JPS60221273A - 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 Field of the Invention The present invention relates to an industrial robot having a vertically movable unit (hereinafter referred to as the Z-axis) that has a long movement stroke and is required to move at high speed. It is something.

Conventional structure and its problems Conventionally, the Z-axis of a transfer robot directly connects the motor and ball screw shaft, transmits the rotation of the motor to the ball screw shaft, and uses the ball screw nut as a fixed part to connect the motor, ball screw shaft, and sliding part. was being raised and lowered.

However, in such a configuration, a portion of the motor, which is quite heavy, is located at the upper end of the Z-axis, and since it cannot move up and down with the lifting section, the motor is required to output a high output, which shortens the life of the motor and reduces the center of gravity of the Z-axis. is too high, so one of the two orthogonal axes in the plane direction on which the Z-axis is mounted,
In other words, if the Y-axis, etc.3. moves, it will cause vibrations and the positioning accuracy will be poor, the overall length will be too long and it will take up a lot of space, and the ball screw shaft will have to be rotated due to its inherent problems. It has drawbacks such as the critical rotational speed is limited by the vibration frequency, and it cannot rotate at high speed if the stroke is long. These drawbacks were particularly noticeable in high-speed, long-stroke motors.

Purpose of the Invention In order to solve the above-mentioned drawbacks, the present invention reduces the weight of the elevating part,
This provides a two-axis industrial robot with a shorter overall length and a lower center of gravity.

Structure of the Invention The present invention provides a fixed housing having a sliding bearing part for an elevating part having a threaded shaft that can be moved downwardly, a rotary drive source fixed to the fixed housing, and a rotary drive source that is rotatable to the fixed housing. , the thrust direction is regulated and the screw shaft is configured to transmit rotation from the rotary drive source, and a nut that is threadably engaged with the screw shaft, thereby reducing the weight of the X-axis lifting section of the industrial robot. , sword) It has the unique effect of shortening the overall length and lowering the center of gravity.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

One embodiment of the present invention has the Y axis of the mouth mounted on the X axis of the mouth,
It is composed of three axes, including two axes at the tip of the Y-axis opening.

The configuration of the X-axis in (a) is a general sliding table and does not require explanation, so it will be omitted, and the configurations of the Y-axis (mouth) and the X-axis (c) will be explained.

The Y-axis of the if port will be explained. 1 is the sliding bearing part,
03, which is fixed to the shaft A and guides when the sliding rail part 2 slides, is fixed to the sliding rail part 2 by a motor. A timing pulley 4 is attached to the output shaft of this motor 3.
The timing belt 7 engages with a timing pulley 6 provided on the axis of the ball screw 5. A knob 8 is connected to a timing pulley (not shown) provided at the shaft end of the ball screw 5 by a belt 9.

Reference numeral 10 denotes a balance cylinder, and a cylinder bracket 11 is provided on the sliding rail portion 25, and is fixed parallel to the Y-axis opening. Further, a movable pulley 14 that can be rotatably moved by a pin 12 and a bearing 13 is provided at the rod tip 10a of the balance cylinder 1o. Numeral 15 denotes a stationary pulley, which is rotatable like the movable pulley 14, supported by a support pin 16 at the tip 2a of the sliding rail section 2, and fixed by a pulley bracket 1.

Reference numeral 18 denotes a balance belt, one end of which is fixed to the lower block 19 of the two-axis C by a Z-axis belt presser 2o, and the other end of the balancer belt 18 passes through the fixed pulley 15 and the movable pulley 14, The shaft belt holder 21 is fixed to the tip 2a of the sliding rail section 2 and supports the Z-axis C, and the tip 2 of the tip 2a of the sliding rail section 2
A fixed housing 22 for the Z-axis C is fixed to a.

The operation of the Y-axis port configured as above will be described below.

If the rotation of the motor 3 is driven by the timing belt 7 via the timing pulley 4.6, the rotation of the motor 3 is driven by the timing belt 7.

This will be conveyed to Runeji 5. Next, by rotation of the ball screw 5, the sliding rail portion 2 is moved to the balance cylinder 10. Moving side pulley 1
4. Fixed side pulley 15. It is guided by the sliding bearing part 1 on which the balance belt Z-axis C is mounted, and can slide in the direction of arrow 8 or B in FIG. 4.

Also, during adjustment, etc., the knob 8 is connected via the bell) 9,
The ball screw 5 can be easily rotated, and the sliding rail portion 2 can be set at any desired position.

Next, the two-axis C will be explained. The fixed housing 22 fixed to the tip 2a of the sliding rail section 2 of the Y-axis opening is
It has a slide bearing 24 that guides the sliding movement of two slide shafts 23 installed in parallel.

Reference numeral 25 denotes a Z-axis motor as a rotational drive source, which is fixed to the fixed housing 22, has an electromagnetic brake section 26 on an output shaft 25a, and is provided with a timing pulley 28 via a bearing section 27. Also, the output shaft 25a of the Z-axis motor 25
A Z71\-'' shaft knob 29 is fixed to the shaft end 25b.

Further, the fixed housing 22 has a ball bearing 3o.
It has a nut 31 of a ball screw portion which is rotatably mounted on the shaft and whose thrust direction is regulated. Note that the nut 31 is provided with a timing pulley 32 on the outer periphery of the shaft end 31a, and can be rotated by the rotational drive of the two-shaft motor 25 via a timing belt 33. Reference numeral 34 denotes a screw shaft of a ball screw portion, which can be moved up and down in the vertical direction of arrow C or D in FIG. 4 as the nut 31 rotates.

35 is an upper block of the Z-axis C, which fixes the two parallel slide shafts 23 and connects the lower block 19
The upper block 36. The lower block 19 fixes the screw shaft 34 of the ball screw portion at a position intermediate between the two slide shafts 23.

An elevating cover 36 connects the upper block 35 and the lower block 19 to form an elevating section, and can be raised and lowered in the vertical direction as the screw shaft 34 of the ball screw section is raised and lowered. The Y-cuff balance belt 18 is fixed to the lower block 19 by a Z-axis belt presser 20. 37 is a motor cover.

The operation of the Z-axis C configured as described above will be explained below with reference to the air circuit diagram in FIG.

In FIG. 6, 38 is an air source, 39 is a filter, and 40 is a regulator with a pressure gauge, which is connected to a solenoid valve 41 and the filter 39. The outlet side port 41a of the solenoid valve 41 is connected to the rod side air port 1 of the balance cylinder 10 mounted on the Y cuff.
Connected to ob. First, the air supplied from the air source 38 is passed through a filter 39 and a regulator 40.
The air port 1 of the balance cylinder 10 mounted on the Y cuff is brought to a predetermined pressure by the solenoid valve 41.
0b.

Next, the two-axis motor 25 is rotated through the timing pulleys 28 and 32, and the timing belt 33 rotates the nuts 9, . Next, the screw shaft 34 is moved in the vertical direction by the rotation of the nut 31 of the ball screw portion, and the screw shaft 34 is moved vertically.
4, the upper block 35 and the lower block 19. An elevating section formed by the slide shaft 23 and the elevating cover 36 moves up and down. At that time, the balance cylinder 10 mounted on the Y cuff. Moving pulley 14
．． The balance cylinder 1 is operated on the principle of a pulley by a balance mechanism consisting of a fixed pulley 16 and a balance belt 18.
The stroke and speed of Z-axis No. 0 are only half of the stroke and speed of the lifting section of Z-axis No. 1, and the weight of the Z-axis No. 1 is supported.

Also, at this time, when the two-axis lifting section descends as shown in FIG. Air is released into the atmosphere, and when the elevating section reaches near the target position, the solenoid valve is reset to supply air into the balance cylinder 10.

Moreover, when the elevating section ascends, the solenoid valve 4110/
It is possible to continue supplying air into the balance cylinder 10 without operating the Z-axis and to support the weight of the lifting section of the Z-axis.
Overload of the shaft motor 25 can be prevented. Furthermore, the electromagnetic brake section 26 can prevent the elevating section from falling when the power is turned off. Further, by opening the electromagnetic brake section and turning the two-axis knob 29, the elevating section can be easily moved up and down, and the elevating section can be set at any desired position.

As described above, there is provided a fixed housing having a sliding bearing part for an elevating part having a screw shaft that can be moved up and down, a rotary drive source fixed to this fixed housing, and a rotary drive source fixed to the fixed housing, which is rotatable and has a thrust direction. Since the screw shaft is regulated and is configured to transmit rotation from the rotary drive source, and a nut that is screwably provided, it is possible to reduce the weight of the Z and shaft lifting parts of the industrial robot. Shorten the overall length,
Furthermore, it is possible to lower the center of gravity and concentrate it on the fixed part.

Effects of the Invention 11 -7 As described above, the present invention provides a fixed housing having a sliding bearing part for an elevating part having a screw shaft that can move up and down, a rotary drive source fixed to this fixed housing, and a rotary drive source fixed to the fixed housing. It is rotatably attached to the housing, its thrust direction is regulated, and it is threadably engaged with the I/J shaft to which rotation from the rotational drive source is transmitted.

Since it is composed of two parts, industrial robots
The sliding part of the shaft can be made lighter, the overall length can be shortened, and the center of gravity can be lowered and concentrated on the fixed part.
Its practical effects are significant for robots that require long strokes and high speeds, such as molding machine take-out robots.

[Brief explanation of the drawing]

FIG. 1 shows two parts of an industrial robot according to an embodiment of the present invention.
A front view of the shaft, Figure 2 is a plan view of the same, Figure 3 is a left side view of the same,
FIG. 4 is an enlarged sectional view of the same essential parts, FIG. 5 is an enlarged sectional view of the essential parts of FIG. 2, FIG. 6 is a two-axis air circuit diagram of an industrial robot according to an embodiment of the present invention, and FIG. 7 1 is a sectional view of a balance cylinder used in an embodiment of the present invention. A...X axis, Mouth...Y axis, C...Z axis, 1...
...Sliding bearing part, 2..., -Sliding rail part, 3...
...Motor, 5...Ball screw, 1o...
...Balance cylinder, 14...Moving side pulley, 15...19. Fixed side pulley, 18... Balance belt, 19... Lower block, 20...
...Z-axis belt holder, 21...Y-axis belt holder, 22...Fixed housing, 23...
・Slide shaft, 25・ ...Z-axis motor, 26・
...Electromagnetic brake, 29...Z-axis knob, 3
1...Nut, 34...Screw shaft, 35...
・Upper side block, 36... Lifting cover, 38...
...Air source, 41...Solenoid valve. Name of agent: Patent attorney Toshio Nakao and one other person JP-A-Sho GO-221273 (6)

Claims (3)

[Claims] (1) A fixed housing having a sliding bearing part for an elevating part having a screw shaft that can be moved up and down, a rotational drive source fixed to this fixed housing, and a rotary drive source fixed to the fixed housing, which is rotatable and thrust An industrial robot comprising a nut screwable with the screw shaft whose direction is regulated and rotation from the rotational drive source is transmitted. (2) The elevating section is composed of two parallel slide shafts, and the ball screw section is located between the two slide shafts, and both ends of the threaded shafts of the two slide shafts and the ball screw section are connected to each other. The industrial robot according to claim 1, comprising upper and lower blocks connected together and a cover connecting the upper and lower blocks. (3) The industrial robot as set forth in claim 1, wherein a clamp is provided on the output shaft of the rotary drive source. 2. The industrial robot according to claim 1, wherein a brake is provided on the output shaft of the four-rotation drive source.