JPS6062478A - Drive for rectilinear and rotary motion - 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 drive device for straightening and rotating motion that is advantageous when applied to industrial robots.

Conventionally, the device configuration for imparting linear motion and rotational motion to the operating parts of industrial robots, etc., is to provide a linear motion member that is moved in a straight direction by °C along a guide member by a cylinder, and to move the linear motion member by a rotary actuator. Generally, a rotating member is supported and an operating section is connected to the rotating member, which results in a complicated structure and an increase in the size of the device.

In addition, as a conventional driving device for linear motion, a cylinder tube made of a non-magnetic material is provided with a piston on the inner circumference and an outer sleeve on the outer circumference that can freely slide with respect to the tube, and the piston and the sleeve are connected. Using rodless cylinders that are magnetically connected to each other by a magnet that moves on at least one side, one of the tube and the sleeve, for example, the tube, is fixed to the machine frame, and the movement of the piston is controlled. It is known that the piston is transmitted to an external moving part through the sleeve without using four pistons, and is made to move linearly, but even with this type, if rotational movement is to be added, it is necessary to rotate the sleeve. This has the disadvantage of complicating the structure because it is necessary to connect the operating parts through members.

The object of the present invention is to provide a device that eliminates such inconveniences, and includes a cylinder tube made of a non-magnetic material, a piston on the inner periphery and an outer periphery on the outer periphery, which are slidable with respect to the tube. A bending device using a rodless cylinder comprising a sleeve, and an acid piston and the sleeve connected to each other by N force by a foundation stone provided on at least one of the cylinders, the sleeve being rotated with respect to the tube. At the same time, either the sleeve or the tube is rotatably supported by a support frame.

Next, the present invention will be explained with reference to the illustrated embodiments.

Figures 1 and 2 show an orthogonal coordinate type industrial robot, in which a Y
A second bending opening B is provided for performing a straight face movement in the axial direction,
The present invention is applied to the third driving device by providing a sixth driving device for direct opening and rotational movement for linearly moving the tool C, which is the operating part, in two axial directions and rotating around the two axes. It was decided that

To explain this in detail, the Ginbue 3 drive device has a cylinder tube (1) made of non-arsenic material as shown in Fig. 6.
- A slidable inner piston (2) and an outer sleeve (3) are provided on the tube (1), and the piston (2) and the sleeve (3) are connected to at least one of the piston (2) and the sleeve (3).
In the illustrated example, it is constructed using a rodless cylinder that is magnetically connected to each other by magnets (4) provided on both tubes (11 and sleeves). According to the present invention, the sleeve (3) is prevented from rotating with respect to the duplex (11), and the sleeve (3) and t
! One of the i-tubes (1) is rotatably supported by the support frame (5), and the other can be given linear motion and rotational motion.

To explain this in more detail, in the case shown in the third figure, the sleeve (3) is pivotally supported within a cylindrical support frame (5) via a bearing (6), and this is supported within the support frame (5). The timing pel is controlled by the low reactor (7) installed on the outer surface.
The sleeve (3) and the tube (1) can be freely rotated through the transmission member (8) of the tg3, and the sleeve (3) and the tube (1) can be rotated in the axial direction formed on the outer peripheral surface of the tube (1) as shown in FIG. Balls αω provided on the inner periphery of the sleeve (3) are engaged with the longitudinal concave groove (9) to prevent each other from rotating. In this case, the piston (2) is held against the sleeve (3) by magnetic force. Since each individual M (1a) (
' b) According to the introduction of fluid pressure into said tube (1)
The sleeve (3) is used as a guide member to move the tube (1) in the axial direction while being prevented from rotating, and as the sleeve (3) rotates, the tube (1) rotates together with the sleeve (3). If the tool C is attached to the tip of the tube (1), it will be possible to give it linear motion and rotational interlock.

In addition, in the illustrated example, in order to simplify the piping to the tube (1), there is a g (
i2 leading to 1a)! The pipe port and the pipe port α built in the chamber (1b) on the tip side are arranged together, and the piping port is connected to the chamber (1b) via a pipe Q that is passed through the piston (2). )
and communicate with each chamber (1) through the tube opening (11).
a) The fluid pressure was set as desired in (1b).

The position control of the linear motion and rotational motion of the tube (1) is performed using the linear motion ribo-valve side connected to the piping port Qυα2 and the rotary motion servo valve (14) connected to the rotary actuator (7). ') is controlled via a servo amplifier aO (16') by the output of position controllers (1, 51 (15')) for direct cotton interlocking and rotational movement, respectively. To detect the position of the linear motion of the tube (1), use a positioning scale α7) such as a magnetic scale with magnetic scales at predetermined intervals on the outer circumferential surface of the tube (1)! 4. This is done by reading it with a positioning sensor 08) such as a pickup coil provided on the sleeve (3), and the rotationally linked position of the tube (1) is detected by the rotary actuator ( 7) Angle sensor a! 1.

Above, an embodiment has been described in which the outer sleeve (3) is rotatably supported by the support frame (5) to impart 1α bond and rotational movement to the cylinder tube (1).
For example, the cylinder tube (fl) may be rotatably supported by the support frame (5) as shown in FIG. (1a) The outer sleeve (3), which is magnetically connected to the piston (2) by movement of the piston (2) due to the centering of fluid pressure into (1b), is prevented from rotating by using the tube (1) as a guide member. In this state, the sleeve (3) is moved directly in the direction of the glaze (glaze liquid), and as the tube (1) rotates, the sleeve (3) is rotated together with it, and a tool such as a painting gun is attached to the sleeve (3). By attaching C, linear and rotational motion can be freely given to it.

・The tube (1) has a shaft member (2) attached to its tail end.
0), and a rotary actuator (7) was directly connected to the shaft member (20) to rotate the tube (1).

Also, i,)q With reference to Figures 1 and 2, the first and second driving devices A and B fix the cylinder tube (1). In this case, the outer sleeve (3) is engaged with the concave groove (9) on the outer circumference of the tube (1) with the ball on the inner circumference in the same manner as above. tube(
1), the sleeve (3) can be rotated without turning the separate guide part side (such as a guide bar).
) [2) The outer sleeve (3) of the rodless cylinder of the first drive p vi, the rodless cylinder of the A (3)" (2) the cylinder of the rodless cylinder of the drive device B. A tube (1) was installed, and the outer sleeve (3) was used to fix the support frame (5) described above.

As described above, according to the present invention, the outer sleeve is prevented from rotating on the cylinder tube of the mouth/nodless cylinder, and either the tube or the sleeve is rotatably supported on the support frame. By using the other member as a movable member, it is possible to provide direct impact motion and rotational interlocking due to the rotation of the one member. There is no need to move the device 160 times further, the structure is simpler, and the device itself can be made smaller.

[Brief explanation of drawings]

Figure 1 shows a 1f industrial lower floor to which the device of the present invention is applied.
The front view of the example, Figure 2 is its side view, and Figure 3 is the ■ of Figure 2.
-■ A cross-sectional side view of the main part taken along the heddle, FIG. 4 is a cross-sectional view taken along the line N--N in FIG. 6, and FIG. 5 is a cross-sectional side view of the main part of a modification thereof. (1)...Cylinder tube (2)...Piston' (3)...5 outer, sleeve (4)...Magnet (5)...2 people outside the support frame

Claims (1)

[Claims] A cylinder tube made of a non-magnetic material is provided with a piston on the inner periphery and an outer sleeve on the outer periphery, which are slidable with respect to the tube, and the core piston and the sleeve are magnetically attached to each other by a magnet provided on at least one of them. A vibrating equipment using connected rodless cylinders, in which the sleeve is prevented from rotating with respect to the tube, and either the sleeve or the tube is rotatably supported on a support frame. A drive device for linear and rotary motion consisting of: