JPS61152381A - 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 Industrial Application) The present invention relates to an industrial robot that is intended to provide flexibility to accommodate changes in various products.

(Prior Art) Conventionally, robots 7) have been designed in a rectangular coordinate system, a polar coordinate system, a cylindrical coordinate system, a vertical joint system, a horizontal joint system, or a base that moves along a linear trajectory, with a rotating arm. There are robots equipped with such robots (for example, Japanese Patent Laid-Open No. 55-112789 and Japanese Patent Laid-open No. 59-53174), but in these robots, the drive motor of the movement axis is provided exclusively for each movement axis. In addition, all or all but one of the drive motors for the motion axes must be mounted on the motion section, and the inertia of the motion section is large, so the motion speed and acceleration of the robot must be increased. The problem was that I couldn't do anything.

(Problems to be Solved by the Invention) In order to solve the above-mentioned problems, the present invention eliminates the need to mount a drive motor for the operating part of a robot in the operating part, and furthermore, the drive source for the two main operating parts is To provide a robot capable of high-speed operation with low inertia of an operating part by disposing it externally and transmitting the driving force by a power transmission member such as a lobe so that the driving force can be cooperatively exerted. The purpose is to

(Means for solving the problem) However, the configuration includes a shuttle that is slidably provided on a linear guide whose both ends are supported by a frame,
A driven pulley and an idle pulley rotatably provided on the shuttle, a rotated member rotatably provided on the shuttle and rotationally driven by the driven pulley, and two drives rotatably provided on the frame. pulley and
two tension pulleys rotatably provided on the frame, and connected by a power transmission member so that the drive pulley, the tension pulley, and the driven pulley and idle pulley provided on the shuttle all rotate in conjunction with each other. At the same time, the driven pulley is rotationally driven by the drive pulley via the power transmission member,
The shuttle is linearly driven by receiving driving force from the driving pulley via the power transmission member at the driven pulley or the idle pulley.

(Example) Next, the present invention will be described based on an example shown in FIGS. 1 to 8.

1.2 is a guide for linear movement, and these guides 1 and 2 are equipped with stainless steel wire lobes 3 and 7.8.
A slidable shuttle 4 is provided, and the shuttle 4
A base portion 4a is provided on which an arm 5, which is a rotatable member rotatable with respect to the shuttle 4, is attached. A driven pulley 6 is attached to the shuttle 4 and engages with the arm 5.

At the lower shaft portion of the driven pulley 6, as shown in FIG. 3, an idle boot I751 is provided which is rotatably attached. Also, at both ends of guides 1 and 2, guide 1.2
The frames 12 and 36 supporting the drive pulleys 9 and 15 and the tension pulley 1! , 17 are provided, and each pulley is operatively connected by wire lobes 3, 7.8. The idle pulley 51 is connected to the wire lobe 3. The driven pulley IJ 6 is connected to the motor 11.13 fixed to the frame 12 via the tension pulleys 16, 17 and the drive pulleys 9, 15, and via the wire lobe 7.8, the drive pulleys 9, 15, and the reducer 10.14. By receiving the driving force, the shuttle 4 is linearly driven along the guides 1 and 2, and the arm 5 is rotationally driven.

In addition, as shown in FIG. 2, the shuttle 4 has bearings 22 to 25.
The tension pulley 16.17 is slidably supported on the guide 1.2 by the bearings 18 to 17, as shown in FIG.
The idler pulley 51 is rotatably supported on the frame 36 by a bearing 52, and the idler pulley 51 is rotatably supported on the shuttle 4 by a bearing 52, as shown in FIG.

Here, attachment of the wire lobes 3.7.8 will be explained in detail with reference to FIGS. 1, 3 to 6, and 8.

As shown in FIGS. 1 and 4, the wire lobe 7 has one end 7a fixed to the lower part of the drive pulley 15 by a clamper 26, and is inserted into a screw-shaped groove provided on the outer periphery of the drive pulley 5. Next, as shown in FIGS. 1 and 3, the threaded groove provided on the outer periphery of the driven pulley 6 is wound several times, and the other end 7b is wrapped around the top of the driven pulley 6 by a clamper 26. Fixed by

As shown in FIGS. 1 and 4, one end 8a of the wire rope 8 is fixed to the upper part of the drive boob I79 by a clamper 26, and is then attached to the outer periphery of the drive pulley 9 in the same way as the rope 7 described above. Then, as shown in FIGS. 1 and 3, wrap the driven boob I76 several times along the outer circumference of the driven boob I76 so as to face the row 17. The end 8b is fixed to the lower part of the driven pulley 6 by a clamper 26.

As shown in FIGS. 1 and 4, one end 3a of the wire rope 3 is fixed to the lower part of the drive boob I79 by a clamper 26, and extends from there so as to face the aforementioned rope 8 (
After wrapping it several times along the groove provided on the outer periphery of the drive pulley 9 (in the opposite direction), and then wrapping it half a turn around the tension boob 1J16 supported by the frame 36 (see Figures 1 and 5). , provided on the shuttle 4 (see Figure 3)
Wrap it around Idol Boo 1J51 half a turn, and then (Fig. 1).

After winding the tension pulley 17 for half a turn (see FIG. 5), as shown in FIG. (b) It is wound around the drive pulley IJ15 multiple times, and the other end 3b is fixed to the upper part of the drive pulley 15 by a clamper 26.

The wire lobes 3.7.8 are wound around the driving pulley 9.15 and the driven pulley 6 a plurality of times, the number of windings being greater than the amount of rotation of each pulley. That is, even when the driving pulleys 9, 15 rotate in the same direction at the number of revolutions required for the work, the wire ropes 3.7.8 are fed out or wound up in the same direction.

As shown in FIG. 8, one end 7a, 8 of the wire rope 7.8
a is fixed to the driving pulleys 9 and 15, respectively, and the other ends 7b and 8b are fixed to the driven pulley 6, respectively.One end 3a of the wire rope 3 is fixed to the driving pulley 9, and the other end 3b is fixed to the driving pulley 9.
are fixed to the drive pulley 15, so even when each pulley rotates at high speed, there is no problem of misalignment between the pulley and the rope, and the drive pulleys 9 and 15 rotate reliably and accurately. For this reason, the motor 11.
By controlling the amount of rotation of the driven pulley 6 and the arm 5, and the amount of movement of the shuttle 4, it is possible to control the amount of rotation of the driven pulley 6 and the arm 5 with high precision.

These wire ropes 3, 7.8 are preferably made of stainless steel, steel, or resin, but other power transmission members such as belts, chains, etc. may also be used.

It goes without saying that pulse motors, DC motors, and other motors may be used for the motors 11 and 13 that are the drive sources, and depending on the type of motor, one or both of the speed reducers 10 and 14 may be omitted. (In some cases.

Reference numeral 27 (see Fig. 3) is a tool holding shaft, which is installed at the tip of the arm 5 so as to be able to slide and rotate perpendicularly to the rotating surface of the arm 5. cylinder 2
8, rotation is performed by a motor 29 via bevel gears 30 and 31. 32 to 34 are bearings. Reference numeral 35 indicates a work tool (in the embodiment, a two-jaw jaw is shown, but it may also be a suction cup chuck, a driver bit, a welding torch, etc. (but is not limited to this type); is installed at the tip of the 35 tool holding shaft 27.

As shown in FIG. 1, the working tool 35 is rotated in the direction of the arrow α and moved up and down in the direction of the arrow 2 by driving the motor 29 or the air cylinder 28 built into the arm 5. Reference numeral 36 is a frame that is driven (rotation drive and lifting drive may be omitted or changed depending on the type of work), and holds the guides 1 and 2 together with another frame 12. 37.
Support columns 38 are configured to hold the frames 12 and 36, respectively.

Next, the effect will be explained.

According to the above robot, the shuttle 4 slides on the linear guides 1 and 2 via the wire rope 3.7.8 by driving the motor 11.13, or the driven pulley 6 and the arm 5 rotate. . In this way, a robot with two degrees of freedom is constructed.

In FIG. 1, in order to slide the shuttle 4 by a sliding amount XI, wire ropes 7 each equal to the sliding amount X
, 8 are driven by the driven pulley 6 by the rotation of the drive pulley 9.15.
At the same time, the wire lobe 3 is sent out to the drive pulley 9, or wound up from the driven pulley 6 side, and
The shuttle 4 can be moved while maintaining the same posture without rotating the arm 5 by winding it up from the idle pulley 51 side or sending it out to the idle pulley 51 side by rotating the arm 5.

To rotate arm 5 by the amount of rotation θ, the amount of rotation θ
The wire rope 7 is sent out to the driven pulley 6 by the rotation of the drive pulley 15, or is wound up from the driven pulley 6 by the amount corresponding to , or by sending it to the driven pulley 6,
The arm 5 can be rotated while maintaining the same position without moving the shuttle 4. At this time, the wire rope 3 is wound from the drive pulley 9 to the drive pulley 15 via the idle pulley 51, or conversely from the drive pulley 15 to the drive boot +J9.

Furthermore, the above-mentioned linear movement of the shuttle 4 and rotation of the arm 5 can be simultaneously performed by sending out or winding the wire rope 3°7.8 by the rotation of the drive pulley 9.15, depending on the required amount. You can also do it.

That is, the motors 11 and 13 can linearly drive the shuttle 4 and rotationally drive the arm 5 while cooperating with each other.

Note that the working tool 3 provided at the tip of the tool holding shaft 27
5 can obtain an oblong working area 39 as shown in FIGS. 1 and 7. In other words, the maximum work area covers the area of an ellipse, which is connected by a semicircle with a length R from the center of rotation of the arm 50 to one tip of the working tool 35, with both ends of the sliding amount X of the shuttle 4 as the center. 39 (here, the amount of sliding X is greater than or equal to the length R)
.

By controlling the rotation angles of the motors 11 and 13 by known means, it is possible to position the tip of the power tool 35 at any position within the maximum working area 39. For example, as shown in FIG. At the center of the small circle C on the left side of the diagram,
When work is started by setting the center of rotation of the arm 5, if the arm 5 is rotated while sliding the shuttle 4 along the guides 1 and 2 to the right in FIG. When it has finished sliding by the sliding amount X, the tip of the working tool 35 provided at the tip of the arm 5 passes through all the points in the area of the oblong working area 39.

In the embodiment described above, the driven pulley 6 was driven by three ropes 3.7.8, but the end 3a of the rope 3 and the end 8a of the rope 8 fixed to the driving pulley 9 were passed through the inside of the driving pulley 9. Connect the end 7b of the rope 7 and the end 8b of the rope 8 fixed to the driven pulley 6 to the inside of the driven pulley 6.

It is also possible to make a single rope by threading it through and connecting it. (Refer to FIG. 9) At this time, the rope passes through the inside of the driven pulley 6, and the connected portion is fixed to the driven pulley 6, so that the rope is reliably interlocked.

Alternatively, one end 3a and 8a of the rope 3.7.8 can be connected, and one end 7b and 8b can be connected and wrapped around the driven boob I76 in the same manner as above, so that the rope is not fixed to the driven pulley 6. is also possible. (See Figure 10) Also, by connecting both ends of this single rope through the inside of each pulley, the rope is fixed to each pulley, and it is also possible to wrap it around each pulley as a series of ropes. be.

(See Figure 11) It is also possible to drive the driven pulley 6 with a single rope in this way, but in this case, the driving pulley 9
．． 15. It goes without saying that the rope must be wrapped around the driven pulley 6 a number of times greater than the amount of rotation of each pulley. Furthermore, by wrapping the wire lobes around each pulley multiple times in this way, each pulley is reliably interlocked.

