JPS637282A - 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 the Invention The present invention relates to an industrial robot with a Cartesian coordinate system.

BACKGROUND OF THE INVENTION In recent years, demand for industrial robots has been rapidly increasing as they are used for precision assembly, FMS, etc. The conventional orthogonal coordinate system industrial robot described above will be described below with reference to the drawings.

FIG. 7 is a perspective view of a conventional orthogonal coordinate system industrial robot;
FIG. 8 shows a cross-sectional view. 1 has a pair of linear transfer grooves 3 that hold the balls 2, and a guide rail that is fixed to the main body 6 with bolts 4;
A is a moving block that slides relative to the same direction as the motor 8.
Ball screw that converts rotational motion generated by into linear motion, 9
corresponds to the positioning sensor attached to the υ main body 5 by the mounting bracket 10, the moving block 6 corresponds to the transfer groove 3,
It has a groove 11 that cooperates with the transfer groove 3 to hold the ball 2,
A transfer surface 12 that holds the balls 2 in a circulating manner is formed. In other words, the guide rail 1, the moving block 6, and the balls 2
This constitutes a rolling bearing for linear motion. The orthogonal coordinate system industrial robot configured as described above has motor 8
By converting the rotational motion of
It has a structure in which it is fixed to the base 14 by poles 13a and 13b.

The problem that the invention seeks to solve However, the above configuration has the following problems.

(1) The guide rail 1 and main body 5 are not the same length for all models, and the length needs to be changed each time.
Therefore, it is necessary to change the design individually, which increases the cost.

(Sakaki: Because the gap between the moving block 6 and the main body 6 is small, if a foreign object such as a bolt falls, it will get caught between the moving block 6 and the main body 5, causing the moving block 6 and the positioning sensor 9 to
There is a risk of damaging it.

(Since the gap between the ends of the moving block 6 and the main body 5 is small, they interfere with each other due to dimensional errors and thermal deformation.

(4) The guide rail 1 is connected to the pace 1 via the main body 5 which is made of extruded material different from the guide rail 1 and the base 16.
6, a phenomenon similar to that of bimetal occurs due to temperature changes, causing warpage in the longitudinal direction.

(6) After attaching the main body 6 to the base 15, adjustment is required to obtain parallelism and perpendicularity to the guide rail 1.

Means to Solve the Problems In order to solve the above problems, the orthogonal coordinate system production robot of the present invention has a nozzing part that can move in one direction, and a housing that slides in the axial direction. A guide part that is provided so as to be movable and is pulled out or extruded in the axial direction so that the cross section perpendicular to the axial direction has the same shape, and a guide part that covers this guide part and has a cross section perpendicular to the axial direction that has the same shape. The cover part is formed by being pulled out or extruded in the axial direction so that the cover part becomes

Function The present invention can cope with changes in length due to the main body having the structure described above by simply determining the length of the main body guide rail and cutting it. Even if the movable block and the main body interfere due to dimensional errors, thermal deformation, etc., the side portions of the main body can be easily corrected by the grooves at the bottom of the main body. In addition, since the guide rail and the pace can be directly fixed, the main bodies made of different materials are sandwiched together, and deformation due to temperature changes can be prevented. Furthermore, perpendicularity and parallelism to the guide rail can be easily achieved by applying a positioning pin to the reference surface of the guide rail.

Embodiment Hereinafter, a Cartesian coordinate system industrial robot according to an embodiment of the present invention will be described with reference to the drawings.

In FIGS. 1 and 3, 21 has a pair of linear parallel transfer grooves 23 that hold balls 22, and bolts 24a,
24b, the mounting is done through the hole 21a and the hole 25a of the main body 26.
27 is a moving block that slides relative to the guide rail 21 in the same direction as the transfer groove 23; 28 is a pole screw that converts the rotational motion generated by the motor 29 into linear motion; 30 The positioning sensor 33 is attached to the groove 32 and the positioning sensor 3 is attached to the main body 25 by the plate 31.
A wiring groove for passing the lead wire 34 coming out from 0, 35 is the main body 2
When a foreign object falls inside the moving block 27 and the main body 2
5, and 36 is a relief groove between the moving block 27 and the main body 25.
If interference occurs in the gap 38 between the bending grooves 37a and 37b, which become the starting point for bending the side surface of the main body 25 outward.
, 37c.

37d is a mounting groove that allows attachment of an object to the outside of the main body 25 as an application. Groove 32 for mounting. Wiring groove 33. Relief groove 35° bending groove 36. and mounting grooves 37a and 37b.

37c and 37d are grooves in the main body 25 that allow the extruded material to be molded all at once. 38 is a gap between the moving block 27 and the main body 25.

Next, 41 is the X-axis of the industrial robot in the orthogonal coordinate system.

