JPS61173874A - Ball screw driving type vertical multi-joint 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] [Field of Application of the Invention] The present invention is a ball screw-driven vertically articulated robot NC engagement, in particular, for vertically balancing the upper arm and reducing the unbalanced load acting on the motor of the upper arm drive unit. The present invention relates to a ball screw driven vertically articulated robot suitable for the purpose of the present invention.

[Background of the invention]

In a vertical articulated dust robot, the motor of the upper arm drive section is structurally subject to a larger unbalanced load than the motor of the forearm drive section, so a motor with a higher output than the motor of the skeleton forearm drive section is required. .

Therefore, by balancing the upper arm in a vertical position to prevent unbalanced loads from being applied to the motor of the upper arm drive part, it is possible to use a motor with a small output, and a motor with the same output as the motor of the forearm drive part can be used. The forearm drive section and the upper arm drive section can be used in common.

By the way, in conventional ball screw driven vertical articulated robots, a balance device that balances the upper arm in a vertical state is directly attached to the side surface of the upper arm. the result,
The combined width of the upper arm and balance device becomes wider, so
There were restrictions such as having to narrow the width of the upper arm and increasing the distance between the upper arm and the ball screw of the upper arm drive unit.

[Purpose of the invention]

An object of the present invention is to solve the problems of the prior art, and to use a ball screw-driven vertical multi-function motor that can use a small-output motor for the upper arm drive section without imposing dimensional restrictions on the upper arm and its surrounding members. To provide an articulated robot.

[Summary of the invention]

The present invention is characterized in that an upper arm balance device that reduces the unbalanced load applied to the motor of the upper arm drive unit by vertically balancing the upper arm is integrally attached to the upper arm drive unit using a ball screw. This allows for no dimensional restrictions on the upper arm and its surrounding parts.
A small output motor can be used for the upper arm drive unit.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 show a ball screw driven vertically articulated robot equipped with an upper arm balance device, and FIGS. 3 and 4 show details of the upper arm balance device.

The ball screw driven vertical articulated robot shown in FIGS. 1 and 2 includes a robot body, an upper arm drive section 2, an upper arm balance device 3, an upper arm 4, a forearm drive section 5,
It has a forearm 6 and a forearm link 7.

As shown in FIGS. 1 and 3, the upper arm drive section 2 includes a motor 8, a shaft joint 9, a ball screw 10, and a nut 11 screwed into the shaft joint 9.

As can be seen from FIGS. 1 and 8, the upper arm balance device 3 is integrally attached to the side surface of the upper arm drive section 2. As shown in enlarged views in FIGS. 8 and 4, this upper arm balance device 8 includes a hollow cylindrical casing 12, a guide rod 18 for a linear bearing supported at the center of the casing 12, and a guide rod 18 for a linear bearing supported at the center of the casing 12. 18, a spring platen 15.16 provided at both ends of the casing 12, and a coil spring 17.18 interposed between both ends of the linear bearing 14. It is configured with The casing 12 is integrally connected to a side surface of the upper arm drive section 2. Said Ga()”m1aFi,
The ball screw l of the upper IF+1 drive unit 2 is inside the casing 12.
It is supported parallel to O. The linear bearing 14 is connected to the nut 11 of the upper arm drive unit 2 via the connecting plate 19, and slides on the guide 11118KG.
The coil springs 17 and 18 are designed to prevent a moment load from being generated on the oak 11. The coil springs 17 and 18 are formed to have lengths that are mutually natural lengths at the neutral position of the operating range of the nut 11 of the upper arm drive unit 2, and when the nut 11 moves, the linear bearing 14 and the connecting plate 19 are moved. K is designed to simultaneously apply both tensile force and compressive force to the oak 11 through the support.

When attaching the upper arm drive unit 2 that integrates the robot main body IK and the upper arm balance device 8, the vertical position of the upper arm 4 and the neutral position of the operating range of the nut 11 of the upper arm drive unit 2 are aligned. I'm wearing it.

The upper arm balance device 8 of the above embodiment works together with the upper arm drive unit 2 as follows.

That is, the motor 8 of the upper arm drive unit 2 is connected to the ball screw l.
When O is rotated and the nut 11 is moved from this ball screw IOK, this nut 11 is moved to the upper arm balance device 80.
The two coil springs 17 and 18 simultaneously receive both the tension and the net force.

Therefore, this upper arm balance device i is transferred to the robot body 1.
Since the vertical position of the upper arm 4 is aligned with the neutral position of the operating range of the nut 11 of the upper arm drive unit 2, the motor 8 of the upper arm drive unit 2 It is possible to reduce the unbalanced load acting on the

As a result, the upper arm 4 can be balanced vertically and the unbalanced load applied to the motor 8 of the upper arm drive section 2 can be reduced, so it is possible to use a motor 8 with a small output.

In addition, due to the action of the guide rod 13 supported in parallel with the ball screw 10 in the upper arm balance device 3 and the linear bearing 14 slidably fitted to the guide rod 13, the coil springs 17 and 18 described in III generate a Moment loads can be prevented.

〔Effect of the invention〕

According to the present invention described above, the upper arm balance device that reduces the unbalanced load applied to the motor of the upper arm drive unit by vertically balancing the upper arm is integrally attached to the upper arm drive unit using a ball screw. Since the upper arm balance device is integrated, there is no need to impose various dimensional restrictions on the upper arm and the surrounding parts; in addition, the upper arm can be balanced vertically and the motor of the upper arm drive unit can be As a result of being able to reduce the applied unbalanced load, it is possible to use a motor with a small output, which in turn allows the use of a motor with the same output as the motor of the forearm drive unit.
There is a benefit to sharing parts.

[Brief explanation of the drawing]

Fig. 1 is a front view of one embodiment of the present invention, Fig. 2 is a side view of the same, Fig. 8 is an enlarged vertical sectional front view of the upper arm drive unit and the upper arm balance device portion, and Fig. 4 is an enlarged side view with the same part cut away. It is a diagram. l...Robot body, 2...Upper arm drive section, 3...
Upper arm balance device, 4... Upper arm, 5... Forearm drive unit, 6... Forearm, 7... Forearm link, 8... Motor for upper arm drive unit. 9... Coaxial joint, 10... Ball screw, 11...
Same nut% 12... Casing of upper arm balance device, 18... Same guide rod, 14... Same linear bearing, 15
．． 16... Spring platen for coil springs), 17%1
8...Coil spring, 19...Connecting plate. \,. , Agent Patent Attorney - Katsuo Ogawa Ujiji Correction 7' \, -/

Claims (1)

[Claims] 1. An upper arm balance device that reduces the unbalanced load applied to the motor of the upper arm drive unit by vertically balancing the upper arm is integrally attached to the upper arm drive unit using a ball screw. A ball screw-driven vertically articulated robot. 2. In claim 1, the upper arm balance device comprises a guide rod for a linear bearing, a linear bearing that is slidably fitted to the guide rod and prevents a moment load on a ball screw; 1. A ball screw-driven vertical multi-joint robot characterized by having coil springs installed on both sides of the robot and balancing a nut screwed onto the ball screw to a neutral position in its operating range.