JPS6137512Y2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to industrial robots, and in particular, to a novel improvement that enables each telescoping axis and rotation axis of a cylindrical coordinate robot to be driven by either electric or pneumatic drive. It is.

This kind of cylindrical coordinate robots that have been used in the past include robots that are driven by electric motors and robots that are driven by pneumatics. Although accurate positioning is possible, it is extremely expensive. On the other hand, although the pneumatic drive system is inexpensive, it has the drawback that it cannot accurately control any position. Furthermore, with the electric motor system, if the load is large and power is required, a load is placed on the motor, and the drive source becomes larger in proportion to the load. However, in general, when the volume occupied by the drive source is the same, a pneumatic drive source can produce more power than an electric motor drive source, and therefore, a pneumatic power source is advantageous for load applications because the drive source does not become large. Become.

As described above, electric motor drive systems and pneumatic drive systems have advantages and disadvantages, and conventional devices may have excessive specifications depending on the application, require a large drive source, or lack functionality, making them both economically and functionally difficult. too,
It could not be said that it was optimal for that purpose.

The purpose of this invention is to provide an extremely effective means to quickly eliminate the above-mentioned drawbacks.In particular, the unit parts of each telescopic shaft and each rotation shaft are of electric motor drive type and pneumatic drive type. Two types of models are available and can be replaced, and both are configured so that they can be used interchangeably.The design is designed to ensure that there are no excessive specifications or lack of functionality depending on the purpose of use, and the optimal design from both an economical and functional standpoint. This is something that can be provided by industrial robots.

Hereinafter, preferred embodiments of the industrial robot according to this invention will be described in detail with reference to the drawings.

Figures 1 and 3 are an overall view of an electric motor-driven industrial robot according to the present invention and a diagram showing each unit part, and Figures 2 and 4 are an overall view of the same pneumatic drive type industrial robot and each unit. It is a figure showing a unit part. What is indicated by number 1 in FIG. 3 is a frame having a cylindrical part 2, and this cylindrical part 2
Inside, a first telescopic shaft 3 is connected to a feed screw 4 and an electric motor 5.
It is provided so as to be movable in the axial direction via the shaft, forming a first telescopic shaft unit part A.
A first swing drive section 7 is provided on the flange 6 of the frame 2, and a ring-shaped swing output section 8 rotatably provided on the first swing drive section 7 can be rotated by an electric motor 9. This forms the first rotating unit part B.

A second telescoping shaft 10 is provided at the upper end of the first telescoping shaft 3 and is configured to be extendable in a direction perpendicular to the axial direction of the first telescoping shaft 3, and a sliding shaft provided therein. Reference numeral 11 is provided to be slidable in the direction of arrow A by the operation of electric motor 12, and forms a second telescopic shaft unit portion C. A rotatable second pivot shaft 19 and a tool mounting portion 13a are provided at one end of the sliding shaft 11.
A second rotating part 13 having a
The second rotating unit part D is configured to be rotated by
is formed.

One end of a swing coupling device 16 having an L-shape as a whole is fixed to one end of the frame 15 of the second telescoping shaft 10, and the swing transmission section 17 at the other end is fitted into the holding hole 18 of the swing output section 8. are combined.

In the above-described configuration, the operation of the industrial robot according to the present invention will be described. First, by operating the electric motor 5, the feed screw 4 is rotated and the first telescopic shaft 3 is moved in its axial direction. As a result, the second telescoping shaft 10 is moved in the vertical direction, and by operating the electric motor 9, the swing output section 8 is rotated, and the second telescoping shaft 10 can be pivoted via the swing coupling device 16. Therefore, this second telescopic shaft 10 can be rotated at any height position. Further, the second pivot shaft 13 can be pivoted by operating the electric motor 14 at any height and pivot position of the second telescopic shaft 10.

The embodiments described above have described a drive system using an electric motor, but next, a drive system using air pressure as shown in FIG. 4 will be explained. Note that the same parts are given the same reference numerals.

In FIG. 4, the reference numeral 1 indicates a frame having a cylindrical portion 2.
Inside, a first telescopic shaft 3 is provided so as to be movable in its axial direction via a rod 20 and a pneumatic cylinder 21, forming a first telescopic shaft unit part A. A first swing drive unit 7 is provided on the flange 6 of the frame 2, and a ring-shaped swing output unit 8 rotatably provided on the first swing drive unit 7 is connected to the air pipe of the swing cylinder 22 of the frame 8a. It has a configuration that can be rotated by compressed air sent from 23, and forms a first rotating unit part B.

