JPH0674237U - Robot feed mechanism - Google Patents
Robot feed mechanismInfo
- Publication number
- JPH0674237U JPH0674237U JP1984293U JP1984293U JPH0674237U JP H0674237 U JPH0674237 U JP H0674237U JP 1984293 U JP1984293 U JP 1984293U JP 1984293 U JP1984293 U JP 1984293U JP H0674237 U JPH0674237 U JP H0674237U
- Authority
- JP
- Japan
- Prior art keywords
- feed screw
- connecting plate
- fixed
- driver
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
(57)【要約】 （修正有）「
目的」本考案はロボットの送り機構を駆動するパルスモ
ータの脱調を防止する。「
構成」本考案はロボットの機構台に固定される固定板か
ら延出し且つ送りねじを回転可能に支持する取付腕と前
記送りねじ軸上を移動し一部に支持するドライバーを前
記固定板に対し相対的に運動する連結板の一部との間に
該連結板を上方に引き上げようと作用する力を付与する
引張りばねを装着して構成する。
(57) [Summary] (Correction) "Purpose" The present invention prevents step out of the pulse motor that drives the robot feed mechanism. [Structure] The present invention includes a mounting arm that extends from a fixed plate fixed to a mechanism base of a robot and that rotatably supports a feed screw and a driver that moves on the feed screw shaft and partially supports the fixed plate. A tension spring for applying a force acting to pull the connecting plate upward is mounted between the tension spring and a part of the connecting plate which moves relative to each other.
Description
【０００１】[0001]
本考案はコンピュータ内に記憶された制御信号によって移動量が制御されるロボ ットのドライバーを上下方向に動かす送り軸の支持機構に関するものである。 The present invention relates to a feed shaft support mechanism for vertically moving a robot driver whose movement amount is controlled by a control signal stored in a computer.
【０００２】[0002]
従来のロボットのドライバーを上下方向に動かす為の送り軸の支持機構は本出願 人が特願平４−８８０９４号明細書に示す如く、固定台の一部とドライバー(ツ ール)と共に上下方向に動く連結板との間は前記固定台の一部に回転自在に支持 される上下方向に長い送りねじの外周に前記連結板に一体的に固着されたネジブ ッシュが螺合されており、前記連結板に支持されるネジ締めドライバーは各種サ イズのものが用意されて締付けネジに応じて交換可能となっていて、ドライバー の夫々には重量差があることから上下方向に運動する際、その運動の向きの違い によって負荷に差が生じ、上下速度に差が生じたり異常音の発生や、パルスモー タの脱調などが起き易くなっている。 As shown in Japanese Patent Application No. 4-88094, the applicant of the present invention has proposed a feed shaft supporting mechanism for moving a driver of a robot in the vertical direction together with a part of a fixed base and a driver (tool) in the vertical direction. A screw bush integrally fixed to the connecting plate is screwed onto the outer periphery of a vertically long feed screw rotatably supported by a part of the fixed base between the connecting plate and the moving connecting plate. Various sizes of screw tightening drivers supported by the connecting plate are available and can be replaced according to the tightening screws. The difference in load occurs due to the difference in the direction of motion, which causes a difference in vertical speed, abnormal noise, and out-of-step of the pulse motor.
【０００３】[0003]
本考案はロボットの上下方向の送り機構において、ドライバーの上方向運動速度 と下方向運動速度との間に著しい差を生じることがなき様ドライバーの上方向運 動の際には制御モータの負荷を軽減し、ドライバーの下方向運動の際には制動を 与えて制御モータの過回転を抑制し、上下両方向の各運動時に制御モータの負荷 の均一化を図るものである。 The present invention does not cause a significant difference between the upward movement speed and the downward movement speed of the driver in the vertical feed mechanism of the robot.The load of the control motor is increased during the upward movement of the driver. It reduces the load and applies braking during downward movement of the driver to suppress over-rotation of the control motor, and evens out the load on the control motor during both upward and downward movements.
【０００４】[0004]
本考案はロボットの上下方向の送り機構においてドライバーの上方向運動速度と 下方向運動速度との間に著しい速度差が生じぬよう固定台の一部と該固定台に回 転可能に支持され送りねじの回転の向きにより上又は下に移動し先端にドライバ ーを支持する連結板との間に引張りばねを装着することによりドライバーの上方 向運動の際には制御モータの負荷を軽減し、ドライバーの下方向運動の際にはド ライバーの下降速度に制動を与えドライバーの上下両方向運動のバランスを図る ものである。 The present invention is designed to prevent a significant speed difference between the upward movement speed and the downward movement speed of a driver in a vertical feed mechanism of a robot so that a part of the fixed base and the fixed base are rotatably supported and fed. The load of the control motor is reduced during upward movement of the driver by mounting a tension spring between the screw and the connecting plate that supports the driver at the tip depending on the direction of rotation of the screw. During the downward movement, the driver's descent speed is braked to balance the driver's upward and downward movement.
