JPH07195291A - Built-up robot - Google Patents

Abstract

PURPOSE:To aim at the promotion of compactification and lightweightiness in and around a support arm and a robot hand part by installing a rack, engaging with a pinion gear being rotated by a motor installed in the support arm and driving a robot hand in a Z-axis direction. CONSTITUTION:A motor 11 in a support arm 10 is driven. This driving force is transmitted to a pinion gear 15 installed in this support arm 10 via a clutch brake 13 and a speed reducer part 14, thereby rotating this pinion gear 15. With a rotation of a robot hand part 20 being engaged with the pinion gear 15 is shifted in a Z-axis direction via a rack 21 engaging with the pinion gear 15. At this time, the robot hands part 20 is guided by two guide members 31 and 32 installed in the support arm 10 in time of movement in the Z-axis direction.

Description

Detailed Description of the Invention

[0001]

The present invention relates to the Z-axis direction (vertical direction).
With regard to an assembly robot equipped with a movable robot band part, especially with a simple and inexpensive structure, the support arm and the robot hand part can be made compact and lightweight, improving the operation speed and disconnection and interference. The present invention relates to an assembly robot capable of preventing such accidents.

[0002]

2. Description of the Related Art An assembly robot has a robot hand unit that can move in the Z-axis direction, and conventionally, various configurations have been proposed for moving the robot hand unit in the Z-axis direction. A conventional assembly robot having a robot hand unit movable in the Z-axis direction will be described below with reference to the drawings.

First, an assembly robot according to the first conventional example will be described. On page 204 of the document “Design and Manufacture of Simple Robots, published by Nikkan Kogyo Shimbun, June 23, 1989, first edition, Yuji Akiyama”, a horizontal articulated assembly robot as shown in FIGS. 4 (a) and 4 (b). Is listed. In FIGS. 1A and 1B, reference numeral 100 denotes a support arm of a robot hand unit 200, which will be described later, and includes a motor 101, a ball screw 102 rotated by the motor 101 via a timing belt 104, and the ball screw. 102
The ball screw support portion 103 for holding the above is provided on the upper portion. In addition, the robot hand unit 200 is
A robot hand (not shown) is attached to the lower end, and a ball spline shaft 201, which is driven to rotate by a motor 202 attached to the upper end, is connected to the ball screw 102 via a ball screw bearing 203a. And the block body 203 to be moved to.

FIGS. 5A and 5B show a horizontal articulated assembly robot according to the second conventional example, which is described on page 203 of the above document. The same figure (a),
In (b), the assembly robot of the conventional example is the same as the conventional example 1
Two round shafts 204a and 204b are used instead of the ball spline shaft 201 of the robot hand unit 200 through the round shafts 204a and 204b.
Was moved in the Z-axis direction.

[0005]

However, in each of the above-described conventional assembly robots, the motor 101 is projected from the upper part of the support arm 100, so that a disconnection accident occurs due to the exposure of the motor cable. In addition, the protrusion of the motor 101 causes the support arm 100 to be enlarged, increasing the risk of interference between the assembly robot and other devices, and further impairing the aesthetics of the assembly robot.

Therefore, as in the assembly robot of the third conventional example shown in FIG. 6, the bevel gears 105a and 105b connect the motor 101 and the ball screw 102, and the motor 101
It is conceivable to store the inside of the support arm 100. However, in this case, there is a problem that the cost increases because the bevel gear is used.

Further, there is a problem that the cost is increased when the ball spline shaft 201 is used like the assembly robots of the first and third conventional examples, and in order to solve this problem, the assembly robot of the second conventional example is solved. If two round shafts 204a and 204b are used for the support arm 100,
There is a problem in that the member protruding from the tip end side of the robot becomes larger, leading to an increase in the weight of the support arm 100 described later and a decrease in the operating speed of the assembly robot.

Further, in each of the first to third conventional assembly robots, the ball screw 102, the ball screw support 103, and the block body 203 are centrally provided on the tip side of the support arm 100. Therefore, the weight is concentrated on the front end side of the support arm 100, and the support arm 100 that cantilevers the support arm 100 is required to have high rigidity, and the support arm 100 becomes heavy.
Furthermore, this causes a problem that the operation speed of the assembly robot is reduced. Further, the protruding members such as the ball screw 102 and the ball screw support 103 have a problem that the appearance of the assembling robot is significantly impaired, as in the case of the motor 101.

