JPH08229873A - Industrial robot - Google Patents

Abstract

PURPOSE: To make a mounting head compact and shorten the cycle time of work. CONSTITUTION: A spline shaft 12b is longitudinally provided on one side of a base 13 provided at a mounting head, and a ball screw 9 is longitudinally provided on the other side of the base 13. A timing belt wound around a pulley 11 press-fitted to the upper end of the spline shaft 12b is connected to a motor 8 through a pulley. The outer cylinder 12a of the spline shaft 12b is connected to the ball screw 9 through a bearing. A pulley 14 is press-fitted to the outer cylinder 12a, and a pulley 15 is press-fitted to a ball screw shaft 9b. A timing belt 16B are wound around the pulleys 14, 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot.

[0002]

2. Description of the Related Art In a conventional industrial robot for mounting electronic parts on a printed circuit board, for example, a holding part holds electronic parts loaded on a magazine or the like supplied to a predetermined position, and a predetermined part is held. The printed circuit board is mounted at a predetermined position in a predetermined position from a predetermined direction.

Therefore, the magazine supplied to a predetermined position is controlled by a general controller for controlling the industrial robot and peripheral devices of the industrial robot, and its direction is also regulated by a stopper or the like.

In an industrial robot that carries out such a transfer and mounting operation, for example, after driving a mounting head mounted on an arm and moving the mounting head above an electronic component mounted on a magazine. , The vertical movement axis of the mounting head is lowered.

Next, in order to hold the electronic component at the tip of the mounting head, the holding portion provided at the tip of the mounting head is rotated by a predetermined angle to mount the electronic component on the printed circuit board at a predetermined angle. .

[0006]

However, in the conventional industrial robot configured as described above, in order to position the holding portion for holding the electronic component at a predetermined position when the electronic component is mounted, the mounting head is used. As a drive mechanism for driving the holding portion of the above, two mechanisms, that is, a vertical drive mechanism and a drive mechanism that determines an angle are required.

Therefore, the mounting head becomes large in size, and as the size of the mounting head becomes larger, a part of the mounting head may interfere with peripheral devices during the operation of moving from the magazine to the upper part of the printed circuit board. is there.

When the mounting head becomes large and the weight increases, not only the capacity of the electric motor of the drive unit for driving the mounting head must be increased, but also the driving mechanism for driving the mounting head becomes large. Become.

Further, when the mounting head becomes large in size, it may be necessary to change the teaching locus to make a detour in order to avoid interference with peripheral equipment, so the cycle time of the actual work becomes long and the work efficiency is increased. May decrease.
Therefore, an object of the present invention is to obtain an industrial robot that can downsize the mounting head and shorten the work cycle time.

[0010]

An industrial robot according to a first aspect of the present invention holds a workpiece supplied to a predetermined position by a holding portion of a mounting head, and a supply unit positioned at a predetermined position. In the industrial robot to be supplied, a linear drive section in which a shaft section is rotated by a drive section provided in a mounting head,
A first winding transmission device whose one side is wound around the outer cylinder part of the linear drive part, and an outer cylinder part around which the other side of the first winding transmission device is wound are driven to rotate and a holding part is provided at the tip. And a threaded rod to which is connected.

An industrial robot according to a second aspect of the present invention is an industrial robot for industrial use, in which a work supplied to a predetermined position is held by a holding unit of a mounting head and is supplied to a supply unit positioned to a predetermined position. In the robot, a first linear drive part whose shaft part is rotated by a drive part provided on a mounting head, a winding transmission device whose one side is wound around an outer cylinder part of the first linear drive part, and A second rod that drives a screw rod that is rotationally driven by an outer cylinder portion around which the other side of the winding transmission device is wound and that is connected to a holding portion at the tip, and a drive unit, a linear drive unit, and a fixing unit that fixes the screw rod.
It is characterized in that it is equipped with a linear driving unit.

[0012]

In the invention described in claim 1, the work conveyed to the supply section is conveyed by the holding section at the tip of the screw rod rotating in accordance with the rotation drive section rotated at a high speed, and the screw decelerated at a low speed. The direction is positioned by the rod.

Further, in the invention described in claim 2,
The work conveyed to the supply unit is conveyed to a predetermined position together with the fixing unit driven by the second linear drive unit, and the direction is positioned by the screw rod driven by the drive unit.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the industrial robot of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a first embodiment of an industrial robot of the present invention. In FIG. 1, this industrial robot is a so-called XY axis type transfer robot having three axes of motion, and has a long box-shaped X axis arm 2 and this X axis arm 2. The Y-axis arm 3 arranged in the orthogonal direction and the mounting head 1 provided on the side surface of the Y-axis arm 3 so as to be movable in the direction indicated by the arrow B are roughly configured.

A ball screw 2a is housed in the X-axis arm 2 in the longitudinal direction. X-axis arm 2
1, the electric motor (not shown) that rotationally drives the ball screw 2a is housed at the left end.

At the right end of the Y-axis arm 3, there is housed a connecting portion connected to a nut portion (not shown) fitted to the ball screw 2a housed in the X-axis arm 2. Therefore,
The Y-axis arm 3 drives the electric motor housed at the left end of the X-axis arm 2 so that the connecting portion described above has the ball screw 2a.
Together with the nut part of, move in the direction indicated by arrow A in FIG.
The Y-axis arm 3 is also driven according to the moving connecting portion.

An LM guide 3a is laterally provided on the side surface on the front surface side of the Y-axis arm 3. An unillustrated electric motor for biaxial drive is housed inside the mounting head 1 provided on the front side of the Y-axis arm 3, and the output shaft of this electric motor is connected to the LM guide 3a, so that the mounting head 1 is , As the electric motor rotates, it moves as shown by arrow B1.

Inside the mounting head 1, an electric motor (not shown) for driving three axes, which will be described later with reference to FIG. 2, is housed. By driving this electric motor, the nozzle 7 vertically penetrating the mounting head 1 is formed. It is driven up and down as described in detail later in FIG.

On the lower right side of the mounting head 1, there is shown a magazine 4 which is conveyed from a supply device (not shown) and positioned. An electronic component 6 is placed on the upper surface of the magazine 4. On the left side of the magazine 4, the printed circuit board 5 on which the electronic component 6 is mounted is positioned at a predetermined position.

Next, FIG. 2 shows the inside of the mounting head 1, and the biaxial drive motor and biaxial drive mechanism are omitted. In FIG. 2, a three-axis driving electric motor 8 is vertically fixed to the right end of a base 13 vertically fixed inside the mounting head 1. A pulley 10 is press-fitted through a key (not shown) onto the upper end of the output shaft 8a protruding upward from the electric motor 8 and fixed by a nut 8b.

A bearing stand 17 is provided on the right side of the upper end of the base 13.
A is fixed laterally, and a bearing stand 17A is provided at the center of the base 13.
The bearing stand 17B, which is the same as the above, is fixed symmetrically. Bearings shown by broken lines are inserted into the bearing bases 17A and 17B.

The upper and lower ends of the spline shaft 12b of the ball spline 12 are inserted between the bearings of the upper and lower bearing bases 17A and 17B. The pulley 11 is press-fitted onto the upper portion of the spline shaft 12b via a key (not shown). A timing belt 16A is wound around the outer circumference of the pulley 11 and the pulley 10 described above. On the outer cylinder 12a of the ball spline 12,
Pulley 14 is inserted as described in more detail below in FIG.

The nut portion 9a of the ball screw 9 is fixed to the left side of the base 13. A pulley 15 is press-fitted through a key (not shown) at the upper end of a ball screw 9b that vertically penetrates the nut portion 9, and the pulley 15 and the pulley described above are inserted.
A timing belt 16B is wound around the outer circumference of 14. The pitch of the ball screw 9b is 1 mm.

Between the outer cylinder 12a of the ball spline 12 and the upper end of the ball screw 9b, a moving shaft box 18 which will be described later with reference to FIG. 3 is inserted and attached as shown in FIG. An unillustrated pneumatic hose is connected to the nozzle 7 connected to the lower end of the ball screw 9b.

FIG. 3 (a) is an enlarged detail view of the section DD of FIG. 2, and FIG. 3 (b) is a section view of the section EE of FIG. 3 (a).
3 (a) and 3 (b), a bearing hole 18a is formed at the right end of the moving shaft box 18 made of a high-strength aluminum alloy, and a bearing hole 18a is formed at the left end of the moving shaft box 18 in parallel with the bearing hole 18a. Bearing hole
18b is formed.

Of these, the bearing 21 is in the bearing hole 18a on the right side.
A is inserted in the upper end, and the bearing 21B is inserted in the lower end. A spacing tube 23A is inserted between these bearings 21A and 21b.

An outer cylinder 12a of the ball spline 12 is press-fitted inside the bearings 21A, 21B and the spacing tube 23A. On the outer periphery of the lower portion of the outer cylinder 12a, a short spacing pipe 23B
The above-mentioned pulley 14 is press-fitted into the outer cylinder 12a on the outer side of the spacing tube 23B via the key 14a. The pulley 14 is fixed to the side surface of the outer cylinder 12a by an annular pressing plate 22E.

A bearing retainer 22 is provided on one side on the right side of the movable shaft box 18.
A is fixed with eight bolts 22a, and a bearing retainer 22B, which is the same as the bearing retainer 22A, is secured with eight bolts 22b on the other surface on the right side of the moving shaft box 18. As a result, the outer cylinder 12a of the spline 12 moves through the bearings 21A and 21B to the moving shaft box.
It is supported by 18 and can rotate freely.

On one side of the bearing hole 18b formed on the left side,
The bearing 21C is inserted, and the bearing 21D is inserted on the other side of the bearing hole 18b. A spacing tube 23C is inserted between these bearings 21C and 21D. An annular bearing retainer 22C is fixed to the outside of the bearing 21C with eight bolts 22c. A bearing retainer 22D is also fixed to the outside of the bearing 21D with eight bolts.

The upper ends of the ball screws 9b are inserted inside the bearings 22C and 22D and the spacing tube 23C. At the upper end 9c of the ball screw 9b, the bearing washer 20 and the bearing nut are attached.
19 is inserted. On the other hand, a space tube 23D is inserted in the lower part of the bearing 21D, and the above-mentioned pulley 15 is press-fitted in the lower part of the space tube 23D via a key 15a.

Below the pulley 15, a ball screw 9b is provided.
On the other hand, a flange portion 9d is formed. Therefore, the pulley 15, the spacing tube 23D, the bearings 21C, 21D and the spacing tube 23
C is fastened to the flange portion 9d by the bearing nut 19 and the bearing washer 20 and fixed to the ball screw 9b. The timing belt 16B wound around the outer circumferences of the pulley 14 and the pulley 15 is shown by the alternate long and short dash line in FIG.

Next, the operation of the industrial robot thus configured will be described.

The Y-axis arm 3 shown in FIG. 1 is driven as shown by an arrow A, the mounting bed 1 is driven as shown by an arrow B, and a nozzle connected to the lower end of the ball screw 9b of the mounting head 1 is connected. When 7 is positioned above the electronic component 6 to be held, the electric motor 8 housed in the mounting head 1 is driven.

When the pulley 10 press-fitted into the tip of the output shaft 8a of the electric motor 8 is rotated by the driving of the electric motor 8, the pulley 11 is passed through the timing belt 16A having the right end wound around the outer periphery of the pulley 10. Rotates.

When the spline shaft 12b is rotated by the rotation of the pulley 11, the outer cylinder 12a of the spline 12 through which the spline shaft 12b penetrates is rotated, and the outer cylinder 12a is rotated to rotate the outer circumference of the lower end of the outer cylinder 12a. The pulley 14 press-fitted into rotates.

When this pulley 14 rotates, this pulley 14
The pulley 15 pressed into the upper end of the ball screw 9b is rotationally driven through the timing belt 16B having the right end wound around the outer periphery of the.

Then, the ball screw 9b rotates and the base
Ball screw 9b penetrating nut portion 9a fixed to 13
Are driven up and down according to the rotating direction of the ball screw 9b.

At this time, when the ball screw 9b moves up and down, the moving shaft box 18 whose left end is fitted to the upper end of the ball screw 9b via the bearings 21C and 21D also moves up and down. Therefore, the outer cylinder 12a inserted through the bearings 21A and 21B on the right side of the moving shaft box 18 also moves up and down together with the moving bearing 18, and the pulley 14 fixed to the lower end of the outer cylinder 12a also moves up and down.

That is, following the pulley 15 which moves up and down by the vertical movement of the ball screw 9b, the pulley 14 fixed to the right outer cylinder 12a also moves vertically while rotating together with the outer cylinder 12a.

Next, when the electric motor 8 is driven and the ball screw 9b is lowered to bring the air pressure holding portion 7a at the lower end of the nozzle 7 closer to the electronic component 6, the rotation of the electric motor 8 is decelerated and the air pressure holding portion is reduced. The holding angle of 7a is controlled to a predetermined angle, the air pressure source is operated, and the electronic pressure holding portion 7a holds the electronic component 6 at a predetermined angle.

Therefore, in the industrial robot configured as described above, the final positioning of the pneumatic holding portion 7a in the vertical direction is performed only for the final positioning like the mounting head of the conventional industrial robot for palletizing. By driving the ball screw shaft 9b having a fine pitch at a low speed and controlling the position in the up-down direction without incorporating the actuator, it is possible to position the air pressure holding portion 7a with high accuracy.

Further, the angle of picking up the electronic component 6 is also controlled by the rotation angle of the motor 8. At this time, since the rotation of the ball screw 9b is controlled by giving priority to the angle at which the electronic component 6 is sucked, the height has an accuracy of half the pitch of the ball screw 9b (Note: ± 0.5 mm). However, since the pitch of the ball screw 9b is small, the position in the vertical direction can be positioned within a range of allowable accuracy.

Next, FIG. 4 is a diagram showing a second embodiment of the industrial robot of the present invention, which corresponds to FIG. 2 shown in the first embodiment and is shown in FIG. 1 like FIG. It is stored inside the mounting head 1.

In FIG. 4, FIG. 2 shown in the first embodiment.
3 is different from that of FIG. 2 in that a pneumatic driving unit for driving the entire base 13 shown in FIG. 2 up and down is provided. is there.

That is, in FIG. 4, the base 13 is
Through the pair of linear guides 20A, 20B provided on the back surface of the base 13 in parallel in the vertical direction, the linear guides 20A,
As shown by an arrow F, the base 19 to which the fixed side of 20B is attached is vertically movable.

A pneumatic cylinder 21 is vertically mounted on the front surface of the upper center of the base 19, and the lower end of the rod 21a hanging from the lower end of the pneumatic cylinder 21 is connected to the central part of the upper end of the base 13. There is.

In the industrial robot having the above structure, the electronic parts 6 placed on the magazine 4 shown in FIG.
In the case of performing the work of mounting the P. on the printed circuit board 5, the vertical positions of the industrial robot and the magazine 4 are accurately adjusted according to the stroke of the pneumatic cylinder 21.

That is, the rod 21a of the pneumatic cylinder 21
However, when the pneumatic cylinder 21 descends to the stroke end, the distance between the pneumatic pressure holding portion 7a at the lower end of the nozzle 7 and the electronic component 6 is adjusted to be a predetermined gap.

Therefore, since the air pressure holding portion 7a only positions the electronic component 6 in the suction direction by minute rotation of the electric motor 8, the cycle time of the carrying operation can be shortened.

[0050]

As described above, according to the invention of claim 1,
In an industrial robot that holds a work supplied at a predetermined position by a holding unit of a mounting head and supplies the work to a supply unit positioned at a predetermined position, a straight line in which a shaft is rotated by a drive unit provided in the mounting head. A drive part, a first winding transmission device whose one side is wound around an outer cylinder part of the linear drive part, and the first winding transmission device.
The work piece conveyed to the supply unit is rotated at high speed by including a screw rod whose other end is wound around the other side of the winding transmission member and is driven to rotate by the outer cylinder unit and the holding unit is connected to the tip of the rotation transmission unit. It is carried by the holding part at the tip of the screw rod that rotates according to the drive unit, and is positioned in the direction by the screw rod that is decelerated at a low speed. Therefore, the mounting head can be downsized and the work cycle time can be shortened. Can be obtained.

According to the second aspect of the invention, in the industrial robot, the work supplied to the predetermined position is held by the holding portion of the mounting head and is supplied to the supply unit positioned at the predetermined position. A first linear drive part in which a shaft part is rotated by a drive part provided in the mounting head; a winding transmission device in which one side is wound around an outer cylinder part of the first linear drive part; Second linear drive that drives a screw rod that is rotatably driven by an outer cylinder part around which the other side of the transmission is wound and a holding part is connected to the tip, and a drive part, a linear drive part, and a fixing part that fixes the screw bar. By including the section, the work conveyed to the supply section can be
Since it is transported to a predetermined position together with the fixed part driven by the linear drive part, and the direction is positioned by the screw rod driven by the drive part, the mounting head can be downsized and the work cycle time can be shortened. You can get a robot.

[Brief description of drawings]

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

FIG. 2 is a partially enlarged front view showing an embodiment of the industrial robot according to the present invention.

FIG. 3 (a) is an enlarged detail view of a partial cross section of FIG.
(B) is DD sectional drawing of (a).

FIG. 4 is a partially enlarged front view showing an embodiment of the industrial robot according to the present invention.

[Explanation of symbols]

1 ... Mounting head, 2 ... X-axis arm, 3 ... Y-axis arm, 4
... magazine, 5 ... printed circuit board, 6 ... electronic component, 7 ... nozzle, 8 ... motor, 9 ... ball screw, 9a ... nut part,
9b ... Ball screw shaft, 10, 11, 14, 15 ... Pulley, 12 ... Ball spline, 12a ... Spline outer cylinder, 12b ... Spline shaft, 13 ... Base, 16A, 16B ... Timing belt,
17A, 17B ... Bearing base, 19 ... Bearing nut, 20 ... Bearing nut.

Claims (2)

[Claims] 1. An industrial robot which holds a work supplied to a predetermined position by a holding unit of a mounting head and supplies the work to a supply unit positioned at a predetermined position,
A linear drive part in which a shaft part is rotated by a drive part provided in the mounting head, a first winding transmission device having one side wound around an outer cylinder part of the linear drive part, and the first winding part. An industrial robot, comprising: a screw rod that is driven to rotate by an outer cylinder portion around which the other side of the transmission tool is wound and has the tip portion connected to the holding portion. 2. An industrial robot which holds a work supplied to a predetermined position by a holding part of a mounting head and supplies the work to a supply part positioned at a predetermined position,
A first linear drive part in which a shaft part is rotated by a drive part provided in the mounting head, a winding transmission tool in which one side is wound around an outer cylinder part of the first linear drive part, and the winding part. A screw rod having a distal end to which the holding portion is connected, and a screw rod that is rotationally driven by an outer cylinder portion around which the other side of the transmission member is wound; Industrial robot with 2 linear drive parts.