【０００５】[0005]
本考案は機構台に固着された固定板に支持されパルスモータにより回転せしめら れる送りねじと、前記固定板に上下方向の運動が可能に支持される連結板と、該 連結板の一部に支持されるドライバーと、前記連結板に固着され送りねじの回転 に連動して上下方向に摺動するよう係合する送りねじブッシュと、前記固定板の 端部に設けた取付腕と前記連結板の一部との夫々に設けたバネ係止部と、該バネ 係止部を介して前記取付腕と連結板とを弾性的に連結する引張りばねとで構成す ることによりドライバーの下降速度に制動を与えドライバーの上昇時のパルスモ ータの脱調を防止するものである。 The present invention includes a feed screw supported by a fixed plate fixed to a mechanism base and rotated by a pulse motor, a connecting plate supported by the fixed plate for vertical movement, and a part of the connecting plate. A driver to be supported, a feed screw bush that is fixed to the connecting plate and engages so as to slide in the vertical direction in association with the rotation of the feed screw, a mounting arm provided at an end of the fixing plate, and the connecting plate. The driver's descending speed can be increased by using a spring locking portion provided on each of the above parts and a tension spring that elastically connects the mounting arm and the connecting plate via the spring locking portion. Braking is applied to prevent stepping out of the pulse motor when the driver is climbing.
【０００６】[0006]
本考案の実施例の構成を図面により以下に述べる。 ベース１は平面を備えた作業用台板であって、ベース１には直立した支柱２が一 体的に固定されている。ベース１の上面には加工物を載せる作業台３がベース上 面上を平面的に移動し得る如く配設され、該作業台はベース１の下方に配設され たＸ−Ｙ駆動機構(図示せず)により互いに夫々直角方向に駆動されるようになっ ている。 A configuration of an embodiment of the present invention will be described below with reference to the drawings. The base 1 is a work base plate having a flat surface, and upright columns 2 are integrally fixed to the base 1. A workbench 3 on which a workpiece is placed is arranged on the upper surface of the base 1 so as to be able to move in a plane on the upper surface of the base, and the workbench is arranged under the base 1 with an XY drive mechanism (see FIG. (Not shown) are driven at right angles to each other.
【０００７】 前記支柱２内に固定された機構台(図示せず)にドライバー支持用固定板４が固着 されている。該固定板には上端部と下端部に何れも水平方向に延び互いに平行な 取付腕５、６が固定されており、該両取付板間にはベアリング(図示せず)を介し て送りねじ７が前記ベース１の上面に対し垂直な方向に回転自在に支持されてい る。該送りねじは前記固定板４に支持されたパルスモータ８により夫々の軸部に 設けたプーリ９、１０及びベルト１１を介して制御的に回転せしめられるように なっている。A driver supporting fixing plate 4 is fixed to a mechanism base (not shown) fixed in the column 2. Mounting arms 5 and 6 extending in the horizontal direction and parallel to each other are fixed to the upper and lower ends of the fixing plate, and a feed screw 7 is interposed between the two mounting plates via a bearing (not shown). Are rotatably supported in a direction perpendicular to the upper surface of the base 1. The feed screw is designed to be controllably rotated by a pulse motor 8 supported on the fixed plate 4 via pulleys 9 and 10 and a belt 11 provided on respective shaft portions.
【０００８】 前記固定板４には前記送りねじ７の両側の上下各位置に２個１組が同一軸心とな るリニアブッシュ１２、１２が設けられ、該リニアブッシュには夫々ガイド軸１ ３、１３が軸方向に摺動自在に嵌装せしめられており、２本のガイド軸１３、１ ３の下端には取付板１４が固着され、該取付板により前記ガイド軸１３、１３が 平行に一体的に結合されている。The fixed plate 4 is provided with linear bushes 12 and 12 each having a set of two shafts at the upper and lower sides of the feed screw 7 at the respective upper and lower positions, and the linear bushes 12 and 12 have guide shafts 13 respectively. , 13 are fitted so as to be slidable in the axial direction, and a mounting plate 14 is fixed to the lower ends of the two guide shafts 13, 13 so that the guide shafts 13, 13 are parallel to each other by the mounting plates. Are united together.
【０００９】 前記送りねじ７には送りねじブッシュ１５がボールねじの関係で係合し、該送り ねじブッシュは送りねじ７の回転により送りねじ７の軸方向に移動せしめられる 。送りねじブッシュ１５には連結板１６が固定され、該連結板の下端にねじガイ ド板１７が固着されている。該ねじガイド板には前記取付板１４に植立され外周 にねじが形成されたばねガイドバー１８が貫通され、上端に抜け止め片１９が装 着されている。A feed screw bush 15 is engaged with the feed screw 7 in a ball screw relationship, and the feed screw bush is moved in the axial direction of the feed screw 7 by the rotation of the feed screw 7. A connecting plate 16 is fixed to the feed screw bush 15, and a screw guide plate 17 is fixed to the lower end of the connecting plate. A spring guide bar 18, which is planted on the mounting plate 14 and has a screw formed on the outer periphery thereof, penetrates through the screw guide plate, and a retaining piece 19 is attached to the upper end thereof.
【００１０】 前記ばねガイドバー１８には取付板１４の上側に調圧ダイヤル２０が配設され、 該調圧ダイヤルと前記ねじガイド板１７との間には調圧ばね２が装着されている 。A pressure adjusting dial 20 is arranged above the mounting plate 14 in the spring guide bar 18, and a pressure adjusting spring 2 is mounted between the pressure adjusting dial and the screw guide plate 17.
【００１１】 前記取付板１４にはドライバー取付板２２が一体的に固着されており、該ドライ バー取付板には種々のねじ締めドライバー２３が交換可能に取付けられている。A driver mounting plate 22 is integrally fixed to the mounting plate 14, and various screw tightening drivers 23 are replaceably mounted on the driver mounting plate.
【００１２】 前記支柱２内の機構台に固定板４を介して固定された上方の取付板５と前記ガイ ド軸１３、１３によってガイドされ、前記送りねじ７の軸上を移動せしめられる 連結板１６の下端部とには夫々ばね係止部２４、２４…が設けられ、前記取付板 ５とねじガイド板１７とに複数の引張りばね２５、２５…が装着されている。A connecting plate which is guided by the upper mounting plate 5 and the guide shafts 13 and 13 which are fixed to a mechanism table in the support column 2 via a fixing plate 4, and which is moved on the shaft of the feed screw 7. Spring stoppers 24, 24 ... Are respectively provided at the lower end of 16, and a plurality of tension springs 25, 25 ... Are attached to the mounting plate 5 and the screw guide plate 17.
【００１３】 本考案は以上の如き構成であるから、前記作業台３の上に作業物(Ｗ)を載せ固定 し、予め該作業物上のねじ穴位置を本考案のロボットの記憶部に入力させておく と、作業台３はＸ−Ｙ駆動機構が記憶部の制御信号により駆動されることにより 、作業物の複数のネジ穴の位置に順次移動し、各位置でＺ駆動機構が駆動される ことによりドライバー２３が下降され、予め保持しているネジを作業物のねじ穴 にねじ締めする。Since the present invention is configured as described above, the work (W) is placed and fixed on the work table 3 and the screw hole positions on the work are input in advance to the storage unit of the robot of the present invention. Then, the work table 3 is sequentially moved to the positions of the plurality of screw holes of the work by the XY drive mechanism being driven by the control signal of the storage unit, and the Z drive mechanism is driven at each position. Then, the driver 23 is lowered, and the previously held screw is screwed into the screw hole of the work.
【００１４】 即ち、Ｚ駆動機構の前記パルスモータ８が制御信号により制御駆動されることに より、前記送りねじ７が右又は左に回転せしめられる。該送りねじの何れかの方 向の回転により送りねじブッシュ１５が送りねじ上を上昇又は下降せしめられる ので該送りねじブッシュに固定されている連結板１６を介して取付板１４、ドラ イバー取付板２２及びドライバー２３が共に上昇又は下降せしめられる。That is, when the pulse motor 8 of the Z drive mechanism is controlled and driven by the control signal, the feed screw 7 is rotated to the right or left. Since the feed screw bush 15 is raised or lowered on the feed screw by rotating the feed screw in either direction, the mounting plate 14 and the driver mounting plate are connected via the connecting plate 16 fixed to the feed screw bush. Both 22 and driver 23 are raised or lowered.
【００１５】 前記調圧ダイヤル２０の回動により調圧ばね２１のばね圧が調節され、調圧ばね ２１が圧縮されるとネジの締め付けセット力が増大し、拡張されるとネジの締め 付けセット力が縮小する。The rotation of the pressure adjusting dial 20 adjusts the spring pressure of the pressure adjusting spring 21. When the pressure adjusting spring 21 is compressed, the screw tightening set force increases, and when the pressure adjusting spring 21 is expanded, the screw tightening set. The power is reduced.
【００１６】 前記ドライバー２３が下降すると該ドライバーの先端部のビット２６に保持され たねじに初期ねじ締め圧力が付与され次いで前記ビット２６が回転されねじ締め が行われる。When the driver 23 descends, an initial screw tightening pressure is applied to the screw held by the bit 26 at the tip of the driver, and then the bit 26 is rotated to tighten the screw.
【００１７】 前記ドライバー２３が下降する時、送りねじ７には該送りねじに係合する送りね じブッシュ１５と連結板１６に一体的に支持されるドライバー２３との全体に重 力がかかるが移動する向きに一致する為、パルスモータ８のトルクが比較的小さ くなるのを取付板５と連結板１６との間に装着された引張りばね２４の作用によ り阻止され、又前記ドライバー２３が上昇する時送りねじ７には送りねじブッシ ュ１５と連結板１６その他の全体に重力がかかり移動する向きに相反する力が作 用するのを引張りばね２４の作用により軽減し、前記ドライバー２３の下降又は 上昇の際に生じる送りねじ７を回転させるトルクの差を小さくすることが出来る 。前記引張りばね２４は各種ドライバー２３の重量によりドライバーの交換の際 適宜設定本数を決定する。When the driver 23 descends, a force is applied to the feed screw 7 by the feed screw bush 15 engaging with the feed screw and the driver 23 integrally supported by the connecting plate 16. Since it matches the moving direction, the torque of the pulse motor 8 is prevented from becoming comparatively small by the action of the tension spring 24 mounted between the mounting plate 5 and the connecting plate 16, and the driver 23 When the force rises, the feed screw 7 acts on the feed screw bush 15 and the connecting plate 16 and the whole of the connecting plate 16 and the like to reduce a force acting against each other by the action of the tension spring 24. It is possible to reduce the difference between the torques that rotate the feed screw 7 when it is lowered or raised. The tension springs 24 appropriately set the number of the tension springs 24 at the time of exchanging the drivers according to the weights of the various drivers 23.
【００１８】[0018]
本考案は以上の如き構造及び作用をなす精密自動ねじ締めロボットであるから、 予め記憶部に入力された制御信号により自動的にねじ締め作業を行うものにおい て、殊に上下方向の送り駆動機構において機構台の一部の取付板と該取付板に対 し相対的に移動するドライバーを支持する連結板との間に引張りばねを設けるこ とによりドライバーを移動させるパルスモータの脱調や騒音の発生を防ぐことが 出来る実用上効果大なるものである。 Since the present invention is a precision automatic screw tightening robot having the structure and operation as described above, in a device for automatically tightening a screw by a control signal inputted in advance in a storage unit, especially a vertical feed drive mechanism. In this case, a tension spring is provided between a part of the mounting plate of the mechanism base and a connecting plate that supports a driver that moves relative to the mounting plate. This is a great practical effect that can prevent the occurrence.
【図面の簡単な説明】 図面は本考案実施例を示すものにして、図１は本考案を
装着させるロボットの概略を示す側面図、図２は本考案
の上下駆動機構を示す側面図、図３は本考案の要部を示
す上下駆動機構の正面図である。 ４…固定板 ５…取付腕 ７…送りねじ ８…パルスモータ １５…送りねじブッシュ １６…連結板 ２４…ばね係止部 ２５…引張りばねBRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view showing an outline of a robot to which the present invention is attached, FIG. 2 is a side view showing a vertical drive mechanism of the present invention, and FIG. 3 is a front view of the vertical drive mechanism showing the essential part of the present invention. 4 ... Fixing plate 5 ... Mounting arm 7 ... Feed screw 8 ... Pulse motor 15 ... Feed screw bushing 16 ... Connecting plate 24 ... Spring locking part 25 ... Tension spring
Claims (1)
パルスモータ８により回転せしめられる送りねじ７と、
前記固定板４に上下方向の運動が可能に支持される連結
板１６と、該連結板の一部に支持されるドライバー２３
と、前記連結板１６に固着され前記送りねじ７の回転に
連動して上下方向に摺動するよう係合する送りねじブッ
シュ１５と、前記固定板４の端部に設けた取付腕５と、
前記連結板１６の一部との夫々に設けられたばね係止部
２４、２４と、該バネ係止部を介して前記取付腕５と連
結板１６とを弾性的に連結する引張りばね２５とを設け
たことを特徴とするロボットの送り機構。1. A feed screw 7 rotated by a pulse motor 8 supported by a fixed plate 4 fixed to a mechanism base,
A connecting plate 16 supported by the fixed plate 4 so as to be vertically movable, and a driver 23 supported by a part of the connecting plate.