However, if you use a power transmission member that can sufficiently transmit driving force, such as a so-called timing belt with teeth on both the front and back sides, or a chain, instead of the above-mentioned rope,
The amount of winding of the belt around each pulley is about half a turn, which is enough to ensure that each pulley is interlocked. (See Fig. 12) In the above embodiment, the drive boo '79.15 was driven by two motors 11.13, but one or two of the tension pulleys 16, 17 were It is also possible to drive the shuttle 4 and the arm 5 by connecting one or two motors for a total of three or four motors.

Furthermore, when using a power transmission member such as a belt or chain as shown in FIG. It goes without saying that the same driving as described above can be achieved even if the motor is driven by the following.

As described above, since the robot according to the present invention has the above configuration, it has the following effects.

First, as shown in FIG. 1, the robot of the present invention drives the shuttle 4 and arm 5 via wire rows 13, 7.8 without mounting a motor 11.13 on shuttle 4. Therefore, the weight of the sliding part, that is, the shuttle 4, becomes extremely light, and the weight of the drive motor 1
1.13 is reduced, and in addition, the two drive motors 11.13 cooperate with each other to move the shuttle 4.
and arm 5, with twice the driving force (when motors 11 and 13 have the same output) compared to the case where each operating part (shuttle 4, arm 5) is driven by a dedicated motor. Since it can be driven, high-speed operation (high acceleration/deceleration, high-speed operation) is possible, so the robot can perform the work in a high cycle.

Second, the robot according to the present invention has a lightweight operating part, so it can operate at high speed, and as shown in FIG. This allows for more efficient use of floor space and the robot's work area compared to the approximately semicircular work area 40 of conventional horizontally articulated robots. (The roughly semicircular work area of conventional robots 4)
0, only the shaded area 41 is the area where the workpiece can be arranged linearly. ) Thirdly, the robot according to the present invention can operate at high speed, and since its work area 39 is oval, the number of required robots can be reduced, and maintenance is easy because the number of robots is small. be. Furthermore, fourthly, since the configuration of the robot does not require any complicated structure, it has many excellent effects such as being extremely inexpensive and achieving high positioning accuracy.

[Brief explanation of the drawing]

Fig. 1 is a Totetsu diagram showing the robot according to the present invention, Fig. 2 is a cross-sectional view taken along line A-A in Fig. 1, Fig. 3 is a cross-sectional view taken along line B-B in Fig. 1, and Fig. 4 is a cross-sectional view taken along line B-B in Fig. 1. C-C sectional view, Figure 5 is D in Figure 1
-D sectional view, FIG. 6 is a view from E in FIG. 4, FIG. 7 is a plan view showing the working areas of the robot according to the present invention and a conventional horizontally articulated robot, and FIGS. 8 to 12 are rotational views. It is a bird's-eye view showing how to wrap a wire or belt that transmits the rotational driving force of the operating part. 1.2... Guide, 3.7.8... Wire rope,
4... Shuttle, 5... Arm, 6... Driven pulley, 11.13... Motor, 9, 15... Drive pulley, 16゛. 17...Tension pulley, 12.36...Frame, 51...Idle pulley.

Claims (3)

[Claims] (1) A shuttle that is slidably provided on a linear guide whose both ends are supported by a frame, and a driven pulley and an idle pulley that are rotatably provided on the shuttle;
A rotated member rotatably provided on the shuttle and rotationally driven by the driven pulley, two drive pulleys rotatably provided on the frame, and two tension pulleys rotatably provided on the frame. The driving pulley, the tension pulley, the driven pulley provided on the shuttle, and the idle pulley are connected by a power transmission member so that they all rotate in conjunction with each other, and the driven pulley connects the power transmission member to the idler pulley. The shuttle is rotatably driven by the driving pulley through the shuttle, and the shuttle is linearly driven by receiving driving force from the driving pulley via the power transmission member at the driven pulley or the idle pulley. robot. (2) An industrial robot, wherein the drive pulley is rotationally driven by a drive source fixed to the frame. (3) An industrial robot, wherein the tension pulley is rotationally driven by a drive source fixed to the frame.