JPS60161084A - Working unit for 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 The present invention relates to a work unit attached to the tip of a work arm of a highly versatile industrial robot used in assembly work for high-mix, low-volume production.

Recently, this type of highly versatile industrial robot has been attracting attention, and as the use of industrial robots increases, various types of robots used for tightening screws attached to the tip of the work arm, inserting parts, etc. There is a demand for the development of work tools. With the development of this type of work tool, there is a demand for a work unit that can arbitrarily change the height of the tip of the work tool in accordance with the different heights of each work position.

In response to this demand, a work unit as shown in FIG. 1 has been developed. This work unit 6 has a housing 7 fixed to an arm (not shown) that is driven by a motor (not shown) and moves on a plane.
has a screw shaft 12 and a spline shaft 1.
3 are placed side by side.

Further, a third motor 8 is disposed in the housing 7 with its drive shaft 9 facing downward, and the third motor 8 is configured to rotate the screw shaft 12 at that position. The screw shaft 12 has a change nut 11 that moves together with the spline shaft 13.
are screwed together, and the change nut 11 is moved up and down along the screw shaft 12 by the rotation of the third motor, so that the spline shaft 13 is moved up and down together. In this working unit 6, a change nut 11 having a predetermined thickness moves within the housing γ, so that
The vertical stroke of the change nut 11 is limited by its thickness, and therefore the stroke of the spline shaft 13 is also limited, resulting in drawbacks such as an inability to provide a sufficient stroke to the working tool 19.

The present invention aims to eliminate the above-mentioned drawbacks, and embodiments will be described below with reference to the drawings. In FIG. 2 and FIG. 3, 1 is an industrial robot, and a first arm 4 and a second arm are rotated by being driven by a first motor 2 and a second motor 3.
It has an arm 5. A housing 7 of a working unit 6 is fixed to one end of the second arm 5. A third motor 8 is attached to the upper part of the housing 7 with its drive shaft 9 facing downward, and the outer periphery of the drive shaft 9 is filled with grease via an A-il seal 10. On the other hand, two change nuts 11 are disposed in the housing 1 so as to be rotatable together at that position,
A screw shaft 12 is inserted into the change nut 11 so as to be screwed thereto, and the screw shaft 12 is inserted between the two change nuts 11. Further, a connecting tool 14 integrally connected to a spline shaft 13, which will be described later, is fixed to the tip of the screw shaft 12, so that the screw shaft 12 is configured not to rotate. The drive shaft 9 is connected to the change nut 11 via a first gear 15 and a second gear 16, and the screw shaft 12 is configured to move up and down as the change nut 11 rotates.

A spline shaft 13 is placed in parallel with the screw shaft 12 in the housing l, and is guided so as to be slidable up and down without the axis thereof moving through an upper bearing 11 and a lower bearing 18 that are rotatably held. has been done. Further, this spline shaft 13 is provided with the connecting tool 14.
are movably or rotatably connected together, and the spline shaft 13 is configured to move together with the slurry 1 shaft 12. Further, a work tool 19 corresponding to a predetermined work is fixed to the spline shirts l to 13, and this work tool 19 is configured to be rotatable by a rotation transmission mechanism 20 fixed to the lower bearing 18. There is.

Further, an air cylinder 21 is fixed to the housing 7, and the connecting tool 14 is fixed to the tip of the rod 22. This air cylinder 21 is the first supply/discharge
23 and a second supply/discharge date 24, as shown in FIG. An air supply source 26 is connected via a pressure regulating valve 25 that regulates the air pressure to balance the ff1ffi of the tool 19.

In the work unit 6 of the industrial robot, the third motor 8 is rotated according to the height of the work tool 19 at each work position. The rotation of the third motor 8 causes the change nut 11 to rotate with respect to the housing 7, so that the screw shaft 12, which is threaded therewith, descends within the change nut 11. At the same time, the connector 14 is lowered, and the spline shaft 13 is also lowered together. Accordingly, the working tool at the tip of the spline shaft 13 also descends to a predetermined position and stops.

At this time, the screw shaft 12 is connected to the change nut 11.
Since the lifting stroke is guided by the air cylinder, the lifting stroke is not limited in any way by the stroke of the air cylinder, and there is no need to change the work unit even if the lifting stroke at the desired work position becomes large, making it extremely compact and versatile. It has advantages such as being able to provide a unit with high performance. In this embodiment, the air cylinder is built into the housing, but by mounting the air cylinder outside the housing and in parallel with the third motor, an even larger stroke can be obtained.

[Brief explanation of the drawing]

Fig. 1 is a sectional view of main parts showing a conventional example, Fig. 2 is an overall explanatory diagram of an industrial robot according to the present invention, Fig. 3 is a sectional view of main parts of the present invention, and Fig. 4 is an air robot according to the present invention. It is an air control circuit diagram of a cylinder. 1 industrial robot, 2 first motor, 3 second motor, 4 first arm, 5 second arm, 6 work unit, 1 housing, 8 third motor, 9 drive shaft, 10 oil seal, 11 change nut, 12 Skrikowshaf 1~
．． 13 Spline shaft, 14 Connector, 15 First gear, 16 Second gear, 17 Upper bearing, 18
Lower bearing, 19 Working tool, 20 Rotation transmission TL structure, 21 Air cylinder, 22 Lot, 23 First supply/discharge port, 2
4 2nd supply/discharge port, 25 Pressure regulating valve, 26 Air supply source, Fig. 4 Part 2 1 Fig. 4

Claims (1)

[Claims] A housing having a shaft that can be raised and lowered at one end of an arm that moves on a plane is taken, a screw shaft and a change nut screwed thereon are placed side by side on this housing, and furthermore, a screw shaft and a change nut screwed thereon are arranged on this housing. In an industrial robot that is equipped with a motor and configured to move the shaft in parallel with the screw shaft, a change nut is rotatably provided in the housing, the screw shaft is screwed onto the change nut, and the screw shaft is moved. The working unit is configured such that it can be freely raised and lowered within the change nut, and the shaft is connected to the screw shaft via a connecting tool.