JPS62203785A - Orthogonal 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 orthogonal robot having a structure in which a hand equipped with a processing tool and the like is moved in a straight line.

``Prior art'' An orthogonal robot with a structure that moves a hand equipped with a processing tool, etc. in a straight line has an elongated male screw, and a hand consisting of a male screw is screwed onto this male screw to move the hand in a straight line. It is configured to move.

This configuration is compact, has relatively good accuracy, and is a common structure.

However, in order to rotate a long and thin male screw at high speed,
As the number of rotations increases, it swings sideways, so there is a critical speed, and there is a limit to the number of rotations.

Therefore, when moving the hand at high speed, it must be within this critical speed range.To move the hand at high speed within the critical speed range, either increase the diameter of the male screw, or Either the pitch of the screw could be increased, but both were disadvantageous conditions for achieving compactness and high precision.

"Problems to be Solved by the Invention" The present invention has been made in view of the above circumstances.
The objective is to obtain a compact orthogonal robot that can be controlled at high speed by configuring a male screw that does not swing sideways even when rotating at high speed.

"Means for Solving the Problems" The present invention applies an axial tensile force to a rotating male screw connected to a control motor, and provides a hand on the male screw that is screwed to the male screw. This solves the problem.

"Function" Since the axial tensile force generated in the male screw is perpendicular to one lateral edge of the male screw, it is possible to prevent the male plate from swinging out.

Since the male plate does not twist, there is no problem even if the rotation speed is increased, and the moving speed of the female plate screwed together can be increased even with a small screw pitch, making it possible to control the small size. An orthogonal lohot with good properties can be constructed.

``Embodiment'' This invention will be described based on an embodiment shown in the drawings. The figure is a vertical sectional view of a main part of an orthogonal robot according to an embodiment of the invention.

In the figure, the orthogonal robot is equipped with two kites 3.4 attached between two fixed blocks 1.2, and a hand 5 that reciprocates while being guided by the guide 3.4. .

Then, the male plate 6 is inserted into the guide 3 so as to pass through the hand 5.
．． 4, and the male plate 6 has a screw 7.
A female plate 8 is formed on the hand 5 to be screwed onto the screw 7.

Roughly speaking, a control motor 9 is connected to one end of the male plate 6 and is configured to rotate the male plate 6.

A bearing 10 is provided at the other end of the male plate 6, and a stopper 11 is provided at the end of the male plate 6 so that the male plate 6 cannot be handled from the bearing 10.

The bearing 10 is configured to be pushed in the axial direction by a push screw 12 at the same time as it is fitted into the block 2,
The male plate 6 is strongly pushed toward the end in the axial direction by the push screw 12.

With such a configuration, the orthogonal robot can move the hand 5 in the axial direction from the threaded engagement between the male plate 6 and the female plate 8 by rotating the control motor 9.

Since the male plate 6 is strongly pushed toward the end in the axial direction by the push screw 12, that is, a tension is applied to it, it is possible to prevent the male plate from being removed in a direction perpendicular to the tension direction.

Therefore, even if the male plate 6 rotates at a high speed, there is no danger of dangerous speeds due to photographing, and the male plate 6 can be easily rotated at a high speed.

Therefore, even if the pitch of the male plates 6 is small, the hand 5 can be moved at high speed, and workability can be improved.

Further, even if the male plate 6 is made thinner, there is little vibration due to the tension exerted by the push screw 12, and the critical speed becomes extremely high, so that the hand 5 can be moved at high speed and with high precision.

"Effects of the Invention" According to the present invention, even if the diameter of the male plate is made small, there is little deformation and high speed rotation can be achieved, making it possible to obtain an extremely small Cartesian robot with good controllability. , its effects are extremely valuable.

[Brief explanation of drawings]

The figure is a longitudinal cross-sectional view of essential parts of an orthogonal robot according to an embodiment of the present invention. 3.4... Guide, 5... Hand 1.6... Male plate, 7... Screw, 8... Female plate, 9... Control motor, 10... Bearing, 11 ···stopper,
12... Push screw.

Claims (1)

[Claims] An orthogonal robot that moves a hand in a straight line, which applies an axial tensile force to a rotating male screw connected to a control motor, and is characterized in that the hand is attached to a female screw that is screwed into the male screw. Cartesian robot.