JPS60123294A - 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] [Technical Field of the Invention] The present invention relates to an improvement of an industrial robot in which a plurality of arms are configured to be extendable and retractable in a telescopic manner, and a plurality of telescopic arms are driven by a single drive source. It concerns an industrial robot (K).

[Prior art]

Industrial robots that have multiple arms that are telescopically extendable and retractable have a narrow range of movement if they are operated in a contracted state except when moving a workpiece to a predetermined position. This allows the robot to be installed in a narrow space or relatively close to peripheral devices without causing interference with other devices.

FIG. 1 is a partially sectional side view showing a telescopic arm industrial robot. In Figure 1, (1
) is the base of the robot, (2) is a lifting shaft supported by the base (1), and (3) is an arm support, which is rotatably supported on the lifting shaft (2). (4) is the first arm, (5)
is the second arm. The square pipe-shaped first arm (4) is supported by the arm support (3) so as to be movable forward and backward.

(6) is the motor that is the drive source of the first arm (4);
) are speed reducers, both of which are attached to the arm support (3). (8) is a ball screw nut fixed to the first arm (4), and (9) is a screw shaft of the ball screw that is screwed into the nut (8) and rotated by the reducer (7). The second arm (5) is supported so as to be movable in and out of the first arm (4). That is, guide rails α1 are provided in the longitudinal direction on the upper and lower surfaces of the second arm (5), and these guide rails α1 are provided on the inner tip side of the first arm (4).
Guides (L]) that engage with the guides 1 are provided at the front and rear.

In addition, partition walls (6) and (2) are provided inside the first arm (4) and the second arm (5), respectively, and the partition wall (6) has a mechanism for driving the second ball screw α. A second motor 0 and a second reducer M are attached to the bulkhead (6).
Second ball screw nut α that screws with ball screw cL4
is installed.

Therefore, the first arm (4) moves horizontally forward or backward by rotating the ball screw (9). Then,
The second arm (5) enters into the first arm (4) that protrudes from the first arm (4) by rotating the second ball screw 1llL4. That is, the second arm (5) telescopically extends and contracts relative to the first arm (4).

The above-mentioned conventional telescopic type labor robot requires the same number of drive sources, such as motors, as there are arms.
There are also multiple motor control devices, which has the drawback of making it difficult to accurately control the arm length.

[Summary of the invention]

This invention was made in order to eliminate the above-mentioned drawbacks, and by driving a plurality of arms that extend and retract in a telescopic manner from one drive source, the control device for the drive source can be reduced to one. The object of the present invention is to provide an industrial robot whose arm length can be precisely controlled.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described based on the drawings.

Fig. 2 is a side view showing one embodiment of the present invention, Fig. 6 is an enlarged cross-sectional view of the main part of the invention, and Fig. 4 is a -IV of Fig. 5.
FIG.

In Figures 2 to 4, (1) is the robot base, (
E) is the main shaft, which is supported vertically and rotatably on the base. Ql) is a boom, which is supported horizontally and movably up and down on the main shaft. The rotation of the main shaft (E) and the vertical movement of the boom H are performed by a known mechanism and drive source.

The boom Q) consists of a box-shaped outer frame and ribs that support various mechanisms stored inside.

Two longitudinal ends (21a) of the boom Q]) are fixed to bearings that slidably support the first arm (4a). The other end of this bearing (A) is supported by a rib (21b).

(5a) is a second arm slidably disposed inside the first arm (4a), (5b) is a second arm (5a) that is slidably arranged inside the first arm (4a);
) to which a hand device (not shown) is attached. (4b) is the two first arms (4a)
a connecting member connecting the outer ends of the boom (c);
■ Is the boom of the first arm (4a)? The movable body (9a) is the screw shaft of the first ball screw, which is arranged parallel to the first arm (4a), and has one end fixed to the rib (21b), and the other end fixed to the inner end of p. One end is fixed to the other longitudinal end (21c) of the boom Q core. (14a) is a screw shaft of the second ball screw, which is disposed inside the first arm (4a) and the second arm (5a), and one end of which is slidably and rotatably supported inside the arm (5a); The other end is rotatably supported by the moving body. (17a) is fixed to the end of the second arm (5a) with a nut that is screwed onto the screw shaft (14a) of the second ball screw. In addition, the bearing (goods), the first arm (4&), and the first arm (4a)
The sliding mechanism of the second arm (5a) is well known.

(c) is a motor that is a driving source fixed to the moving body);
(8a) is screwed onto the screw shaft (9a) of the first ball screw,
The first ball screw nut is rotatably supported by a moving body. ) is a gear fixed to the shaft of the motor (c), (c) is a gear fixed to the screw shaft ('14a) of the second ball screw, and (b) is an intermediate gear that meshes with the gear (c) and the gear) The gear (c) is a gear fixed to the oak (8a).

Gears), (c), (c) and (c) constitute a reduction gear (e).

In the above configuration, when the motor (C) is rotated, the screw shaft (14a) and the neck (8a) are rotated via the ν speed device. According to this rotation, the first arm (4a) assembled integrally with the movable body (2) moves to the left in FIG.
It extends from the inside of a) to the left. The solid line in Figure 2 is the first line.
The arm (4a) and the second arm (5a) are shown in a fully extended state, and the dashed line shows a state in which the arm is fully retracted by reversing the rotation of the motor. Note that this state is shown with the boom raised for clarity.

In the above embodiment, the first arm (4a) and the second arm (5a) have a cylindrical shape, but the shape is not limited to a cylindrical shape, but may be a rectangular cylindrical shape. In addition, each arm has two arms, and the other one has the function of stopping the rotation of the second ball screw nut (17a), but the first arm (4a) and the second arm (5)
a) If a rotation stop mechanism is provided between them, it can be reduced to one.

〔Effect of the invention〕

As described above, according to the present invention, in an industrial robot in which a plurality of arms are telescopically extendable,
Since a plurality of arms are driven by one drive source, there is only one control device for the drive source, and an industrial robot that can accurately control the arm length can be obtained.

[Brief explanation of the drawing]

Fig. 1 is a partially sectional side view showing a conventional industrial robot with a telescopic arm, Fig. 2 is a side view showing an embodiment of the present invention, and Fig. 6 is a schematic diagram of an embodiment of the present invention. FIG. 4 is an enlarged sectional view of the section, and FIG. 4 is a sectional view taken along the line IV--IV in FIG. In the figure, (1) is the robot base, (2) is the lifting axis, and (3 is
) is the arm support, (4), (4a) are the first arm, (
5), (5a) is the second arm, (6) is the motor, (7
) is the reducer, (8), (8a) are the nuts for the first ball screw, 'i (9), (9a) are the screw shafts of the first ball screw, α◆, (14a) are the screw rods of the second ball screw,
α → is the second motor, CIQ is the second reducer, α force, (17
a) is the nut for the second ball screw, (E) is the main shaft, Qρ is the boom, 2) is the bearing, 2) is the moving body, (C) is the motor,
(c), (c), ni), the wire is a gear, and (a) is a reduction gear. In the drawings, the same reference numerals indicate intervals or equivalent sounds. Agent Patent Attorney Sanro Kimura Figure 1 Figure 6 Figure 2

Claims (1)

[Claims] In an industrial robot in which a plurality of arms are telescopically extendable and retractable, a movable body is fixed to one end of a first arm that is slidably attached to a boom provided on the robot body, and a movable body is fixed to one end of a first arm that is slidably attached to a boom provided on the robot body, and is arranged parallel to the first arm. The screw shaft of the first ball screw is fixed to the boom, a drive source is rotatably attached to the movable body, the nut for the first ball screw and the screw shaft of the second ball screw are rotatably attached, and the nut for the second ball screw is attached to the first arm. is fixed to the end of the second arm that is slidable with the second arm, and transmits the driving force of the drive source to the screw shaft of the second ball screw and the first ball screw nut via the reducer, and
and an industrial robot characterized by simultaneously extending and contracting the second arm.