JPS6377676A - Industrial uniaxial robot - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention: Details/ρ Explanation of 191 from 31 (Field of Application by Q Writer) The present invention relates to an industrial uniaxial robot that positions an automated production machine in the direction of linear motion.

(Prior art) In such a conventional robot, a working tool or hand (tool) is attached to the tip of a member that moves back and forth linearly.
There are some that attach to the device and appear in a relatively narrow space to take out items. This type of robot is known to have a spline shaft fixed to a nut screwed onto a screw shaft driven by a screwdriver. The spline shaft is divided into two different shafts.

That is, in FIG. 6, when the motor 2 is fixed to the housing 1, a screw shaft 3 which is rotationally driven by the motor 2 is supported by the housing 1, and a nut 4 is screwed into the screw (1 tooth 3). At the same time, one end of the nut 4 is connected to the nut 4 via a bracket, and the other end of the spline is It is supported by a spline bearing 6 fixed to the housing 1. A tool is attached to the tip of this spline 11 bit 5 (the lower part η1 in Fig. 6), and the spline shaft 5 is moved to the bearing 6 by motor drive.
By moving the tool up and down, the tool can be moved in and out, allowing work to be done even in narrow spaces.

However, in the conventional type, since the screw shaft and the spline shaft are placed on different axes, many brackets, etc. are required to support them, and it is difficult to significantly reduce the size of the suspension structure. There is a limit to the reduction of 1,000, and the influence of the inertial property i4 cannot be ignored. In general, since it is not an Ii, ] axis, there is a high possibility that a bending moment will occur when a reaction force is applied to the work, and a structure that is as robust as 1 is required to withstand this.As a result, the above-mentioned It becomes even more difficult to solve the problem.

(Purpose of the Invention) The present invention has been made in view of the above-mentioned problems, and by providing a screw shaft and a spline shaft in the shape of a core and making them freely expandable and contractable, the size of the screw shaft and the spline shaft are significantly reduced. The purpose is to promote single-axis robots for industrial use, which can be used for industrial purposes.

(Structure of the Invention) In the present invention, the screw shaft is driven overnight, so that the put screwed onto the screw shaft linearly reciprocates.
In the case of single shaft [], the output shaft of the motor fixed to the housing is connected to one end of the screw shaft, and a hollow rotation-stopped shaft is provided around the outer periphery of this screw shaft and concentrically with the screw shaft. One end of the shaft is fixed to a nut screwed onto the screw shaft, the other end is supported by a spline bearing attached to the housing, a tool is attached to the tip, and the other end of the screw shaft is slid into the hollow inner wall of the shaft. It was supported.

(Example) An example of the present invention will be described based on FIGS. 1 and 2. A motor 2 is fixed to a housing 1, and an output shaft of the motor 2 is connected to one end of a screw shaft 4 via a coupling 3. The threaded shaft 4 is provided with a concentrically hollow shaft 5 that is rotatably fixed, for example, provided with a spline (hereinafter referred to as a "spline shaft"), and one end of this spline shaft 5 is connected to a nut 6 screwed onto the threaded shaft 4. Fixed. This nut 6 has a built-in ball bearing, has low sliding resistance, and has very little backlash. A bearing holder 8 is fixed to the tip (lower end in the figure) of a shilling-shaped cover (part of the housing) 7 extending from the housing 1, and a ball spline bearing 9 is installed inside the bearing holder 8. The ball spline bearing 9 supports the other end of the spline shaft 5. This ball spline bearing 9G, as shown in Fig. 2,
For example, a plurality of balls 9a are built in in the axial direction and on three radial directions, and grooves 9b into which the balls 9a fit are formed in the axial outer peripheral surface of the corresponding spline shaft 5. Further, one end (upper end) of the screw shaft 4 is supported by the housing 1 through a bearing 10, and the other end (lower end) 4a is slidably supported on the hollow inner wall of the spline shaft 5 via a bearing 4b. A shaft 11 to which a tool (not shown) is attached is fixed to the tip of the spline shaft 5.

In the figure, 12, 13, and 14 are dampers made of elastic material, and 15 is a sensor for position detection.

In the above configuration, when the screw lN14 is rotated by driving the motor 2, the nut 1-0 screwed thereon is fixed to the spline shaft 5 which is prevented from rotating, so that the put 6 and the spline shaft are rotated. 5 moves in the direction of the screw axis. At this time, the spline shaft 5 is guided by the ball spline bearing 9 and extends and retracts linearly with respect to the screw shaft pen or the housing 1. Thus, by controlling the drive of the motor 2, the spline shaft 5 can be moved and the positioning control 2a can be controlled, and desired work can be performed. Here, as in the present invention, screw @
4 and the spline shaft 5 are arranged concentrically, compared to the conventional case where the shaft center is 514, there is no need for a bracket etc., making it smaller! It is possible to increase the number of layers to 11.

Figures 3 and 4 show an example of the use of the above single shaft [1 pot].

In other words, Figure 3 shows the tip joint A of the horizontal multi-joint robot A.
1 shows the case where the uniaxial robot B of the present invention is attached in the 7@ direction to obtain Z-axis (vertical direction) motion, and FIG. 4 shows the case where the uniaxial robot B of the present invention is attached to the rotation axis C of the robot ,
This is the case when you get a pick and brace action. They are often used in combination in this way, and therefore, the smaller the unit attached to the tip and the lighter the V, the less the movement will be affected even in a narrow space, and there will be no restrictions on usage. , the inertia M is reduced and precise position control becomes possible. In addition, the screw shaft 4 and spline 4dl
5 are provided concentrically rather than on different axes,
The occurrence of bending moments due to reaction forces during work can also be prevented.

Next, a further embodiment of the present invention will be described with reference to FIG.

In this embodiment, air can be supplied to a space 16 between a damper 14 and a damper 13 having a piston function, between a V-shaped cover 7 having a cylinder function and a spline shaft 5. is different from the above embodiment. That is, compressed air is supplied to the space 16 from an air port 19 via a regulator 17 and a relief valve 18, and air in the space above the damper 13 can be exhausted through a muffler 20 serving as an exhaust hole.

In this configuration, when the robot is used vertically, especially Il! If a city fIt object is attached to 1111, [
Combined with the dead weight of 1 pot, a large negative force 4 will be applied to the motor 2, but by supplying air to the space 16, backup force of the motor 2 can be obtained, and the vertical direction Positioning can be performed at 111''.

(Effects of the Invention) As described above, according to the present invention, a rotationally stopped shaft is provided concentrically with the screw shaft driven by the motor, and this shaft is fixed to a nut screwed onto the screw shaft. , the above-mentioned shaft is made to be able to extend and contract 4 [19 degrees] in the same center as the screw shaft, and does not require a bracket, etc., compared to the conventional one with a shaft center of 11 yen. , the body structure can be made significantly smaller and lighter, and the tip of the robot can therefore be easily inserted even in narrow spaces. 8. There are fewer restrictions on the application, and there is also a reduction in the Since the suspension is smaller, the accuracy of position control can be improved, and bending moments are no longer generated due to reaction forces during work, making it possible to further reduce the weight.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view of an industrial uniaxial robot according to an embodiment of the present invention, FIG. 2 is a cross-sectional view taken along the [-II line in FIG. 1, FIG.
FIG. 4 is a diagram that does not show an example of the use of the same [1 pot], FIG. 5 is a sectional view showing another embodiment of the present invention, and FIG. 6 is a sectional view of the main part of a conventional single-layer robot. DESCRIPTION OF SYMBOLS 1...Housing, 2...Motor, 4...Screw shaft, 4b...Bearing, 5...Shaft, 6...Nut, 7...Cover (housing), 9... Ball spline bearing.

Claims (1)

[Claims] 1. In an industrial single-shaft robot in which the screw shaft is driven by a motor and a nut screwed onto the screw shaft moves back and forth linearly, the output shaft of the motor fixed to the housing is connected to one end of the screw shaft. , a hollow rotation-stopped shaft is provided concentrically with the screw shaft on the outer periphery of the screw shaft, one end of this shaft is fixed to a nut screwed onto the screw shaft, and the other end is attached to a spline bearing attached to the housing. What is claimed is: 1. An industrial single-axis robot, characterized in that the robot is supported and has a tool attached to its tip, and the other end of the screw shaft is slidably supported on a hollow inner wall of the shaft.