JPS60259390A - Rectangular coordinate type built-up type 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 a Cartesian coordinate type assembly robot.

[Prior art]

A Cartesian coordinate type industrial robot is assembled by selecting at least two basic units from among a basic unit that strokes in the X-coordinate direction, a basic unit that strokes in the X-coordinate direction, and a basic unit that strokes in two-coordinate directions. ing.

However, the basic unit of a conventional orthogonal coordinate robot is a screw shaft for driving a slider and a guide rod that guides and supports the slider, arranged in parallel. This maintains the rigidity of the basic unit itself. For this reason, the basic unit has rigidity when subjected to bending due to an external force applied in a direction perpendicular to the plane in which the screw shaft and guide rod are parallel, and rigidity when subjected to bending due to an external force applied in a direction parallel to the parallel plane. were different.

Therefore, in the conventional basic unit, we use a basic unit with a different structure for each of the X and Y coordinate directions, which have 5 different bending forces due to external forces. Because there is no system, there is a limit to the development of various systems, and there is also a drawback that there is a lack of flexibility when changing the assembly.

[Purpose of the invention]

An object of the present invention is to have a high degree of freedom in assembling in which one type of basic unit can be applied to any of the X coordinate direction, Y coordinate direction, and X coordinate direction in the assembly of an industrial robot. In other words, it is an object of the present invention to provide an orthogonal coordinate type assembly robot that can be flexibly adapted to the robot.

[Structure of the invention]

To achieve the above object, the orthogonal coordinate assembly type robot of the present invention has two side mounting surfaces orthogonal to each other formed on the outer surface in the longitudinal direction of a casing having an L-shaped cross section. A basic unit having an end mounting surface perpendicular to the two side mounting surfaces on the outer surface of the casing, and a slider provided inside the casing to reciprocate along the longitudinal direction by a screw shaft driven by a motor. It is characterized by being composed of:

[Embodiments of the invention]

The present invention will be explained below with reference to embodiments shown in the drawings.

In Fig. 1.2, 1 is a basic unit when assembling an industrial prefabricated robot, and 2 is a lightweight casing cast from an aluminum alloy that serves as the outer shell of the basic unit 1 of a cigarette. The casing 2 has an L-shaped cross section in the longitudinal direction, as shown in FIG. Side mounting surfaces 3a and 3b are formed on the two outer surfaces of the casing 2 in the longitudinal direction, respectively.
are orthogonal to each other. Further, an end mounting surface 4 is formed on the outer surface of the end in the longitudinal direction, and is perpendicular to the side mounting surfaces 3a and 3b. Casing 2
A cover 2' is attached to the opening side of the casing 2 so as to cover the inside of the casing 2.

A screw shaft 5 extending along the longitudinal direction is supported inside the casing 2, and is driven by a motor 6 provided inside the casing 2 on the opposite side from the end mounting surface 4. . A slider 8 is screwed onto this screw shaft 5.
It is designed to move back and forth along the longitudinal direction by forward and reverse rotation. The lower part of the slider 8 is slidably engaged with a guide rail 7 fixed to the inner surface of the casing 2, and is guided without wobbling when reciprocating by the drive of the screw shaft 5. It has become so. Further, cushioning rubbers 9, 9 are attached to both ends -1 of the screw shaft 5 to cushion the slider 8. 10 is a sensor that detects the position of the slider 8.

A bracket 11.11 is attached to the slider 8, with a portion protruding outside the cover 2'', and a support plate 12 is detachably attached to this bracket 11.'11 with screws 14. When assembling a plurality of basic units 1, the plate 12 is used as a mounting surface 3a for other basic units 1.
.

It becomes a support surface for fixing 3b and 4 or for attaching a working tool or the like.

The support plate 12 shown in FIG. 2 has a vertical support surface, and is designed to be fixed with the mounting surfaces 3a, 3b, 4, etc. of other basic units 1 in the vertical direction. On the other hand, the support plate 12° shown in FIG. The unit 1st grade can be fixed.

The casing 2 of the basic unit 1 described above has an L-shaped cross section and is configured to extend in the -horizontal direction.
It exhibits uniform rigidity against bending due to external force applied from either side in the longitudinal direction. Therefore, as shown in FIGS. 4 to 7, this same basic unit 1 is explained below.
It can be similarly used in any of the X coordinate direction, the y coordinate direction, and the two coordinate directions.

In addition, in the above embodiment, the guide surface of the guide rail 7 that guides the slider 8 is formed into a flat surface, but by making it flat in this way, it is possible to reciprocate with high precision compared to the conventional front guide with a cylindrical surface. can be moved.

4A and 4B show an arm-type assembly robot in which two basic units 1, 1 are assembled in the X coordinate direction and the 2 coordinate direction. This prefabricated Ropo Node has a support plate 12'' having the above-mentioned horizontal support surface fixed to the slider 8 of the basic unit 1 on the base side arranged in two coordinate directions, and It is assembled to fix the side mounting surface 3b of the other basic unit 1 facing in the X coordinate direction.A support plate 12 having a vertical support surface is attached to the slider 8 of the basic unit work in the X coordinate direction. The support plate 12 is provided with work tools and the like to be attached to the support plate 12.

In this assembly type robot, the upper basic unit 1 itself is 2
While stroking in the coordinate direction, the support plate 12 is
Stroke in the coordinate direction.

In the prefabricated robot robot shown in Fig. 5, the basic unit 1 placed on the base side is the same as in Fig. 4 above, and the base unit 1 on the base side is This is a ball-shaped assembly type robot in which the end mounting surface 4 of another basic unit 1 facing in the X coordinate direction is fixed.

In this assembly type Ropo・7, the basic unit 1 attached to the top
At the same time as the support plate 12 strokes in the two-coordinate direction, the support plate 12 strokes in the X-coordinate direction with a working tool or the like attached thereto.

The prefabricated robot throat shown in FIG. 6 is constructed by arranging the basic unit 1 placed on the base side in two coordinate directions so that the support surface of the support plate 12 attached to it is horizontal. This is a table-type prefabricated robot in which the side mounting surface 3a of another basic unit 1 is fixed to a horizontal support surface facing the X coordinate direction, so that the support surface of the support plate 12 is also horizontal. . - In this assembly type robot, the basic unit 1 of the upper fffl strokes in the 2-coordinate direction, and its support plate 12 strokes in the X-coordinate direction while being on a horizontal support surface.

The assembly type Ropo-nod shown in Fig. 7 consists of two basic units: 1.
1 is assembled in the same manner as in Fig. 4, but the basic unit 1 on the lower side has legs 15 and 16 fixed to its side mounting surface 3b and end mounting surface 4, respectively, and is supported in an arch shape. The configuration is such that

As described above, in the basic unit 1 according to the present invention, the same basic unit 1 can be selectively used in any direction among the X coordinate direction, the X coordinate direction, and the two coordinate directions.

〔Effect of the invention〕

As mentioned above, the orthogonal coordinate type assembly robot of the present invention has the following features:
On the longitudinal outer surface of the casing, which has an L-shaped cross section,
Two side mounting surfaces are formed that are orthogonal to each other, and an end mounting surface that is orthogonal to the two side mounting surfaces is formed on the outer surface of the longitudinal end of the casing. It is composed of a basic unit provided with a slider that reciprocates along the longitudinal direction by a screw shaft. Therefore, since the above basic unit exhibits uniform rigidity against bending due to external force from either side in the elongated direction, the same basic unit can be applied to any of the X coordinate direction, X coordinate direction, and 2 coordinate directions. This makes it possible to obtain a high degree of freedom in assembling, and it is also possible to flexibly respond to changes in assembly.

[Brief explanation of the drawing]

FIG. 1 shows the basic unit of the assembly type robot according to the embodiment of the present invention. ! A sectional view taken along the I-1 arrow of J,
Figure 2 is a cross-sectional view of the same basic unit taken along the ■-■ arrow line in Figure 1, and Figure 3 is a cross-sectional view partially omitted showing the same basic unit with a support plate for the horizontal support surface attached. , Figures 4 to 7 each show an assembly type robot using the above basic unit,
4A and B are respectively a front view and a plan view of the first assembly example, FIG. 5 is a front view of the second assembly example, FIG. 6 is a plan view of the third assembly example, and FIG. It is a front view of the 4th example of assembly. 1... Basic unit, 2... Casing, 3a. 3b...Side mounting surface, 4...End mounting surface, 5.
...screw shaft, 6...motor, 7...guide rail, 8...slider, 11...bracket, 12゜1
2°...Support plate.

Claims (1)

[Claims] On the outer surface of the casing in the longitudinal direction, which has a letter-shaped cross section,
Two side mounting surfaces are formed that are orthogonal to each other, and an end mounting surface that is orthogonal to the two side mounting surfaces is formed on the outer surface of the longitudinal end of the casing. An orthogonal coordinate type assembly robot consisting of a basic unit equipped with a slider that moves back and forth along the longitudinal direction using a screw shaft.