42 is the Y axis of the orthogonal coordinate system industrial robot, and 43 is the X
a bracket for mounting the Y-axis 42 on the shaft 41, 44a;
44b stands on the bracket 43 and is inserted into the hole 45 of the main body 25.
A positioning pin 47 that penetrates through and hits the reference surface 46 of the guide rail 21 is a pace for erecting positioning pins 44a and 44b for positioning the X-axis 41.

The structural features of the orthogonal coordinate system industrial robot configured as described above will be explained.

In FIG. 1, the positioning sensor 3o can be attached to the inner side surface of the main body 25, and the installation can prevent the positioning sensor 3o from being damaged due to biting of foreign objects. By providing the positioning sensor 30 at the above-mentioned position, there is an escape groove 35 with sufficient clearance so that even if a foreign object falls into the bottom of the main body 25, it will not get caught, and the main body 26 and the moving block. Gap 3 between 27
8 is very small, a bending groove 36 that makes it easy to bend the side surface of the main body 26 outward by forces X and Y in the direction of the arrows, and a mounting that allows attachment of a bracket etc. to the outside of the main body 26 are provided. The groove 37a is marked with a groove.

37b, 37C, and 37d, and each groove has a structure that can be extruded integrally with the main body 26, and the guide rail 21 is attached by being drilled in the main body 25 in line with the hole 21a (pole) 24a. , 24b allows the guide rail 21 and the base 26 to be directly fixed, and the hole 25a allows the main body 26, which has a different coefficient of thermal expansion, to form a side witch shape between the guide rail 21 and the base 26, which have the same coefficient of thermal expansion. The structure has a structure that undergoes very little deformation due to temperature changes, and positioning pins 44a and 44b are set up on the bracket 43 on the X-axis 41, and the holes 45 drilled in the main body 25 of the Y-axis 42 are passed through to form the reference of the guide rail 21. Surface 46
By applying this to the X-axis 41, the perpendicularity to the X-axis 41 can be easily obtained. Also, as shown in FIG. 6, a positioning pin 44a is placed on the pace 4 finish.

44b is erected, a through hole 45 is provided in the main body 25 in the same manner as the Y-axis 42, and a positioning pin 44a is provided.

44b against the reference surface 46 of the guide rail 21, it has a structure in which parallelism can be easily achieved.

In addition to the effects of the invention, the present invention has a special cross-sectional shape for the main body, so that when the stroke changes, the main body of the guide part 9 only needs to be cut to a determined length, and the main body of the guide part 9 can be cut to a certain length, thereby preventing the intrusion of foreign matter. Eliminates interference between the moving block and the main body, and
Even if they interfere with each other, it can be easily corrected.Since the guide rail and base can be directly fixed, deformation due to temperature changes can be minimized, and parallelism and perpendicularity can be easily achieved using pins. We can supply industrial robots with orthogonal coordinate systems.

[Brief explanation of the drawing]

Fig. 1 is a sectional view of an industrial robot in a Cartesian coordinate system according to an embodiment of the present invention, Fig. 2 is a sectional view of the main body, Fig. 3 is a side sectional view of the industrial robot, and Fig. 4 is the same. 6 is a sectional view of the Y axis in FIG. 4, FIG. 6 is a perspective view of the X axis, FIG. 7 is a perspective view of a conventional Cartesian coordinate system industrial robot, and FIG. 8 is a perspective view of the axis and Y axis. The figure is a sectional view of the same. 21...Guide rail, 21a...River/mounting hole, 22...Pole, 23...Transfer groove, 24a/Mountain...Port, 24b... ...Bolt, 25-9. ...Main body, 25a...Mounting hole, 26...Base, 27...Movement block, 28...Ball screw, 29...・
・Motor, 3o...Positioning sensor, 31
...Mounting plate, 32...Mounting groove, 33...Wiring groove, 34...
Sword wire, 35... Relief groove, 36...
Bending groove, 37a, 3 ends, 37C, 37d-...
Installation is in the groove, 38...Gap, 41...
-X axis, 42...Y axis, 43...Bracket, 44a. 44b...Positioning pin, 45...
Through hole, 46...Reference surface, 47...Base. Name of agent: Patent attorney Toshio Nakao and one other person Engraving of the drawings (no changes to the content) Figure 2 Figure 4 Figure 5 Figure 8 Procedures ``Amendment filed September 1985 - > Date

Claims (1)

[Claims] A housing part that is movable in one direction, and a guide part that is provided so that the housing part can be slidably guided in the axial direction, and that is pulled out or extruded in the axial direction so that the cross section perpendicular to the axial direction has the same shape. and a cover part that covers the guide part and is formed by being pulled out or extruded in the axial direction so that the cross section perpendicular to the axial direction has the same shape.