The present invention has been made in view of the above problems. With a simple and inexpensive structure, it is possible to reduce the size and weight of the supporting arm and the robot hand and its periphery, and to improve the operation speed. It is an object of the present invention to provide an assembly robot capable of preventing accidents such as disconnection and interference.

[0010]

In order to achieve the above object, an assembly robot according to the present invention is an assembly robot in which a robot hand unit is moved in the Z-axis direction, in which a support arm and a robot hand are attached to the lower side. A robot hand part having a rotation motor for the robot hand attached to the upper side, a guide member provided on the support arm for slidably holding the robot hand part in the Z-axis direction, and a motor provided on the support arm. A pinion gear rotated by the motor, and a rack provided in the Z-axis direction of the robot hand unit and engaged with the pinion gear to drive the robot hand unit in the Z-axis direction, preferably, The guide member includes a linear motion guide rail and a linear motion guide bearing. A configuration is Yongaido.

[0011]

According to the assembly robot of the present invention having the above structure, the driving force of the motor housed in the support arm is transmitted to the robot hand section via the pinion gear and the rack.
The robot hand moves in the Z-axis direction.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An assembly robot according to an embodiment of the present invention will be described below with reference to the drawings. 1A and 1B show an assembly robot according to this embodiment. FIG. 1A is a plan view and FIG. 1B is a side view. In addition, FIG.
In (b), the support arm and the cover of the robot hand portion are not shown in order to show the configuration of the assembly robot in a more understandable manner, and in (b), the rack and the rack plate are not shown.

In the figure, 10 is a support arm,
A drive system is mounted on the bottom plate 17 to support a robot hand unit 20 described later and to drive the robot hand unit 20 in the Z-axis direction (arrow Z in the drawing, the same applies hereinafter). This drive system includes a motor 11, a coupling 12, a clutch brake 13, a speed reducer 14, and a pinion gear 15.
These drive systems are sequentially arranged in the longitudinal direction of the support arm 10 toward the robot hand section 20 side. Then, the driving force of the motor 11 is transmitted from the clutch brake 13 to the speed reducer 14 to the pinion gear 1
5 is transmitted. Here, the clutch brake 13 and the deceleration unit 14 prevent the robot hand unit 20 from descending when it is not operating.

A robot hand (not shown) is attached to the lower end of the robot hand unit 20, and a motor 23 for rotating the robot hand is provided at the upper end of the robot hand unit via a speed reduction unit 22. Such a robot hand unit 20 has a linear motion guide (LM guide) 3
1, 32 support arm 1 slidable in the Z-axis direction
It is held at 0. Linear motion guide rail 3
1 is attached to an LM guide attachment plate 16 which is erected at the end of the support arm 10 on the robot hand 20 side. Further, the linear motion guide bearing 32 is provided at the end of the robot hand unit 20 on the side of the support arm 10 so as to stand upright.
It is attached near the upper end of the M guide attachment plate 24.

Such a linear motion guide 31,
32 has effects such as low noise, easy repair at the time of failure, and small installation space. As the linear motion guide, one normally used in robots can be used.

Further, a rack mounting plate 21a is fixed to one side edge of the robot hand unit 20, and the support arm 20 is mounted on the rack mounting plate 21a.
A rack 21 that meshes with the upper pinion gear 15 is attached vertically.

Further, in FIG. 1, the drive system on the support arm 10, the speed reduction unit 22 of the robot hand unit 20, and the motor 23.
However, in the case of a completed robot, the drive system and the like are covered by the support arm cover 18 and the robot hand cover 25 as shown in FIG.

Next, referring to FIGS. 2 (a) and 2 (b),
The operation of the assembly robot of this embodiment will be described. In FIGS. 1A and 1B, the motor 1 in the support arm 10
1 is driven, this driving force is applied to the clutch brake 13
→ The power is transmitted to the pinion gear 15 via the speed reduction unit 14, and the pinion gear 15 rotates. The rotation of the pinion gear 15 causes a motion of the robot hand unit 20 in the Z-axis direction via the rack 21 meshing with the pinion gear 15, whereby the robot hand unit 20 causes the linear motion guides 31, 32 to move.
It moves in the Z-axis direction while being guided by.

