JPS61219588A - 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 having a brake device.

Background of the Invention In recent years, the use of industrial robots has increased rapidly, and in particular, robots that move in a straight line are being used in a vertical direction. Improvements have been made.

As a conventional technique, for example, there is one shown in Japanese Patent Application No. 57-95323, and an example of this conventional industrial robot will be described below with reference to the drawings.

FIG. 2 is a diagram showing a cross section of a conventional industrial robot and a brake controller circuit. Here, reference numeral 1 is a moving block, and a feed screw nut 2 as a conversion means is fixedly provided approximately in the center of the block. It can be screwed onto the screw 3.

4 is a kite provided parallel to the axial direction of the feed screw 3. 5 is an upper support block of the guide 4, 6 is a negative side support 10, and a positive side support block similar to 5.

Both support blocks 5.6 rotatably hold the feed screw 3.

A brake 17 is fixed to the lower support block 6. Inside the casing 7 of the brake 17, an excitation coil 8 and a spring 9 are built.

Reference numeral 10 denotes an armature, which can move coaxially with the feed screw 3, but cannot move in the direction of rotation. A rotor 11 rotates integrally with the feed screw 3 in the rotational direction, but is free in the axial direction.

Reference numeral 12 denotes a motor, which is connected to the feed screw 3. A brake controller 13 energizes or de-energizes the excitation coil 8 by switching contacts 14 and 15 depending on the situation. 16 is a power source.

With the above configuration, when rotating the motor 12, the contacts in the roller 13 of the brake controller 1 are switched to the 14 side to energize the excitation coil 8, which overcomes the force of the spring 9 and moves the armature 10 toward the excitation coil 8 side. to release the rotor 11.

On the other hand, when the power to the motor 12 is cut off, the contacts in the brake controller 13 are also switched to the 15 side at the same time.

Then, the armature 10 is moved to the rotor 1 by the force of the spring 9.
1 is pressed against the casing 7 of the brake 17, and rotation of the feed screw 3 is prevented. Therefore, the action of the movable block 1 is also prevented, and the movable block IJ block 1 will not fall even in a mixture where the feed screw 3 is installed in the vertical direction.

However, in the conventional configuration, the player 17 operates when teaching the [l button] ~, and the movable block [ ]Tsuku1
It is impossible to do so without directly moving it with human hands. On the other hand, when an attempt is made to cut off the action of the brake 17 and all -C supply power is cut off, the brake works completely, and even in this state it is impossible to move the movable block 1 directly by hand. For this reason, it is necessary to energize the motor 12 and drive the motor 12 while displaying the number, which is dangerous.
Also, there are problems that require a lot of time in numerical calculations.

SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide a method that eliminates dangers in teaching and allows direct teaching easily by human hands.

Means for Solving the Problems In order to solve the above problems, the present invention uses rotational drive! a motor that rotates, a converting means that converts the rotation into a linear motion, a moving block that is moved linearly by the converting means,
a brake attached to the conversion means or motor shaft;
A player controller that releases the brake during normal motor drive, operates the brake at maximum braking force when the motor driving IJJ power is cut off, and can arbitrarily set the braking force at other times such as during teaching. It is equipped with the following.

Effect of the present invention: Due to the two-distribution structure, the force of the movable block to fall can be offset by adjusting the braking force of the brake, and when the movable block is to be moved directly by hand, the motor Even when the drive power is turned off, the moving block does not fall and can be held in any desired position.

Embodiment Hereinafter, an industrial robot according to an embodiment of the present invention will be described with reference to FIG. 1, with the same numbers assigned to the same members as in FIG. 2. Reference numeral 1 denotes a moving block, and a feed screw nut 1-2 is fixedly provided at approximately the center thereof, and this feed screw nut [-2 can be screwed into the feed screw 3.

4 is a guide provided parallel to the axial direction of the feed screw 3;
is a lower support block similar to the upper support block 5. Both support tabs 5 and 6 rotatably hold the feed screw 3.

Reference numeral 17 denotes a lug, which is fixed to the lower support block 6. Inside the casing 7 of the brake 17, 1iiiIJ
It has a built-in ltk coil 8 and spring 9.

Reference numeral 10 denotes an Amarch core, which is movable coaxially with the feed screw 3, but cannot be moved in the rotational direction. A rotor 11 rotates integrally with the feed screw 3 in the rotational direction, but is free in the axial direction.

Reference numeral 12 denotes a motor, which is connected to the feed screw 3. 21 is a plate 4]nt [1-ra, and by switching the three contacts 22, 23, and 24 depending on the case, the excitation 1i
1. Energize or cut off power to Ile 8. 25 is the excitation coil 8
This is a player supply voltage adjustment device that changes the voltage applied to the player, and is composed of a variable resistor. 26 is a power source.

With the following configuration, to rotate the motor 12, switch the contacts in the brake controller 1 to the roller 21 to the 22 side, energize the coil 8, overcome the force of the spring 9, and rotate the armature 10. Pull the magnetic coil 8 toward the rotor 11.
to be released.

On the other hand, when the power to the motor 12 is cut off, the contacts in the brake controller 21 are also switched to the 23 side at the same time.

Then, the Amadi core 10 is pushed into the rotor 1 by the force of the spring 9.
1 is pressed against the casing 7 of the brake 17, and rotation of the feed screw 3 is prevented. Therefore, the action of the movable block 1 is also prevented, and the movable block 1 will not fall even when mixing with the feed screw 3 installed in the vertical direction.

Further, when teaching, the contact in the brake controller 21 is switched to the 24 side, and the power to the motor 12 is cut off. The brake supply voltage adjusting device 25 is adjusted in advance so that the braking force is balanced with the torque generated in the feed screw 3 when the movable block 1 is about to fall. Suddenly, mobile proc 1 falls downward,
Rotor 11 is Amaji 1j no 10 J) c11 noki 1
Since the feed screw 3 rotates 1111 due to the force of being pressed against the cooming 7 of 7, it is held. That is,
This holding force completely excites the electric current 8 (;
The play-1-supply power f(: Kl!l adjustment device 25 is adjusted so that it is reduced by the pushing force generated when the moving block 1 is cut off by its own weight. It will be held at any position within the movement range as if it had been lost.Therefore,
Move your hand to the position you want to teach! In II, it is possible to move the dt contact and contact moving block 1, and it is safe because the power supply to the motor 12 is completely cut off.

According to the present invention, a motor that provides rotational drive, a first conversion stage that converts the rotation into linear motion, and a moving block that is moved linearly by the conversion means.
A brake attached to the converting means or the motor shaft, the brake is released during normal motor drive, and the brake is operated with maximum braking force when the motor drive power is cut off, and At times other than the above, such as during teaching, the brake is equipped with a controller that allows the braking force to be set arbitrarily.During normal operation, it operates as if there were no brake at all.
In the event of a power outage, the robot can be stopped quickly, and when teaching, even if an external force such as gravity is constantly applied to the moving block, it can be used in an emergency situation just like when no external force is applied to the moving block. You can easily move the moving block.

[Brief explanation of the drawing]

FIG. 1 shows a cross section and a circuit of an industrial robot according to an embodiment of the present invention, and FIG. 2 shows a cross section and a circuit of a conventional riding robot. 1... Moving block, 2... Natsu I for feed screw,
3...Feed screw (conversion means), 12...Motor, 1
7...Brake, 21...B1 controller, 25...Brake supply voltage regulator -〇 -

Claims (1)

[Claims] 1. A motor that provides rotational drive, a conversion means that converts the rotation into linear motion, a moving block that is moved in a straight line by this conversion means, a brake attached to the conversion means or the motor shaft, and a normal motor drive A brake controller is provided which releases the brake at times, operates the brake at maximum braking force when the motor drive power is cut off, and can arbitrarily set the braking force at other times such as during teaching. An industrial robot featuring: