JPS59219181A - Industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Industrial applications The present invention relates to industrial robots.

Conventional 1-tari configuration and its problems Conventional straight-travel motion 1 (IS) robots often use a feed screw as a transmission means for moving the movable pulley.

However, with the configuration described in (2) above, there is a limit to the lead of the feed screw, making it difficult to increase the speed, and the rotation of the feed screw is limited.
The machining precision of the 1IllI receiving part was required, and it had to be made with one curve.

In addition, in a typical assembly operation as shown in Figure 1,
The part 101 is a hollow cylinder, and the part 1 is attached to the pin 102.
When trying to fit the hollow part of 01, and the hollow part and the outer diameter of the pin are in the determined position as shown in FIG. When trying to move in a direction, a conventional robot using a feed screw must have a complicated device on the grip to create a proper fit, so-called compliance, to make this possible. Ta.

Furthermore, when teaching a robot, the so-called direct teaching, in which the robot is taught by moving the moving block directly by hand, is also less efficient than the feed screw, so it can be done by attaching a thread to the screw part, or by gradually turning the motor. The power was turned on and it was running.

In view of the drawbacks mentioned above, the present invention, which is the first aspect of the invention, is a method that is fast, inexpensive, and has appropriate compliance in general assembly work.
．． The present invention provides a robot capable of 1a-touch teaching.

Structure of the Invention The present invention comprises a linear guide, a moving block slidably attached to the guide, and a rotating shaft supported at right angles to the moving direction of the moving block (=J pulley and the toothed A plurality of elastic belts each having a plurality of teeth meshing with the pulley, a part or both ends of which are connected to the movable block, and tensioned without loosening, and a rotary drive motor connected to the pulley. unit, and by directly or indirectly attaching the other Koninoto unit body to the moving Glock of the one unit, and connecting them so that the linear movement direction of the moving block of each unit is at right angles, It is fast, inexpensive, provides appropriate compliance in two-dimensional or three-dimensional directions, and has the unique advantages of being able to be directly taught.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 4 to 7. In the figure, 1 is an X-axis unit, which slides the movable Glock 2 in the direction of the arrow X-axis. Reference numeral 3 denotes a Z-axis unit, which is fixed to the moving block 2 and slides the moving block 4 in two directions of arrows perpendicular to the X direction.

Reference numeral 6 denotes a Y-axis unit, which is fixed to the movable block 4 and slides the movable glock 6 in the direction of the arrow Y, which is perpendicular to the direction of the arrows X and Z.

Next, each X1i111 unit, Z-axis-L2)), and Y-axis unit will be explained in detail.

Reference numeral 7 denotes a movable block CI7, which is slidably held by a guide 8. 9 is a toothed belt made of elastic material,
This toothed A'-1 belt has a driving toothed pulley 10 which is held perpendicular to the guide and rotatable, and a tension toothed belt which maintains the driving toothed pulley 10 and rotation 1011 parallel to each other. Between the pulleys 11, the front 11 pins are tensioned without loosening, with a plurality of teeth meshing with the two tooth angle gooleys, and parallel to the guide shaft. Further, a part of this toothed belt is connected to the movable Glock 7 through the fixing fitting 12.
013 fixed to is a motor encoder,
It is connected to the drive toothed pulley 10, and when the motor encoder rotates, the moving block 7 moves by a distance proportional to the amount of rotation.

Next, the two-axis unit 3 will be explained. moving block 1
4 is a ball nut 16. It has a moving block support part 16. Reference numeral 17 denotes a guide, which is provided in the row 51/- with a ball screw 18 that can slide on the movable sliding wheel support section 16 and that can be screwed into the ball nut 15. A bottom plate 19 holds the guide 17 vertically. 2
0 is a motor encoder whose output shaft is fixed coaxially with the ball screw 18 and rotates together with the ball screw 18. When the motor encoder 20 rotates, the moving block 14 moves a distance A20 proportional to the rotating needle.

Next, the Y+fb unit 5 will be explained. A main body 21 slidably supports kites 22a and 22b, and movable blocks 23a are provided at both ends of the kite.

23b has been identified. 24 is a toothed pulley whose rotating axis is perpendicular to the guides 22a and 22b; Reference numeral 26 denotes an elastic carrying belt, which has a plurality of teeth meshed with the toothed pulley 24, and is operated by idlers 25a and 25b to drive the elastic toothed belt 2.
6 is turned and stretched parallel to the guides 22a and 22b, and is fixed to the moving blocks 23a and 23b with metal fittings 27a.

27b, and is fixed without loosening.

When the motor encoder 26 rotates, the moving blocks 23a and 23b move by a distance proportional to the amount of rotation.

In the apparatus having the above configuration, the motor encoder 13 of the X-axis unit 1 and the motor encoder 2 of the X-axis unit 3
When the motor encoder 26 of the Y-axis unit 6 and the motor encoder 26 of the Y-axis unit 6 are rotated while monitoring the amount of rotation, the mobile unit 23d of the Y-axis unit 6 is rotated.

23b moves in a three-dimensional coordinate space in proportion to each rotation amount. Furthermore, if the rotation of each motor encoder is stopped and the rotation stop position is fixed, the elastic toothed belt 9 used in the X-axis unit 1 and the Y-axis unit will be damaged even though the motor encoder shaft does not move. The moving block 23a is moved by the elastic body belt 26 used in the
, 23b have a suitable degree of endurance in the horizontal plane constituted by the X direction and the Y direction, so they are extremely advantageous for the assembly work shown in FIG. 2.

1, since the speed reduction device is not used, when the motor drive power is turned off, the moving Glocks 23a and 23b in the XY plane
can be easily moved by the M joint, and the moved distance and position can be extracted as the amount of rotation by an encoder. Therefore, it has the unique effect that direct teaching is 1-IT capability.

Effects of the Invention As described above, the present invention uses belts on both sides and a toothed pulley for the X-axis unit and the Y-axis unit as the drive transmission means, so the outer circumferential speed of the pulley becomes the moving speed, increasing the speed. Not only can this be easily realized, but also the machining precision of the rotary bearing part is not required, making assembly easy. In addition, since the material of the toothed belt is an elastic body,
It has moderate compliance in all directions in the horizontal plane made up of directions, which is not only extremely advantageous for general assembly work, but also has the feature that direct teaching is possible because no speed reduction device is provided.

[Brief explanation of drawings]

Go to Figure 1, B is an explanatory diagram showing general assembly work, go to Figure 2,
B is an explanatory diagram showing compliance, FIG. 3 is a sectional view of a robot using a conventional feed screw, FIG. 4 is a perspective view of an industrial robot according to an embodiment of the present invention, and FIG. 6 is a diagram of an X-axis unit. FIG. 6 is a perspective view of the X-axis unit, and FIG. 7 is a perspective view of the Y-axis unit. 1...X-axis unit, 2...Movement block, 3P...X-axis unit, 4...Movement block, 6...-Y-axis Unit, 6...
・・Movement block, 7・・Hyperactivity block, 8・
...Guide, 9...Elastic tooth 1 inch belt,
10... Drive toothed pulley, 13... Motor encoder, 14... Moving block', 21...
...A (body, 22 a, 22 b-----guide shaft, 23a, 23b--... moving block [cock, 24
...Toothed pulley~, 25...Motor:
L encoder, 26... Elastic body toothed Hell 1.0 Name of agent Patent attorney Satoshi Nakao and one other person Figure 5 Figure 6

Claims (2)

[Claims] (1) A linear guide, a /C moving Glock slidably attached to the linear guide, a toothed pulley whose rotating shaft is supported at right angles to the moving direction of the moving block, and a tj
n example jψI example: multiple teeth mesh in the boob, and some of the teeth are also 1~
Preferably, at least two of the above-mentioned elastic toothed belts are connected at both ends to the moving block and are tensioned without loosening, and a motor is connected to the toothed pulleys and applies a rotational drive.
The unit has two units, and the unit body of the other unit is directly or indirectly attached to the moving block of one of the units, and the linear movement direction of the moving Glock of each unit is arranged at right angles. industrial robot. (2) A linear guide of gl, a first moving block attached to this first linear guide so that it can slide #I, and ■IJ
A toothed pulley whose rotating shaft is supported perpendicularly to the moving direction of the first moving block, a plurality of teeth meshing with the toothed pulley, and a part or both ends thereof are connected to the moving block and are tensioned without loosening. at least two first and second units each comprising an elastic toothed belt, a motor connected to the toothed pulley and providing rotational drive, a second linear kite, and the second linear guide. The second moving block has a second moving block slidably attached to the drive transmitting means, which does not use an elastic body such as the above-mentioned 9111 elastic belt, but is rigid in the moving direction. and a third unit driven via a drive transmission means with An industrial robot configured such that a main body of a third unit is directly or indirectly attached to a moving block and connected to each other so that the linear movement directions of the plurality of moving blocks are perpendicular to each other.