34 screwed to this moves, so that the slider 14 also moves with it. In this case, the slider 14 moves along the guides 16, 16.

[0009]

In the industrial robot 10 having the above structure, the screw rod 20 has its left end 20a fixed to the ball bearing 22 and its right end 20b fixed to the ball bearing 26.

In order to make the slider 14 move smoothly, it is necessary to adjust the attachment of the ball bearing 22 so that the screw rod 20 becomes completely parallel along the X-axis direction.

That is, if the mounting position of the ball bearing 22 on the supporting side is deviated, the screw rod 20 tilts with respect to the X-axis direction. Therefore, when the slider 14 moves to the vicinity of the ball bearing 22, the tilt causes the slider to move. 14 movement is hindered.

However, if the assembling precision of the ball bearing 22 is increased, there is a problem that it takes time to assemble.

In view of the above problems, the present invention provides an industrial robot in which the slider can move smoothly without increasing the assembly accuracy.

[0014]

In the industrial robot of the present invention, a slider is arranged on a base so as to be movable in one direction.
In the single-axis robot actuator, wherein a screw rod is provided on the base, a female screw portion that is screwed with the screw rod is provided on the slider, and the slider is moved by rotating the screw rod by a motor, One end of the screw rod is connected to a motor, the other end of the screw rod is attached to the base via a ball bearing, and an elastic member is provided between the ball bearing and the base.

[0015]

[Operation] In the industrial robot configured as above, the ball bearing supporting the other end of the screw rod has an elastic member between the ball bearing and the base, so that the inclination of the screw rod can be absorbed. Ball bearing mounting accuracy can be loosened.

[0016]

EXAMPLE An industrial robot 1 according to an example of the present invention will be described below.
00 will be described with reference to FIGS. In addition, regarding the same structure as the industrial robot 10 described in the related art,
The same reference numbers are used and the description is omitted.

The difference between the industrial robot 100 and the conventional industrial robot 10 lies in the mounting structure of the ball bearing 22. That is, an annular elastic member 36 made of rubber is provided between the inner wall of the block 24 and the outer peripheral portion of the bearing 22.

As a result, as shown in FIG.
Ball bearing 22 so that 0 is parallel to the X-axis direction
When the is attached, the slider 14 also moves smoothly.

Further, as shown in FIG.
Even if it is mounted in a position that is offset by θ ° with respect to the axial direction,
As the slider 14 gets closer to the ball bearing 22, the elastic member 36 is dented and pressed so that the screw rod 20 becomes substantially parallel to the X-axis direction. Therefore, the slider 14 can move smoothly without being obstructed in movement as in the conventional industrial robot 10.

[0020]

As described above, according to the industrial robot of the present invention, when the ball bearing is attached to the base,
Since the mounting is performed via the elastic member, the inclination of the screw rod is absorbed by the elastic member even if the mounting accuracy of the ball bearing is low. Therefore, the slider that moves along the threaded rod can also move smoothly.

[Brief description of drawings]

FIG. 1 is a plan view of an industrial robot showing an embodiment of the present invention.

FIG. 2 is an enlarged plan view of the mounting positions of the ball bearing and the block diagram when the screw rod is mounted parallel to the X-axis direction.

FIG. 3 is a plan view of a state in which it is also attached with a deviation of θ °.

FIG. 4 is a plan view of a conventional industrial robot.

FIG. 5 is an enlarged plan view of an essential part showing the mounting between the ball bearing and the block.

[Explanation of symbols]

 100 Industrial Robot 12 Base 14 Slider 16 Guide 18 Guide Receptor 20 Screw Rod 22 Ball Bearing 24 Block 26 Ball Bearing 28 Motor 30 Coupling 32 Block 34 Female Threaded Part 36 Resilient Member

Claims (1)

[Claims] 1. A slider is disposed on a base so as to be movable in one direction, a threaded rod is provided on the base, and an internal threaded portion that is screwed with the threaded rod is provided on the slider. In a single-axis robot actuator that moves the slider by rotating the slider, one end of the screw rod is connected to a motor, and the other end of the screw rod is attached to the base via a ball bearing. An industrial robot, wherein an elastic member is provided between the base and the base.