JPS60221274A - 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 that has a long movement stroke and is required to move at high speed.

Configuration of conventional example and its problems A conventional vertically movable unit (hereinafter referred to as the Z-axis) is a balancer that supports the weight of the sliding part and is supplied with a predetermined air pressure set by an air regulator. A cylinder was used.

However, in such a configuration, when the lifting section is lowered, the air in the balance cylinder is compressed to a predetermined air pressure and is discharged from the air regulator's exhaust port, resulting in large resistance and exhaust noise. It had the disadvantage that it could not be moved at high speed. This was noticeable when moving at high speed and with long strokes.

OBJECTS OF THE INVENTION The present invention solves the above-mentioned drawbacks and provides a Z-axis for an industrial robot that can handle high speeds.

Section 3: Structure of the Invention The present invention provides a rotary drive source, a rotatable ball screw part connected to the rotary drive source, an elevating part that moves up and down by the rotation of the ball screw part, and an elevating part connected to the elevating part. and a balance cylinder capable of supporting the weight of the lifting section; a solenoid valve provided on an air supply circuit to the balance cylinder; and when the lifting section is lowered, the solenoid valve is actuated to supply air to the balance cylinder. When the supply is cut off, the air in the balance cylinder is released to the atmosphere, and when the elevating section reaches near the target position, the solenoid valve is reset, air is supplied into the balance cylinder, and the elevating section rises. Sometimes, by providing a control circuit that continues to supply air without activating the solenoid valve, the air in the balance cylinder can be replaced quickly, the resistance due to air pressure in the balance cylinder can be reduced, and the lifting section This is advantageous when the motor is moved at high speed over a long stroke, and has the unique effect of preventing excessive load on the Z-axis motor.

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

One embodiment of the present invention is composed of three axes, including an X-axis (■), a Y-axis (0) mounted on the second side, and a Z-axis (O) provided at the tip of the Y-axis @.

The configuration of the X-axis shown in (2) is one in which a general table slides and does not require explanation, so it will be omitted, and the configurations of the Y-axis (@) and the Z-axis (O) will be explained. The Y-axis of Kakuzu@ will be explained.

1 is a sliding bearing part, which is fixed to the X-axis ■, and a sliding rail part 2
acts as a guide when sliding. A monitor 3 is fixed to the sliding rail section 2. A timing pulley 4 is provided on the output shaft of this motor 3, and is engaged with a timing pulley 6 provided on the shaft of a ball screw 5 by a timing belt 7. 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. 10 is a balance cylinder, a cylinder bracket 11 is provided on the sliding rail portion 2, and 5-
7 Fixed parallel to the Y axis @. Further, a movable pulley 14 is provided at the rod end 10a of the balance cylinder 10 and is rotatably movable by means of a pin 12° bearing 13. 16 is a fixed side pulley, and moving side pulley 1
4, the tip portion 2a of the sliding rail portion 2 is rotatable.
It is supported by a support pin 16 and fixed by a pulley bracket 17. 18 is a balance belt, one end of which is fixed to the lower block 19 of the Z-axis θ by a Z-axis belt pusher 2°, and the other end of the balancer belt 18 is fixed to the fixed-side pulley 15. It is fixed to the tip end 2d of the sliding rail section 2 via the moving pulley 14 by a Y-axis belt holder 21, and supports the Z-axis O. Furthermore, a fixed housing 22 for the Z-axis O is fixed to the tip end 2a of the sliding rail section 2.

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

The rotational drive of the shunting motor 3 is transmitted to the ball screw 5 by a timing belt 7 via a timing pulley 4.6. Next, as the ball screw 5 rotates l - , the sliding rail portion 2 moves to the balance cylinder 10° and the moving pulley 14 . Fixed side pulley 15. Balancer belt 1
While the balance mechanism configured by 8 and the Z-axis θ are mounted, it is guided by the sliding bearing portion 1 and can slide in the direction of the arrow A or B in FIG. 4. Further, during adjustment, the knob 8 can easily rotate the ball screw 5 via the belt 9, and the sliding rail portion 2 can be set at an arbitrary position.

I will explain the Z-axis θ to Gray. The fixed housing 22 fixed to the tip 2a of the Y-axis sliding rail section 2 has a slide bearing 24 that guides the sliding of two parallel slide shafts 23. . 2
Reference numeral 5 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. In addition, the output shaft 25 & of the Z-axis motor 25
A Z-axis knob 29 is fixed to the shaft end 25b.

Further, the fixed housing 22 is rotatable by a pole bearing 7 and a base ring 30, and has a ball screw nut 31 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 Z-axis motor 25 via a timing belt 33.

Reference numeral 34 denotes a screw shaft of the ball screw portion, which can be moved up and down in the vertical direction of arrow C or D in FIG. 4 by rotation of the nut 31. 35 is an upper block on the Z-axis O, which fixes the two parallel slide shafts 23 and is connected to the lower block 19. Also, the upper block 35. The lower block 19 has two slide shafts 2.
The screw shaft 34 of the ball screw portion is fixed at the intermediate position of 3.

Reference numeral 36 denotes an elevating cover, which 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.

Note that the Y-axis balance belt 18 is fixed to the lower block 19 by a Z-axis belt presser 2o. 37 is a motor cover.

The operation of the Z-axis θ 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 of the balance cylinder 10 mounted on the Y-axis.
Connected to IQb.

First, air supplied from the air source 38 passes through a filter 39, is brought to a predetermined pressure by a regulator 4o, and is supplied to the air port 10b of the balance cylinder 10 mounted on the Y-axis by a solenoid valve 41. Ru.

Next, at the Z-axis θ, the rotational drive of the Z-axis motor 25 causes the timing belt 33 to rotate the naso 9 base plate 31 of the ball screw portion through the timing pulleys 28 and 32. Next, by the rotation of the nut 31 of the ball screw portion, the screw shaft 34 moves in the vertical direction, and the upper block 35, 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-axis 0. Moving pulley 14° Fixed side pulley 15. The stroke and speed of the balance cylinder 10 are half of the stroke and speed of the lifting section on the Z-axis θ, and the weight can be supported by the lifting section on the Z-axis θ. Can go up and down. Also, at this time, as shown in FIG. 6, when the lifting section of the Z-axis θ is lowered, the solenoid valve 41 is operated to cut off the air supply to the balance cylinder 10, and the air inside the balance cylinder 1o is Air is released into the atmosphere, and when the elevating section reaches near the target position, the solenoid valve is reset and air is supplied into the balance cylinder 10.

Furthermore, when the lifting section rises, air can be continued to be supplied into the balance cylinder 10 without operating the solenoid valve 4110, so that the weight of the lifting section on the Z-axis O can be supported.
Overloading of the Z-axis motor 25 can be prevented.

As described above, a rotational drive source, a ball screw unit that is connected to the rotational drive source and can rotate, and a lifting unit that moves up and down by the rotation of the ball screw unit, and a lifting unit that is connected to the lifting unit, and that reduce the weight of the lifting unit. A balance cylinder that can be supported, a solenoid valve provided on an air supply circuit to the balance cylinder, and a totomo that operates the solenoid valve to cut off the air supply to the balance cylinder when the elevating part descends. , releases the air in the balance cylinder to the atmosphere, returns the solenoid valve when the lifting section reaches the target position, and supplies air to the balance cylinder.
By providing a control circuit that continues supplying air without operating the solenoid valve when the elevating section ascends,
The output of the balance cylinder is zero from the start of the descent of the elevating part until it reaches the target position, and the elevating part begins to descend under its own weight, and the motor moves the elevating part to the predetermined position with extremely low output. be able to.

In addition, the output of the balance cylinder is always output when ascending, and this can also be driven by a low-output motor.
When moving the lifting section at high speed over a long stroke, it is possible to prevent overload on the Z-axis motor.

As shown in Figure 7, only the necessary 10c of the balance cylinder Pellakin is used, and the air port 1
The ob's orifice is also thick to ensure that the sliding resistance of the cylinder itself is not too small.

Effects of the Invention As described above, the present invention provides a rotary drive source, a rotatable ball screw portion connected to the rotary drive source, a lifting portion that moves up and down by the rotation of the ball screw portion, and a lifting portion connected to the lifting portion. And the Ulharance cylinder that supports the weight of the lifting section.
A solenoid valve provided on the air supply circuit to the balance cylinder operates the solenoid valve to cut off the air supply to the balance cylinder and shut off the air in the balance cylinder when the elevating section descends. The solenoid valve is released into the atmosphere, and when the elevating section reaches the vicinity of the target position, the solenoid valve is returned to supply air into the balance cylinder, and when the elevating section ascends, the air supply is continued without activating the solenoid valve. By providing a control circuit, the output of the balance cylinder becomes zero from the time the lifting section starts descending to near the target position, so the lifting section begins to descend under its own weight, and the motor uses extremely low output to move the lifting section to the specified position. It can be moved.

In addition, the output of the balance cylinder is always output when ascending, and this can also be driven by a low-output motor.
When moving the lifting section at high speed over a long stroke, it is possible to prevent overload on the Z-axis motor, which has a significant practical effect.

[Brief explanation of the drawing]

Figure 1 shows the industrial robot X in one 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 main part, FIG. 513 is an enlarged sectional view of the main part of FIG.
The figure is a sectional view of a balance cylinder used in one embodiment of the present invention. ■...X-axis, @-...Y-axis, O...X
Shaft, 1...Sliding bearing part, 2...Sliding rail part, 3...Motor, 5...Ball screw, 10...Balance Cylinder, 14...
・Moving side pulley, 15...Fixed side pulley, 18
-...Balance belt, 19...Lower side block, 20...Z-axis belt holder, 21...Y
Shaft belt holder, 22...Fixed housing, 23.
... Slide shaft, 25 ... Z-axis motor, 26 ... Electromagnetic brake, 29 ... Z-axis knob, 31 ... Nando, 34 ...・Screw shaft, 35... Upper 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-221274 (6) JP-A Sho GO-221274 (7)

Claims (1)

[Claims] A rotary drive source, a rotatable ball screw part that is connected to the rotary drive source, a lifting part that goes up and down by the rotation of the ball screw part, and a lifting part that is connected to the lifting part and that reduces the weight of the lifting part. a balance cylinder that supports the balance cylinder; a solenoid valve provided on an air supply circuit to the balance cylinder; and when the elevating section is lowered, the solenoid valve is actuated to cut off the air supply to the balance cylinder; , the air in the balance cylinder is released to the atmosphere, and when the elevating part is moved near a predetermined position, the solenoid valve is reset to supply air into the balance cylinder, and when the elevating part is raised, the solenoid valve is activated. An industrial robot consisting of a control circuit that continues to supply air.