JPH071261A - Gentry assembly robot - Google Patents

Abstract

PURPOSE:To improve rigidity of a robot by providing a support column movable on a rail and in a shape wherein it is wide in the direction of an Y-axis and a drive means to move the support column. CONSTITUTION:Two rails 11a and 11b are installed in the direction of an Y-axis on the base bed 10 of a gantry type assembly robot movable in the directions of an X-axis, an Y-axis, and a Zaxis. Support columns 40a and 40b in a shape wherein it is wide in the direction of the Y-axis are movably arranged on the rails 11a and 11b. When a bed 70 is moved in the direction of the Y-axis, by driving a drive means 20 for the support columns 40a and 40b, the support columns 40a and 40b are moved at a high speed. In this case, since the support columns 40a and 40b are formed in a shape wherein a large size is set in the direction of the Y-axis (the direction of width), even when high speed movement in the direction of the Y-axis and the rapid stop are repeated, a problem on rigidity does not arise and high-precise assembly is executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a gate-shaped X, Y, Z
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an assembly robot that can move in an axial direction, such as an electronic device, and more particularly to a gate-type assembly robot that can increase the rigidity of the robot and can reduce the size and weight of the robot.

[0002]

2. Description of the Related Art Generally, as a high-speed assembly robot, a type shown in FIG. 4 has been put into practical use. As a typical example, a horizontal articulated robot shown in FIG. There is a vertical articulated robot shown in FIG. However, the horizontal articulated robot and the vertical articulated robot have a large range of motion because the arm portions 110 and 120 have a multi-joint structure, and thus there is a waste of motion. Further, since the arm section rotates about 360 °, when these assembly robots are arranged side by side to form a production line, it is necessary to secure a certain interval so that the arm sections do not interfere with each other. There is a problem that the installation area becomes large.

On the other hand, the assembling robot shown in FIG. 5 is a gate-type assembling robot (gate-type Cartesian coordinate robot).
40 and two support columns 1 fixed on this base 140
32, 132 and a gate-shaped support 13 composed of an X-axis module 131 installed between these support columns 132, 132
0, and a Y-axis module 133 mounted on the X-axis module 131 so as to be movable in the X-axis direction (horizontal direction in the drawing),
A driving means 134 provided on the X-axis module 131 for moving the Y-axis module 133;
A Y-axis slider 135 mounted on the axis module 133 so as to be movable in the Y-axis direction (front-back direction in the figure), and the Y-axis module 133 for moving the Y-axis slider 135.
The driving means 136 provided above and the Y-axis slider 1
A head 137 provided at the tip of 35 so as to be movable in the Z-axis direction (vertical direction in the figure), a drive means (not shown) for moving the head 137, and a hand portion 138 rotatably supported by the head 137. Composed by. The gate-type assembling robot having the above-described structure is provided with driving means 134 for the X-axis module 131 and the Y-axis module 133.
Since the head 137 can be linearly moved to a target position by driving the 136, there is little waste in the movement of the robot. Therefore, if the production line is composed of a plurality of portal type assembly robots, it is not necessary to provide a large space between the portal type assembly robots, and the installation area of the production line can be reduced. Also, the operating range of the head 137 can be freely changed by changing the lengths of the X-axis module 131, the Y-axis module 133, and the Y-axis slider 135.

[0004]

However, the above-mentioned conventional gate-type assembly robot has the following problems, so that it is often used as an assembly robot in spite of having the excellent characteristics described above. Didn't. That is, in the conventional gate-type assembly robot, the Y-axis slider 135 is cantilevered. Therefore, when the Y-axis slider 135 is extended to expand the operation range in the Y-axis direction, the portion supporting the Y-axis slider 135 is removed. There was a problem that the rigidity was lowered. For this reason, when the Y-axis slider 134 is repeatedly moved forward and backward at high speed, a large load is applied to a portion supporting the Y-axis slider 134, and there is a problem that failures frequently occur. Moreover, in the conventional gate type assembly robot,
The driving means 134 and 136 are connected to the X-axis module 131 and Y.
Since the robot is provided on the axis module 133, there is a problem that the robot becomes large and the appearance is not smart.

Further, Japanese Utility Model Laid-Open No. 62-121087 proposes a gate-type assembly robot in which rigidity is improved by fixing a Y-axis module with a frame, but a member mounted on a gate-type support body. As the weight of the robot increases, the support column must be made thicker, which causes a problem that the entire robot becomes large and heavy. Further, in order to improve the rigidity of the gate-type assembly robot, there is a structure in which two support columns are provided on each side of the front and rear to form a gate-type support, but there is a problem that the structure becomes complicated.

As a result of intensive studies in view of the above circumstances, the present inventors have found that, instead of moving the Y-axis slider of the gate assembly robot back and forth, when the gate support is moved back and forth, the conventional Y It has been found that it is possible to solve all the problems of the portal assembly robot configured to move the shaft slider. Here, conventionally, there is a gantry crane for transporting or processing a heavy-weight member, or a gantry-type planomirror having a structure in which a gate-type support is moved back and forth. It can be applied to an assembly robot. However, in the conventional gantry crane and the like, unlike the assembling robot, high-speed operability is hardly considered.
Therefore, there is a problem that the rigidity of the support pillar is low, and when the gate-type support in a gantry crane or the like is driven at high speed as it is, the forces applied to the left and right support pillars become imbalanced and the support pillar is twisted. Such twisting of the support columns can be prevented to some extent by providing a drive unit on each of the left and right support columns and synchronously operating the drive units, but in this case, there is a problem that the configuration becomes complicated.

The present invention has been made in view of the above problems, and can increase the rigidity of a robot, and can reduce the size and weight of the robot.
It is an object of the present invention to provide a gate-type assembly robot capable of ensuring a wide operation range without waste.

[0008]

In order to achieve the above object, a portal type assembling robot according to the present invention has a portal type X, Y ,.
An assembly robot capable of moving in the Z-axis direction, including a base, two rails laid on the base in the Y-axis direction, and a Y-axis movably provided on these rails. Support columns having a shape wide in the direction, driving means for moving these support columns, an X-axis module installed between these support columns, and mounted on the X-axis module so as to be movable in the X-axis direction. An X-axis slider, and driving means for moving the X-axis slider, which is built in the X-axis module.
A head provided at the tip of the X-axis slider so as to be movable in the Z-axis direction, a driving means incorporated in the X-axis slider for moving the head, and a hand portion rotatably supported by the head. It consists of.

[0009]

According to the portal type assembling robot of the present invention having the above structure, when the head is moved in the Y-axis direction, the driving means for the support column is driven to move the support column at a high speed in the Y-axis direction. In this case, since the support column has a shape that has a large dimension in the Y-axis direction (width direction), high-accuracy assembling work will not occur even if repeated high-speed movement and sudden stop in the Y-axis direction do not cause rigidity problems. Can be done.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a gate type assembling robot of the present invention will be described below with reference to the drawings. 1 and 2 are
1 is a perspective view of a portal type assembling robot according to a first embodiment of the present invention, FIG.
FIG. 3B is a partial sectional front view, and FIG. 3C is a partial sectional side view.

In these drawings, 10 is a base,
Two rails 11a and 11b are laid on the upper surface in the Y-axis direction (front-back direction in the figure). Further, on the front side of the upper surface portion, a drive means 20 including a drive motor 21, a conductive belt 22 and a ball screw 23 is provided. Reference numeral 30 is a gate-shaped support, and two support columns 40a, 4 mounted on the rails 11a, 11b via moving members 41, 41.
0b and an X-axis module 50 installed between these support columns 40a and 40b. These support columns 40
a and 40b are substantially trapezoidal plate members that spread in the Y-axis direction in order to obtain rigidity that can withstand impact when the gate-type support 30 travels in the Y-axis direction. In order to improve stability during high-speed running and sudden stop, the shape near the bottom is particularly wide.
Further, a nut member 42 that is screwed with the ball screw 23 of the drive means 20 is integrally formed inside the lower end of one of the support columns 40b.

If linear rails are used for the rails 11a and 11b and linear bearings are used for the moving members 41 and 41, the gate-shaped support 30 can travel more smoothly and at high speed.

Inside the X-axis module 50, guide rails 51, 51 for moving an X-axis slider 60, which will be described later, in the X-axis direction (horizontal direction in the drawing), and a drive motor 52.
A ball screw 53 that can be rotated by is provided (see FIGS. 2A and 2C).

Further, in this embodiment, the X-axis module 5
0 at both ends of the housing, the recesses 50a and 50b corresponding to the shape of the joint portion of the support columns 40a and 40b are formed.
The joint portions of 0a and 40b are engaged with the recesses 50a and 50b, and the X-axis module 50 and the support columns 40a and
40b is fixed by bolts. With such a configuration, the X-axis module 50 and the support columns 40a and 40b can be firmly fixed, and the joint portion thereof has a torsional stress generated when the gate-shaped support 30 runs at high speed and suddenly stops. With sufficient strength to withstand.

On the bottom surface of the X-axis slider 60, movable members 61, 61 movable in the X-axis direction along guide rails 51, 51 laid in the X-axis module 50 and the ball screw 53 are screwed together. A nut member 62 is provided. Further, the head 7 to be described later is provided at the tip of the X-axis slider 60.
0 is attached so as to be movable in the Z-axis direction (vertical direction in the drawing), and a drive motor 63 for moving the head 70 by a ball screw or the like is built therein.

A hand portion 72 is rotatably supported by the head 70, and a drive motor 71 for rotating the hand portion 72 is incorporated inside the hand portion 72. A claw portion is provided at the tip of the hand portion 72, and an electronic component or the like can be gripped by the claw portion.

Next, the operation of the portal type assembling robot of the present embodiment having the above-mentioned structure will be described with reference to FIGS. 1 and 2. In these drawings, when the head 70 is moved in the Y-axis direction, when the drive motor 21 of the drive means 20 is driven, this drive force is transmitted to the ball screw 23 via the conductive belt 22, and the ball screw 23 rotates. . As a result, the nut member 42 of the support column 40b moves on the ball screw 23, and the entire gate-shaped support 30 is moved to the rail 11.
The head 70 is moved in the Y-axis direction by traveling on a and 11b. When the head 70 is moved in the X-axis direction, when the drive motor 52 of the X-axis module 50 is driven, the ball screw 53 rotates and the X-axis slider 60 moves in the X-axis direction.
The head 70 is moved in the axial direction to move the head 70 in the X-axis direction.

According to the portal type assembling robot of the present embodiment having such a configuration, the portal type support is moved to move the head in the Y-axis direction, so that the rigidity of the robot is reduced. The Y-axis slider can be omitted from the configuration, and the rigidity of the robot is increased. Also, the support pillar 4
By increasing the widthwise dimensions of 0a and 40b, the rigidity of the gate-shaped support 30 that can withstand high speed traveling can be ensured, so that the support pillars 40a and 40b can be supported even when the gate-shaped support 30 travels at high speed and is suddenly stopped. Is not twisted, and the driving force is transmitted to one of the support columns 40a,
Only 40b is required. Further, the driving means for the X-axis slider 60 and the head 70 are housed in the housings of the X-axis module 50 and the X-axis slider 60, and the support column 40 is used.
By making a and 40b plate-shaped, the entire robot becomes small and lightweight. Furthermore, the rails 11a and 11b
And by extending the ball screw 23, the head 70
The operation range in the Y-axis direction can be expanded, and a wide operation range can be secured without reducing the rigidity of the robot.

Next, a second embodiment of the portal type assembling robot of the present invention will be described with reference to FIG. 3A and 3B show a gate-type assembly robot according to the present embodiment. FIG. 3A is a partial sectional plan view, FIG. 3B is a partial sectional front view, and FIG. 3C is a partial sectional view. It is a side view.

In FIG. 1, the portal-type assembly robot of this embodiment has a structure in which the driving means 20, the rails 11a and 11b, the moving means 41 and other traveling means for the gate-type support 30 are all housed inside the base 10. is there. According to the portal-type assembling robot of this embodiment having such a configuration, the work space 24 on the base 10 becomes wider, the assembling work can be performed efficiently, and the appearance of the robot becomes smart.

The gate-type assembly robot of the present invention is not limited to the above-mentioned first and second embodiments. For example, in the above embodiment, in order to reduce the weight of the robot, the support columns 40a and 40b are both thin, but one of the support columns 40a and 40b is thick to form a hollow portion inside. The wiring for supplying power to the gate-shaped support 30 may be housed in the hollow portion. With such a configuration, the appearance of the robot becomes smarter, and a disconnection accident such as wiring can be prevented. Further, the drive motor 21, the ball screw 23, and the like are used as the driving means of the gate-shaped support body 30.
The gate type support body 30 may be driven by not only the driving means using the driving means 3 etc. but also other driving means known in the related art. Further, as in the illustrated embodiment, the rail and drive means of the X-axis slider may be built in the X-axis module, and the drive means of the head may be built in the X-axis slider. The appearance of can be improved.

[0021]

As described above, according to the gate-type assembly robot of the present invention, the rigidity of the robot can be increased, the size and weight of the robot can be reduced, and a wide operation range can be secured. can do.

[Brief description of drawings]

FIG. 1 is a perspective view showing a gate-type assembly robot according to a first embodiment of the present invention.

2A and 2B show the same gate type assembling robot, in which FIG. 2A is a partial sectional plan view, FIG. 2B is a partial sectional front view, and FIG. 2C is a partial sectional side view.

3A and 3B show a gate-type assembly robot according to a second embodiment of the present invention, wherein FIG. 3A is a partial sectional plan view, FIG. 3B is a partial sectional front view, and FIG. ) Is a partial cross-sectional side view.

4A and 4B show an assembling robot according to a conventional example. FIG. 4A is a perspective view of a horizontal articulated robot, and FIG. 4B is a perspective view of a vertical articulated robot.

FIG. 5 is a perspective view showing a gate-type assembly robot according to a conventional example.

[Explanation of symbols]

 10 Base 11a, 11b Rail 20 Drive Means 21 Drive Motor 22 Conduction Belt 23 Ball Screw 24 Working Space 30 Gate-type Support 40a, 40b Support Column 41 Moving Member 42 Nut Member 50 X-axis Module 50a, 50b Recess 60 X-axis Slider 70 head 72 hand part

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Osamu Inoue 5-7-1 Shiba, Minato-ku, Tokyo NEC Corporation

Claims (6)

[Claims] 1. A gate-shaped assembly robot capable of moving in the X, Y, and Z-axis directions, comprising a base and two rails laid on the base in the Y-axis direction. A support pillar movably provided on these rails and having a shape wide in the Y-axis direction, a drive means for moving these support pillars, an X-axis module installed between these support pillars, and An X-axis slider mounted on the axis module so as to be movable in the X-axis direction, a driving means incorporated in the X-axis module for moving the X-axis slider, and a Z-axis direction at the tip of the X-axis slider. A gate-type assembly comprising: a head movably provided on the head, drive means for moving the head, which is built in the X-axis slider, and a hand portion rotatably supported by the head. robot. 2. The gate-type assembly robot according to claim 1, wherein the moving means for the rails and the supporting columns are housed inside a base. 3. A recess corresponding to the shape of the joint portion of the support column is formed at both ends of the X-axis slider, and the joint portion of the support column is engaged with the recess to form these X-axis sliders. The gate-type assembly robot according to claim 1, wherein support columns are joined. 4. The gate-type assembly robot according to claim 1, wherein said support column moving means is provided only on one support column side. 5. The gate-type assembly robot according to claim 4, wherein the moving means comprises a ball screw and a nut. 6. The gate-type assembly robot according to claim 1, wherein one of the support columns is formed in a hollow shape, and a wire or the like is passed through the hollow portion.