A feed screw bush 15 fixed to the connecting plate 16 and engaged with the feed screw 7 so as to slide in the vertical direction in association with the rotation of the feed screw 7, and a mounting arm 5 provided at an end of the fixed plate 4.
Spring locking portions 24, 24 provided on a part of the connecting plate 16 respectively, and a tension spring 25 elastically connecting the mounting arm 5 and the connecting plate 16 via the spring locking portions. A robot feed mechanism characterized by being provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1993019842U JP2599653Y2 (en) | 1993-03-25 | 1993-03-25 | Robot feed mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1993019842U JP2599653Y2 (en) | 1993-03-25 | 1993-03-25 | Robot feed mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0674237U true JPH0674237U (en) | 1994-10-21 |
| JP2599653Y2 JP2599653Y2 (en) | 1999-09-13 |
Family
ID=12010525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1993019842U Expired - Fee Related JP2599653Y2 (en) | 1993-03-25 | 1993-03-25 | Robot feed mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2599653Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19847855A1 (en) * | 1997-10-17 | 1999-05-12 | Janome Sewing Machine Co Ltd | Multi-jointed industrial robot with powered travel shaft |
| JP2008006561A (en) * | 2006-06-30 | 2008-01-17 | Nitto Seiko Co Ltd | Automatic thread fastening device |
-
1993
- 1993-03-25 JP JP1993019842U patent/JP2599653Y2/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19847855A1 (en) * | 1997-10-17 | 1999-05-12 | Janome Sewing Machine Co Ltd | Multi-jointed industrial robot with powered travel shaft |
| DE19847855C2 (en) * | 1997-10-17 | 2003-07-10 | Janome Sewing Machine Co Ltd | Multi-joint robot |
| JP2008006561A (en) * | 2006-06-30 | 2008-01-17 | Nitto Seiko Co Ltd | Automatic thread fastening device |
| JP4481960B2 (en) * | 2006-06-30 | 2010-06-16 | 日東精工株式会社 | Automatic screw tightening device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2599653Y2 (en) | 1999-09-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0009736A1 (en) | An industrial robot | |
| KR200409627Y1 (en) | Fastening Unit of Automatic Screw Fastener | |
| WO1990015268A1 (en) | Lever having swingable fulcrum and mechanical device using said lever device | |
| US6254075B1 (en) | Table feed mechanism for machine tool | |
| EP2862670A1 (en) | A counterforce mechanism and methods of operation thereof | |
| US20190321986A1 (en) | Reversible mechanical arm gravitational torque balancing device | |
| US4168132A (en) | Bracket assembly | |
| US6698982B2 (en) | Machine tool | |
| KR102083518B1 (en) | capping machine | |
| US6398098B1 (en) | Wire bonding head involving minimized tip skid | |
| CN2584346Y (en) | Special linear cutting machine tool | |
| US20170182545A1 (en) | Servo-rotating all-function tool module for use with spring forming machine | |
| JPH0674237U (en) | Robot feed mechanism | |
| CN100491955C (en) | Obliquity regulating mechanism | |
| JPH0523895B2 (en) | ||
| CN215356311U (en) | Auxiliary machining device of boring machine for deep hole machining | |
| JP5010654B2 (en) | Work support device and horizontal machine tool | |
| JPS61273611A (en) | Industrial robot | |
| JPH0126809B2 (en) | ||
| CN219292590U (en) | High-strength stamping die with pressure relief structure | |
| CN219293818U (en) | Proportioning roller assembly fixture | |
| CN214264676U (en) | Machining auxiliary precision machining fixing platform | |
| JPS6218328Y2 (en) | ||
| JPH1177460A (en) | Autobalancer of machine tool | |
| JP4327341B2 (en) | Desktop robot with Z-axis lifting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |