JPH0998450A - Small-sized flat robot for automatically inserting and detaching connection pin - Google Patents

Abstract

PROBLEM TO BE SOLVED: To use the small-sized stepping motor of small torque as an X axis motor, a Y axis motor and a Z axis motor and to provide an inexpensive small- sized flat robot for automatically inserting and detaching a connection pin. SOLUTION: A torque amplifier 6 is combined with the X axis motor 5, the similar torque amplifier is combined with the Y axis motor 10 and the torque amplifier 17 is combined with the Z axis motor 11. The torque of the respective motors 5, 10 and 11 is amplified by the torque amplifiers and the torque required for moving various components in an X axial direction, a Y axial direction and a Z axial direction integrally with a robot hand 15 is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot used for automatic insertion / extraction of connecting pins of a main wiring board or the like.

[0002]

2. Description of the Related Art Conventionally, connection and disconnection operations between an exchange and a user terminal in a telephone exchange system have been performed manually.
In recent years, automation of this has come to be attempted, and in the apparatus, the exchange board and the user terminal are inserted and removed by inserting and removing connection pins from a large number of pin insertion holes formed in a fixed array on the matrix board. Switching between connection and disconnection is performed.

An automatic insertion / extraction robot is used for inserting / extracting the connecting pin into / from the pin insertion hole of the matrix board. In this automatic insertion / extraction robot, the plane area of the robot hand facing the matrix board is X, Y. Move it in the axial direction and position it at the target position,
Furthermore, it is necessary to reciprocate the robot hand in the Z direction, which is a direction perpendicular to the X and Y directions, and to open and close the robot hand to insert and remove the connection pin.

Therefore, the conventional automatic insertion / extraction robot is
An X-axis motor is fixed to a first support that is movable in the axial direction, a pinion is attached to the rotating shaft of the X-axis motor, and a rack along the X-axis is arranged to connect the rack and the pinion. In addition, a Y-axis motor and a screw shaft along the Y-axis direction are provided on the first support base, and a second support base having a robot hand is screwed onto this screw shaft, and the X-axis motor is used. By rotating the pinion, the second support stand on which the Y-axis motor, the screw shaft, and the robot hand are mounted is integrated with the first support stand and the X-axis motor.
The robot hand is moved in the Y-axis direction integrally with the second support base by moving the robot hand in the axial direction and rotating the screw shaft by the Y-axis motor.

The second support is provided with a solenoid for opening and closing the robot hand, a Z-axis motor, and a screw shaft for rotating the robot hand in the Z-axis direction together with the solenoid by rotating the Z-axis motor. And a ΔX-axis motor for moving the robot hand in the ΔX-axis direction which is the same as the X-axis direction on the second support in order to adjust the position of the robot hand in the X-axis direction. It is provided with the transmission mechanism.

[0006]

However, the above-mentioned conventional techniques have the following problems. That is, X
Since each of the axis, Y-axis, and Z-axis motors moves various components integrally with the robot hand, it must generate the torque necessary for the movement. It uses a large motor to get it.

[0007] Therefore, the robot becomes expensive, and the device using the robot is inevitably required to have a structure adapted to the expensive robot. However, it has been found that if the robot becomes small, flat, and low-priced, the device structure can be different, and the overall size and cost can be reduced. Therefore, it is required to develop a small and flat robot unlike the conventional one.

[0008]

An object of the present invention is to realize a small flat robot for automatic insertion / extraction of connecting pins which can meet this demand. Therefore, the present invention is directed to the X-axis of a plane area facing the matrix board. A pair of X frames arranged opposite each other along the direction, and a Y frame arranged between the X frames along the Y axis direction of the plane area and movable along the X frame. A first bracket movable along the frame and the first bracket
It is possible to move along the Y frame integrally with the bracket of
And a Z-axis guide arranged along the Z-axis direction in the direction of approaching and separating from the matrix board, and the Z-axis guide.
A second bracket movably engaged with the shaft guide, an openable / closable robot hand provided on the second bracket, and the second bracket for opening / closing the robot hand.
The hand opening / closing motor attached to the bracket, the Z-axis motor attached to the second bracket, and the torque required to move the second bracket by amplifying the torque of the Z-axis motor. A torque amplifier to obtain, a Y-axis motor attached to the Y-frame, and a torque amplifier for amplifying the torque of the Y-axis motor.
A torque amplifier that obtains a torque required to move the second bracket integrally, an X-axis motor attached to the X frame, and a torque amplifier to amplify the torque of the X-axis motor to move the Y frame. And a torque amplifier that obtains the torque required for.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A compact flat robot for automatically inserting and removing a connecting pin according to the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of the present invention. In FIG. 1, 1
Is a pair of X frames 1, 2 and 3 facing each other arranged along the X axis direction of a plane area facing the matrix board of the main wiring board (not shown), and these are external frames of the automatic insertion / extraction robot. The connecting frames 2 and 3 are arranged in front of and behind the X frame 1, and are fixed by screws or the like to be assembled into a rectangular shape as shown in the drawing.

The X frame 1 and the connecting frame 2 have a substantially C-shaped cross-sectional shape, and a power transmission mechanism including a gear and a toothed belt, which will be described later, is arranged inside each X frame 1. The connecting frame 2 also has a substantially C-shaped cross-sectional shape like the X frame 1, and a connecting mechanism (not shown) is arranged inside the connecting frame 2 and is provided in each of the pair of X frames 1. The power transmission mechanism is connected by the connection mechanism of the connection frame 2 and operates in synchronization.

Reference numeral 5 is an X-axis motor, and 6 is a torque amplifier attached to the X-axis motor 5 and fixed to one end of one X frame 1. The torque amplifier 6 will be described in detail later. The rotation speed of the X-axis motor 5 is reduced, and instead, the torque is amplified and transmitted to the power transmission mechanism. 7 is a pair of Xs along the Y-axis direction of the plane area facing the matrix board of the main wiring board.
The Y frame is arranged between the frames 1, and both ends of the Y frame are attached to the toothed belts of the power transmission mechanism provided on the X frames 1, and the power of the X frame 1 is rotated by the rotation of the X axis motor 5. It linearly reciprocates in the X-axis direction (longitudinal direction of the X frame 1) via the transmission mechanism.

The pair of X frames 1 is also provided with a linear guide mechanism (not shown) for guiding the linear movement of the Y frame 7. Further, the Y frame 7 also has a substantially C-shaped cross-sectional shape like the X frame 1 and the connecting frame 2.
Inside the Y frame 1, there are a power transmission mechanism including gears and toothed belts similar to the power transmission mechanism provided in the X frame 1, and a linear guide mechanism (not shown) for guiding the linear movement of the robot body described below. Each is provided.

Reference numeral 8 is a robot body, and this robot body 8
Is a first bracket 9 attached to the toothed belt of the power transmission mechanism of the Y frame 1, a Z-axis motor 11 attached to the first bracket 9 together with a torque amplifier 17 described later, and the matrix. A Z formed integrally with or attached to the first bracket 9 along the Z-axis direction, which is a direction toward and away from the board.
The shaft guide 12, the support block 13 movably engaged with the Z-axis guide 12, the support plate 14 integrally formed or attached to the block 13, and the support block 13 and the support plate 14. And a pair of opposing robot hands 15 supported by the second bracket so as to be openable and closable, and a hand opening / closing motor 16 attached to the support plate 14 for opening / closing the robot hand 15. There is.

Reference numeral 10 denotes a Y-axis motor attached to one end of a Y-frame 7 together with a torque amplifier (not shown) having the same structure as the torque amplifier 6. The Y-axis motor 1
The rotation 0 causes the robot main body 8 to linearly reciprocate in the Y-axis direction via the power transmission mechanism of the Y-frame 7. The robot main body 8 has the Y-frame 7 with the X-axis motor as described above. In addition to the movement in the X direction by 5, it is possible to freely move in the X and Y axis directions within the rectangular plane area defined by the outer shape of the automatic insertion / extraction robot.

Further, the Z-axis motor 11 is integrated with the second bracket consisting of the support block 13 and the support plate 14 and the hand opening / closing motor 16 so as to be integrated with the robot hand 15.
To reciprocate in the Z-axis direction along the Z-axis guide 12, and small and small stepping motors are used for the motors 5, 10, 11 and the hand opening / closing motor 16 of these axes, and a CPU (not shown) is used. Drive control is performed by control means such as.

FIG. 2 is a perspective view showing the structure of the X-axis torque amplifier 6 in FIG. 1, and FIG. 3 is a side sectional view of the torque amplifier 6. As shown in these figures, the torque amplifier 6 includes a sun gear 18 attached to the rotating shaft of the X-axis motor 5 and a plurality of first planetary gears 19 meshing with the first sun gear 18 on one side. Disk 1 rotatably supported on the side
9, a second sun gear 21 provided at the center of the surface of the disk 20 opposite to the planetary gear shaft support surface, and a plurality of first planetary gears 22 meshing with the second sun gear 21. A disk 23 rotatably supported on one side, and an output shaft 24 provided at the center of the surface of the disk 23 opposite to the planetary gear shaft supporting surface,
Both discs 20 and 22 are rotatably included and each first
Of the planetary gears 19 and the second sun gears 21. The housing 25 has a gear portion that meshes with the second sun gears 21 formed on the inner surface thereof.
By setting the gear ratios such that the numbers of teeth of the first planetary gear 19, the second planetary gear 22, and the gear portion of the housing 25 increase with respect to the number of teeth of the second sun gear 21 and the number of teeth of the second sun gear 21, respectively. , X
The rotation speed of the shaft motor 5 is decelerated, and instead, the torque is amplified and transmitted from the output shaft 24 to the power transmission mechanism in the X frame 1.

The operation of the torque amplifier 6 is as follows. When the X-axis motor 5 is driven, the first sun gear 18 rotates integrally with its rotation shaft, and the plurality of first planetary gears 19 meshed with the first sun gear 18 rotate. Each of the first planetary gears 19 has a housing 2
5 is engaged with the gear portion of the casing 5, and the casing 25 is the X frame 1
The first planetary gear is fixed to 19
Of the first disc 20 is rotated by the movement of the first disc 20.

As described above, the rotation of the first disk 20 causes the rotation of the first planetary gear 1 relative to the number of teeth of the first sun gear 18.
9 Since the number of teeth of the gear portion of the housing 25 is set to be large, the rotation speed of the X-axis motor 5 is slower, but the torque is increased. When the second sun gear 21 rotates integrally with the rotation of the first disc 20, a plurality of second planetary gears 22 meshed with the second sun gear 21.
Rotate respectively.

The second planetary gears 22 are also provided in the housing 2 respectively.
5 is engaged with the gear portion of the second planetary gear 22.
Moves along the gear portion of the housing 25, which causes the second disc 23 to rotate. The rotation of the second disk 23 is set so that the number of teeth of the second planet gear 22 and the gear portion of the housing 25 is larger than the number of teeth of the second sun gear 21 as described above. Therefore, the rotational speed of the first disc 20 becomes slower than that of the first circular plate 20, but the torque increases.
Torque larger than the torque of the X-axis motor 5 is obtained.

In FIG. 2, reference numeral 26 denotes a gear attached to the output shaft 24, which gear 26 and the X frame 1
The toothed belt 27 is wound around and stretched around a gear (not shown) arranged therein, and thereby a power transmission mechanism is configured. A torque amplifier (not shown) combined with the Y-axis motor 5 is also configured in the same manner as the torque amplifier 6 so that a torque larger than the torque of the Y-axis motor 5 can be obtained.

The power transmission mechanism provided in the Y frame 7 is also constructed similarly to the power transmission mechanism in the X frame 1. FIG. 4 is a Z-axis torque amplifier 1 in FIG.
It is a perspective view which shows the structure of 7. As shown in this drawing, the torque amplifier 17 is rotatably supported by the first bracket 9 so as to mesh with a gear 28 attached to the rotary shaft of the Z-axis motor 10. The torque amplifier 17 includes a gear 29.
In the above, by setting the gear ratio so that the number of teeth of the gear 29 is larger than the number of teeth of the gear 28, the Z-axis motor 1
The rotation speed of 0 is reduced and the torque is amplified instead.

Reference numeral 30 denotes a gear integrally provided at the center of the gear 29, and reference numeral 31 denotes a gear rotatably supported by the first bracket 9 so as to mesh with the gear 30.
A screw shaft 32 screwed to a part of the second bracket 13 is integrally provided at the center of the first bracket 1. Therefore, Z
When the shaft motor 10 is driven, the gear 28 rotates integrally with the rotating shaft, and the gear 29 meshed with the gear 28.
Rotates.

Since the number of teeth of the gear 29 is set to be larger than that of the gear 28, the rotation speed of the gear 29 becomes slower than the rotation speed of the X-axis motor 5, but the torque increases, This increased torque is transmitted to the screw shaft 32 via the gear 30 and the gear 30. Next, the operation of the above configuration will be described.

First, this robot is mounted in advance on the device rack (shelf) of the main wiring board, and the robot main body 8 moves X,
The plane area in the Y-axis direction is made to face the matrix board, and the robot hand 15 is positioned at the origin of movement. In this state, when a connection pin (not shown) inserted in a predetermined insertion hole of the matrix board is pulled out or a connection pin is inserted in a predetermined insertion hole of the matrix board, it is sent from a host device (not shown) to a control means (not shown). The control means drives the X-axis motor 5 and the Y-axis motor 10 based on the coordinate data
The robot body 8 moves along the X frame 1 in the X axis direction together with the Y frame 7, the Y axis motor 10, etc., and the robot body 8 moves along the Y frame 7 in the Y axis direction.

As a result, the robot hand 15 moves from the origin position to the position facing the target connecting pin or insertion hole. In this movement, the torque of the X-axis motor 5 is amplified by the torque amplifier 6 and the Y-axis motor is moved. 1
Since the torque of 0 is amplified by a similar torque amplifier (not shown), even if the X-axis motor 5 and the Y-axis motor 10 are small stepping motors with small torques, the robot hand 15 can be used together with other components in the X-axis. , It is possible to obtain the torque required to move in the Y-axis direction, and therefore small X-axis motor 5 and Y-axis motor 10 can be used.

Next, the Z-axis motor 1 is controlled by the control means.
1 is driven, whereby the second bracket 13, the third
The robot hand 15 moves forward along the Z-axis guide 12 in the Z-axis direction so as to approach the matrix board side (not shown) together with the bracket 14 and the hand opening / closing motor 16, but in this movement in the Z-axis direction. Since the torque of the Z-axis motor 11 is amplified by the torque amplifier 17, even if the Z-axis motor 11 is a small stepping motor having a small torque, the robot hand 15 is moved in the Z-axis direction together with other components. It is possible to obtain the torque required for the Z-axis motor 11, so that a small Z-axis motor 11 can be used.

To remove the connection pin (not shown) inserted in the insertion hole or to insert the connection pin into the insertion hole,
The Z-axis motor 11 is driven and the hand opening / closing motor 16 is driven and controlled to control the robot hand 15.
The operation is performed by opening and closing, but details thereof will be omitted. In the above-described embodiment, the torque amplifier 6 of the X-axis motor 5 is the one in which the sun gear and the planet gears shown in FIGS. 2 and 3 are axially arranged in two stages. The number of stages is not limited, and the number of stages may be one or three or more.

Two types of torque amplifiers are used, one for the X-axis and Y-axis motors and one for the Z-axis motors, but this application is possible.

[0029]

As described above, according to the present invention, the X axis and Y
A torque amplifier is combined with each motor of the Z-axis and Z-axis to amplify the torque of each motor. Therefore, even if each motor is small and has a small torque, it is integrated with the robot hand. The torque required to move the various components in the X, Y, and Z directions can be obtained.

Therefore, the X-axis motor, the Y-axis motor,
Also, it becomes possible to use a small stepping motor having a small torque as the Z-axis motor, and thereby it is possible to realize a small flat robot for automatic insertion / withdrawal of connecting pins that is inexpensive.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a connecting pin automatic insertion / extraction robot according to the present invention.

FIG. 2 is a perspective view showing a structure of a torque amplifier for the X axis in FIG.

3 is a side sectional view of the X-axis torque amplifier shown in FIG.

FIG. 4 is a perspective view showing a structure of a Z-axis torque amplifier in FIG. 1.

[Explanation of symbols]

 1 X Frame 2, 3 Connection Frame 5 X Axis Motor 6 Torque Amplifier 7 Y Frame 8 Robot Body 9 First Bracket 10 Y Axis Motor 11 Z Axis Motor 12 Z Axis Guide 13 Support Block 14 Support Plate 15 Robot Hand 16 Hand Opening and closing motor 17 Torque amplifier

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Hirohisa Akita 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation

Claims (1)

[Claims] 1. A pair of X frames facing each other along the X-axis direction of a plane area facing the matrix board, and a pair of X frames arranged along the Y-axis direction of the plane area between the X frames. A Y frame movable along the X frame, a first bracket movable along the Y frame, a movable along the Y frame integrally with the first bracket, and the matrix board A Z-axis guide that is arranged along the Z-axis direction that moves toward and away from the second bracket, a second bracket that is movably engaged with the Z-axis guide, and an opening and closing provided on the second bracket. A possible robot hand, a hand opening / closing motor attached to the second bracket for opening / closing the robot hand, and an attachment of the second bracket. A Z-axis motor, a torque amplifier that amplifies the torque of the Z-axis motor to obtain the torque necessary to move the second bracket, a Y-axis motor attached to the Y frame, A torque amplifier that amplifies the torque of the shaft motor to obtain the torque necessary to move the first and second brackets integrally; an X-axis motor attached to the X frame; A small flat robot for automatic insertion / extraction of connection pins, comprising: a torque amplifier that amplifies torque to obtain a torque required to move the Y frame.