A second telescoping shaft 10 is provided at the upper end of the first telescoping shaft 3 and is configured to be extendable in a direction orthogonal to the axial direction of the first telescoping shaft 3. forms a second telescopic shaft unit C that is slidable in the direction of arrow A by the operation of the pneumatic cylinder 24. A second rotating part 13 having a rotatable second rotating shaft 19 and a tool attachment part 13a is attached to one end of the sliding shaft 11, and an air pipe 25
The second rotating unit D is configured to be rotated by a rotating cylinder 26 to which a rotating cylinder 26 is connected.

One end of a swing coupling device 16 having an L-shape as a whole is fixed to one end of the frame 15 of the second telescoping shaft 10, and the swing transmission section 17 at the other end is fitted into the holding hole 18 of the swing output section 8. are combined.

In the above-described configuration, the operation of the industrial robot according to the present invention will be described. First, by operating the pneumatic cylinder 21, the load 20 is operated and the first telescopic shaft 3 is moved in its axial direction. Thereby, the second telescoping shaft 10 is moved in the vertical direction, and by operating the swing cylinder 22, the swing output section 8 is rotated, and the second telescoping shaft 10 can be pivoted via the swing coupling device 16. Therefore, this second telescopic shaft 10 can be rotated at any height position.
Further, the second pivot shaft 13 can be pivoted by operating the pivot cylinder 26 at any desired height and pivot position of the second telescopic shaft 10.

As described above, in this invention, each unit is composed of a drive section and its drive source, and is designed to be compatible so that the motor drive source and air drive source can be selectively used. Depending on the purpose of use, choose between electric motor drive as shown in Figures 1 and 3, or pneumatic drive as shown in Figures 2 and 4.
This type of robot can be switched extremely easily by simply replacing the unit, making it possible to widen the range of uses for this type of robot. Furthermore, in the configuration shown in this example, each unit is selected to be electric or pneumatic depending on the purpose of use, and in order to avoid over-specification, one device can be combined with electric and pneumatic units. It is possible to construct a unit section in which two units are installed together, and it is possible to obtain the effect of providing an economically advantageous industrial robot.

[Brief explanation of the drawing]

Figure 1 is an overall side view of an electric motor-driven industrial robot according to this invention, Figure 2 is an overall side view of an air-driven industrial robot according to this invention, and Figure 3 is an overall side view of an industrial robot driven by an electric motor according to this invention.
FIG. 4 is an exploded sectional view showing each unit part in FIG. 2; FIG. 4 is an exploded sectional view showing each unit part in FIG. A...First telescopic shaft unit part, B...First swing unit part, C...Second telescopic shaft unit part, D...
...Second swing unit, 1...Frame, 2...
Cylindrical part, 3... first telescopic shaft, 4... feed screw,
5... Electric motor, 6... Collar portion, 7... First swing drive section, 8... First swing output section, 9... Electric motor, 10
. . . 2 telescopic shaft, 11 . . . Sliding shaft, 12 . . . Electric motor, 13a . . . Tool attachment portion, 13 .
7... Rotation transmission section, 18... Holding hole, 19... Second rotation axis, 20... Rod, 21... Pneumatic cylinder, 22... Rotating cylinder, 23... Air pipe, 24... Pneumatic pressure Cylinder.

Claims (1)

[Claims for Utility Model Registration] Consisting of a first extendable and retractable shaft and its driving source,
A first swing unit section, which is comprised of a drive source for a first telescoping shaft unit section and a first swing output section provided on a frame of the first telescoping shaft unit section; and a first swing output section provided at one end of the first telescoping shaft. a second telescoping shaft unit section comprising a second telescoping shaft and its drive source; and a second swing unit section provided at one end of the second telescoping shaft and comprising a second swing shaft and its drive source. and a rotation coupling device for connecting the first rotation output section and the second telescopic shaft unit section, each unit section has two types of drive sources, an electric motor drive source and an air drive source. An industrial robot characterized in that each unit part can be selected and replaced according to the type of drive source.