JPS61214984A - 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 whose purpose is to provide flexible handling that can respond to changes in a variety of products.

(Prior Art) Conventionally, robots have been designed with orthogonal coordinates, polar coordinates, cylindrical coordinates, vertically articulated, horizontally articulated, or have rotatable arms on a base that moves along a linear trajectory. (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, making it difficult to increase the robot's motion speed and acceleration. The problem was that it was not possible.

(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 a low inertia of a moving part by disposing the robot externally and transmitting the driving force through a power transmission member such as a rope so that the driving force can be cooperatively exerted. The purpose is to

On the other hand, there is a prior art (Japanese Patent Application No. 59-276714) by the applicant of the present application to achieve the same object as above, and the basic principle and embodiments thereof are disclosed. The present invention is
Based on the technology of the above-mentioned prior application, this is a robot with further technical improvements, and the operating part is linearly driven with two degrees of freedom by two cooperating drive sources, and the operating part has low inertia and can operate at high speed. It is related to.

(Means for Solving the Problem) The structure consists of a shuttle that is slidably provided on a linear guide supported by a frame, and a driven pulley and an idler pulley that are provided on the shuttle and are rotatable. a slider slidably provided on a linear sub-guide supported by the shuttle; a sub-drive pulley that engages with the driven boot and rotates; and a sub-drive pulley that rotates by engaging with the driven boot; an auxiliary power transmission member that linearly drives the slider on the auxiliary guide by transmitting power to the slider; two drive pulleys rotatably provided on the frame; and two tension pulleys rotatably provided on the frame; The drive pulley, the tension pulley, and the driven pulley, idler pulley, and sub-drive pulley provided on the shuttle are all connected to rotate together, and the driven pulley connects the power transmission member. 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 idler pulley.

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

Reference numeral 1.2 is a guide for linear movement (hereinafter referred to as the X direction for convenience), and the guides 1 and 2 are provided with a shuttle 4 that is slidable by a stainless steel wire rope 3.7.8. The shuttle 4 is provided with a base 4a on which sub guides 62, 63 are attached to allow the slider 61 to slide freely in a direction perpendicular to the shuttle 4 (hereinafter referred to as the Y direction for convenience). Reference numeral 6 denotes a driven pulley that is attached to the shuttle 4 and rotates together with the sub-drive pulley 64.

As shown in FIG. 3, an idle booby IJ51 is rotatably attached to the lower shaft portion of the driven pulley I76.
4 is fitted. Reference numeral 65 denotes a bracket attached to the end of the sub-guide 62.63, and a sub-tension pulley 66 is rotatably supported on this bracket 65 by a bearing 67.6B. 69 is a wire rope, and a set screw 70 is attached to the slider 61 in the middle of this wire rope 169.
, and the sub-drive pulley 64. The auxiliary tension pulley 66 and the slider 61 are connected by a wire rope 69 so as to be interlocked.

Further, the frames 12 and 36 that support the guides 1 and 2 at both ends of the guides 1 and 2 are provided with drive pulleys 9 and 9, respectively.
15 and tension pulleys 16, 17 are provided, each pulley being operatively connected by a wire rope 3°7.8. The idle pulley 51 is connected to the wire rope 3. Tension pulley 16, 17, drive pulley 9
, 15, while the driven pulley 6 is connected to the wire rope 7.
8. The shuttle 4 is linearly driven in the X direction along the guide 1.2 by receiving the driving force of the motors 11 and 13 fixed to the frame 12 via the drive pulley 9.15 and the speed reducer 10.14, Slider 61 to sub guide 6
2□ Drive linearly in the Y direction along 63.

In addition, as shown in FIG. 2, the shuttle 4 has bearings 22 to 25.
Guide by 1. The tension pulleys 16 and 17 are rotatably supported on the frame 36 by bearings 18 to 21 as shown in FIG. 6, and the idler pulley 51 is supported as shown in FIG. As shown, bearing 5
2 is rotatably supported on the shuttle 4.

Further, as shown in FIGS. 3 and 4, the slider 61 is supported by sub-guides 62, 63, . . . by bearings 71, 72. h is supported slidably in the Y direction.

Here, attachment of the wire ropes 3, 7.8 will be explained in detail with reference to FIGS. 1, 3, 5, 6, and 8.

As shown in FIGS. 1 and 5, the wire row 17 has one end 7a fixed to the lower part of the drive pulley 15 by a clamper 26, and extends from there along a thread-shaped groove provided on the outer periphery of the drive pulley 15. Then, 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 with a clamper 26. Fixed.

As shown in FIGS. 1 and 5, one end 8a of the wire rope 8 is fixed to the upper part of the drive pulley 9 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. Wrap it multiple times along the groove, then wrap it around the first
As shown in FIGS. 3 and 3, the driven pulley 6 is wound along the thread-shaped groove provided on the outer periphery of the driven pulley 6 so as to face the aforementioned row 17.
Fixed by

As shown in FIGS. 1 and 5, one end 3a of the wire row 13 is fixed to the lower part of the drive pulley 9 by a clamper 26, and is extended from there so as to face the aforementioned rope 8 (in the opposite direction). 2) Wrap the drive boo U 9 several times along the groove provided on the outer periphery, then (see FIGS. 1 and 6) wrap it around the tension pulley 16 supported by the frame 36 for half a turn, and then wrap it around the shuttle 4. It is wound half a turn around the provided idler pulley 51 (see FIG. 3), and further (see FIG. 1).

After winding the tension pulley 17 for half a turn (see FIG. 6), as shown in FIG. 2) Wrap it around the drive pulley 15 multiple times, and the other end 3
b is fixed to the upper part of the drive pulley 15 by a clamper 26.

The wire ropes 3, 7.8 are wound around the driving pulley 9.15 and the driven pulley 6 a plurality of times, and the number of windings is 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 sent out or wound up in the same direction.

As shown in FIG. 8, one end 7a, 8 of the wire rope 7.8
a are each fixed to a drive pulley 9.15, the other ends 7b and 8b are each fixed to a driven pulley 6, and one end 3a of the wire rope 3 is fixed to the drive pulley 9, and the other end 3b is fixed to the drive 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 with high precision. Therefore, by controlling the amount of rotation of the motors 11 and 13 as shown in FIG. 1, it is possible to control the amount of movement of the driven pulley 6 and shuttle 4 in the direction of arrow X with high precision.

Next, a wire row 169 drives the slider 61 in the Y direction.
This will be explained in detail with reference to FIGS. 1, 3, and 13.

As shown in FIG. 3, one end 69a of the wire rope 69 is fixed to the lower part of the auxiliary drive pulley IJ 64 by a clamper 26, and is threaded several times from there along a threaded groove provided on the outer periphery of the auxiliary drive pulley 64. Wrap it around the auxiliary tension pulley 66 for half a turn, fix the middle of the wire row 169 to the slider 61, and then wrap it around the auxiliary drive pulley 64 multiple times again, and fix the remaining end 69b to the top of the auxiliary drive pulley 64 with the clamper 26. do.

The wire row 169 is wound around the auxiliary drive pulley 64 multiple times, and the number of windings is the same as that of the wire row 13.7.
8, it goes without saying that the amount of rotation should be greater than the amount of rotation of the sub-drive pulley 64.

As shown in FIG. 1, the wire rope 69 provided in this way is sent out or wound up by the auxiliary drive pulley 64 that rotates together with the aforementioned driven pulley 6 that is rotated by the motors 11 and 13, and is then moved onto the slider. The amount of movement of 61 in the direction of arrow Y is controlled with high precision.

These wire ropes 3, 7, 8, 69 are preferably made of stainless steel, steel, or resin, but other power transmission members such as belt chains 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.

27 (see Fig. 4) is a tool holding shaft, and the slider 61
It is installed at the tip of the bevel gear 3 so that it can slide vertically (hereinafter referred to as the Z direction for convenience) and rotate freely.
0, this is done via the bevel gear 31. 32~
34 is a bearing. Reference numeral 35 indicates a working tool (in the embodiment shown in FIG. 1, a two-jaw jaw is shown, but other tools may also be used, such as a suction cup chuck, a driver bit, a welding torch, etc., and the tool is not limited to this type). Work tools 35. It is installed at the tip of the tool holding shaft 27.

As shown in FIG. 1, the power tool 35 is driven by the motor 29 built into the arm 5 or by the air cylinder 28, and is driven to rotate in the direction of the twisting arrow α and to move up and down in the direction of the arrow Z. (Depending on the type of work, the rotational drive and the vertical drive may be omitted or changed.) A frame 36 holds the guides 1 and 2 together with another frame 12. 37.
Support columns 38 hold the frames 12 and 36, respectively.

The effect will be explained.

According to the above robot, the shuttle 4 is driven by the motors 11, 13 via the wire ropes 3, 7.8 to the linear guides 1. 2 in the direction of arrow X, or by rotating the driven pulley 6 and the sub-drive pulley 64.
1 slides on the sub guides 62 and 63 in the direction of arrow Y. In this way, a linearly driven robot with two degrees of freedom is constructed.

In FIG. 1, in order to slide the shuttle 4 by a sliding amount XI, the wire rope 7 is
．． 8 is rotated by the driven pulley 6 by the rotation of the driving pulleys 9 and 15.
The wire rope 3 is sent out to the side or wound up from the driven pulley 6 side, and the wire rope 3 is moved to the drive boob I79.
Wind it up from the idle pulley 51 side with 15 rotations.
Alternatively, by sending it out to the idle pulley 51 side, the driven pulley 6 and the idle pulley 51 can slide the shuttle 4 without rotating. At this time, the driven boo 'J6.
Since the auxiliary drive pulley 64 does not rotate, the slider 61 can slide on the shuttle 4 while maintaining its position in the Y direction without moving on the auxiliary guides 62, 63.

On the other hand, only the slider 61 is slid by an amount Y in the Y direction.

When sliding the wire rope 7 by an amount corresponding to the sliding amount Y1, 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, and the wire rope 18 is moved to the drive pulley 9 in the same manner as described above. It is wound up from the driven pulley 6 or sent to the driven pulley 6 by the rotation of . Then, without moving the shuttle 4, it is possible to rotate only the driven booby lJ6 and the sub-drive pulley 64 while maintaining the same position in the X direction, and thereby the slider 61 can be moved in the Y direction. At this time, the wire lobes 3 are 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 pulley 9.

Furthermore, the wire ropes 3.7.
This can also be done simultaneously by sending out or winding up the drive pulleys 9 and 15 by rotating the drive pulleys 9 and 15.

That is, the motors 11 and 13 can linearly drive the shuttle 4 in the X direction while cooperating with each other, and can also drive the slider 61 linearly in the Y direction.

Note that the working tool 3 provided at the tip of the tool holding shaft 27
5 can obtain a rectangular working area 39 as shown in FIGS. 1 and 14.

Thus, 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.

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. It is also possible to make one rope by connecting the wires and further connecting the end 7b of the rope 7 and the end 8b of the rope 8 fixed to the driven pulley 6 through the inside of the driven pulley 6. (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 ropes 3, 7.8 can be connected, and one end 7b and 8b can be connected and wrapped around the driven pulley 6 in the same manner as described 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 FIG. 11) It is also possible to drive the driven pulley 6 with one rope in this way, but in this case, the driving pulleys 9, 15. It goes without saying that the rope must be wrapped around the drive 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 pect with teeth on both the front and back sides, or a chain, instead of the above-mentioned lobes,
The amount of winding of the power transmission member around each pulley is about half a turn, which is enough to ensure that each pulley is interlocked. (1st
(See Figure 2) In the above embodiment, the drive pulleys 9, 1
5 was driven by two motors 11 and 13, but by connecting one or two additional motors to one or two of the tension pulleys 16 and 17, a total of three
The shuttle 4 and the slider 61 can also be driven by one or four motors.

It goes without saying that the same driving as described above can be achieved by combining at least one of the pulleys 15, 17 with a driving pulley and at least one of the pulleys 9, 16 with a driving pulley.

Furthermore, in this embodiment, the sub-drive pulley 64 is disposed below the driven boob J 6, but the sub-drive pulley 64 is arranged above the driven pulley 6, or integrally with the driven pulley 6, or is connected to a gear or the like for driving force transmission. Even if it is arranged through an element, it can be driven in the same way.

Furthermore, it goes without saying that the X direction and the Y direction do not necessarily have to be perpendicular directions, and can be changed as appropriate depending on the workability. By rotating and fixing, changes can be made depending on workability.

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 does not require a motor 11.13 to be mounted on the shuttle 4, and the shuttle 4 and the slider 61 are connected to each other via wire ropes 3, 7, 8.69. As a result, the weight of the sliding movement part, that is, the shuttle 4, is extremely light, and the inertial load applied to the drive motors 11 and 13 is reduced, and in addition, the two drive motors 11 and 13 cooperate with each other. The shuttle 4 and slider 61 can be driven while
Compared to the case where each operating part (shuttle 4, slider 61) is driven by a motor provided exclusively for each, it is twice as much (motor 1, 1, 1, 2).
13 with the same output), high-speed operation (high acceleration, high-speed operation) is possible, so the robot can perform the work in a high cycle.

Second, the robot according to the present invention is capable of high-speed operation because its operating parts are lightweight, and the power transmission member is considerably long due to operational and manufacturing reasons such as a ball race or rank and pinion. Since it is not necessary to use a device that is limited to short dimensions, as shown in Fig. 14,
Since the work area 39 is rectangular and the length of each side can be determined arbitrarily, a large number of workpieces can be arranged linearly, and the work area is approximately semicircular in conventional horizontally articulated robots. Compared to 40, the floor space and robot working area can be used more efficiently, and the placement of workpiece parts is easier to perform.

(Only the shaded area 41 of the approximately semicircular work area 40 of the conventional robot is the area where the workpiece can be placed linearly.) Thirdly, the robot according to the present invention is capable of high-speed operation. Since the work area 39 is rectangular and the length of each side can be determined arbitrarily, the number of robots required can be reduced, and maintenance is easy because the number of robots is small.

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 drawings]

FIG. 1 is a bird's-eye view of 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. FF sectional view, Figure 5 is C in Figure 1
-C sectional view, FIG. 6 is a sectional view taken along line D-D in FIG. 1, FIG. 7 is a view from E in FIG. FIG. 14 is a plan view showing the working areas of the robot according to the present invention and the conventional horizontally articulated robot. 1.2... Guide, 3, 7.8.69... Wire rope, 4... Shuttle, 6... Driven pulley, 11.
13...Motor, 9.15...Drive pulley, 16.
17... Tension pulley, 12.36... Frame, 51... Idle pulley, 61... Slider,
62.63...Subguide, 64...Subdrive pulley,
66... Sub tension pulley. Representative Patent Attorney Takashi Okabe Figure 2 Figure 4 ■'' Figure 5 Figure 7

Claims (3)

[Claims] (1) A shuttle slidably provided on a linear guide supported by a frame, a rotatable driven pulley and an idle pulley provided on the shuttle, and a linear sub-guide supported by the shuttle. a slider slidably provided above, a sub-drive pulley that engages with the driven pulley and rotates, and transmits rotation of the sub-drive pulley to the slider to drive the slider linearly on the sub-guide. an auxiliary power transmission member, two drive pulleys rotatably provided on the frame, two tension pulleys rotatably provided on the frame, and the driven pulley provided on the drive pulley, tension pulley, and shuttle; a power transmission member that connects an idle pulley and a sub-drive pulley so that they all rotate together; the driven pulley is rotatably driven by the drive pulley via the power transmission member; and the shuttle is driven by the drive pulley. An industrial robot characterized in that it is linearly driven by receiving driving force from a pulley via the power transmission member at the driven pulley or the idle pulley. (2) The industrial robot according to claim 1, wherein the drive pulley is rotationally driven by a drive source fixed to the frame. (3) The industrial robot according to claim 1, wherein the tension pulley is rotationally driven by a drive source fixed to the frame.