According to the assembling robot of this embodiment having such a configuration, the motor 11 and the motor cable can be housed in the support arm 10, and the motor cable can be protected. In addition, the support arm 10
By making the robot compact, it is possible to prevent interference between the assembly robot and other devices. Further, since the motor 11, the coupling 12, the clutch brake 13, and the speed reduction unit 14 are sequentially arranged in the longitudinal direction of the support arm 20, the weight is not concentrated on the tip end side of the support arm 20, and the weight of the support arm 20 is reduced. The weight and operating speed can be improved. Further, unlike the conventional assembling robot, the present assembling robot can improve the aesthetics of the assembling robot without the motor, the ball screw, the ball screw support and the like protruding from the support arm 10.

FIG. 3 shows the difference in height between the assembly robot of this embodiment and the assembly robot of the conventional example. FIG. 3A is a side sectional view of the assembly robot of the conventional example.
FIG. 2B is a side sectional view of the assembly robot of this embodiment.

In FIG. 3A, the height of the conventional assembly robot is the height A, which is the sliding amount of the robot hand unit 200 in the Z-axis direction, and the ball screw bearing 203a and the ball screw support 103 including the allowance. Height B of
It is the total height C of the support arm 100. On the other hand, FIG.
In (b), the height of the assembly robot of this embodiment is the height D of the slide amount of the robot hand unit 20 in the Z-axis direction.
And linear motion guide bearing 3 including a margin
This is the sum of the heights E of 2. Here, the heights A and D and the heights B and E of both assembling robots can be regarded as substantially the same. Therefore, according to the assembly robot of the present embodiment, it is possible to reduce the size by the height C with the same operation amount as that of the conventional assembly robot.

The assembly robot of the present invention is not limited to the above embodiment. For example, in the above embodiment, the robot hand unit 20 is configured to be movable in the Z axis direction of the support arm 10 using the linear motion guides 31 and 32, but this is not particularly limited, You may attach to the support arm 10 using a guide shaft and a slide bearing.

[0023]

As described above, according to the assembling robot of the present invention, it is possible to reduce the size and weight of the supporting arm and the robot hand portion in the vicinity of the supporting arm and the robot hand portion with a simple and inexpensive structure, and to improve the operation speed. It is possible to improve and prevent disconnection and interference.

[Brief description of drawings]

1A and 1B show an assembly robot according to an embodiment of the present invention. FIG. 1A is a plan view and FIG. 1B is a side view.

2 (a) and 2 (b) are partial cross-sectional side views showing the operation of the robot hand portion of the assembly robot.

FIG. 3 shows the difference in height between the assembly robot of this embodiment and the assembly robot of the conventional example.
Is a side sectional view of a conventional assembly robot, and FIG. 7B is a side sectional view of the assembly robot of this embodiment.

4A and 4B show an assembly robot according to a first conventional example, wherein FIG. 4A is a front view and FIG. 4B is a partial sectional side view.

5A and 5B show an assembly robot according to a second conventional example, in which FIG. 5A is a front view and FIG. 5B is a partial sectional side view.

FIG. 6 is a partial cross-sectional side view of an assembly robot according to a third conventional example.

[Explanation of symbols]

 10 Support Arm 11 Motor 12 Coupling 13 Clutch Brake 14 Decelerator 15 Pinion Gear 16 LM Guide Mounting Plate 17 Bottom Plate 18 Support Arm Cover 20 Robot Hand 21 Rack 21a Rack Mounting Plate 22 Reducer 23 Motor 24 LM Guide Mounting Plate 25 Robot Hand cover

Claims (2)

[Claims] 1. An assembly robot for moving a robot hand in the Z-axis direction, a support arm, a robot hand attached to a lower side of the robot hand, and a rotation motor of the robot hand attached to an upper side, and the robot hand. A guide member provided on the support arm that holds the hand unit slidably in the Z-axis direction, a motor provided on the support arm, and a pinion gear that is rotated by the motor, in the Z-axis direction of the robot hand unit. An assembling robot, comprising: a rack provided to engage with the pinion gear and drive the robot hand unit in the Z-axis direction. 2. The assembly robot according to claim 1, wherein the guide member is a linear motion guide including a linear motion guide rail and a linear motion guide bearing.