KR940003131B1 - Certesian coordinate type robot - Google Patents

Abstract

a base frame (8); the second frame (9) moving in x-direction on the base frame (8); the third frame (10) mounted on the third motor (11) and the third ball screw (12) for moving in y-direction on the frame (9); a ball screw nut (14) connected to the screw (12), a link member (15) connected to the screw nut (14), a bearing means (16) mounted to the linke (15); the first pulley (18) fixed at the center of a carpal joint (17), a motor means (20) for generating rotating power, the second pulley (21) rotated by motor (20), a belt member (22) transmatting rotating power from the first pulley (18) to the carpal joint (17).

Description

Cartesian Robot

1 is a cross-sectional view showing a robot applied to a conventional example.

2 is a perspective view showing a rectangular coordinate robot of the present invention.

Figure 3 is a front view showing the inner front of the third frame applied to the present invention.

Figure 4 is a left side view showing the inner left side of the third frame applied to the present invention.

5 is a right side view showing an inner right side of a third frame applied to the present invention.

6 is a plan view showing the inner plane of the third frame to be applied to the present invention.

* Explanation of symbols for main parts of the drawings

8: base frame 9: second frame

10: third frame 11: third motor

12: third ball screw 13: belt

14 ball screw nut 15 link member

16 bearing means 17 wrist member

18: first pulley member 20: motor means

21: second pulley member 22: belt member

The present invention relates to a Cartesian coordinate robot, and in particular, the wrist member to which the chucking means are inserted can be driven in the up and down direction (i.e., z-direction) and rotated at the same time so as to transfer the chucked parts to the chucking means. The present invention relates to a Cartesian robot that can be disassembled and assembled.

In general, the Cartesian coordinate robot is driven in the x-direction by the base frame in which the first motor and the first ball screw are disposed, the first motor and the first ball screw, etc. disposed in the base frame, and the second motor and the like. A second frame in which the second ball screw is disposed, the second motor and the second ball screw disposed in the second frame are driven in the y-direction, and the third motor and the third ball screw are disposed in the y-direction; And a wrist member disposed in the third frame and driven in the z-direction by the third motor and the third ball screw.

In the conventional rectangular coordinate robot configured as described above, the chucking means coupled to the wrist member is driven only in the up and down direction because the wrist member is driven only in the up and down direction, that is, the z-direction.

An example of such a conventional robot is Utility Model Application Publication No. 62-181387, filed on May 7, 1986 in Japan, and published on November 17, 1987 in Japan.

The robot according to Japanese Utility Model Application Laid-Open No. 62-181387 is provided with a work arm 12 'that can be retracted in the turning radius direction in the turning frame 8' as shown in FIG. The lifting column 1 'supporting the pivot shaft 9' mounted on the cylindrical shaft 8 'is cylindrical, and the shaft (9') is connected to the pivot shaft 9 'housed inside the cylindrical lifting column 1'. It is a circular coordinate robot apparatus which provided the pivot shaft drive mechanism 11 'which has 9') concentric drive shaft 11b 'and the reduction shaft 11a'.

That is, in the robot according to the conventional Utility Model Application Publication No. 62-181387, the working arm 12 'is driven in the direction of arrow AB shown in Fig. 1, and the turning frame 8' is turned in the direction of arrow CD. .

As a result, when assembling or disassembling parts that require rotation such as bolts or nuts, the working arm 12 'cannot be rotated and a separate dedicated machine or robot is required, resulting in a decrease in productivity and excessive investment costs. There were various problems, such as.

The present invention has been made in view of the above-described various problems, and an object of the present invention is to allow the wrist member to be rotated while being driven in the z-direction to easily transport and disassemble the parts requiring rotation. To provide a Cartesian coordinate robot.

In order to achieve the above object, the Cartesian coordinate robot according to the present invention includes a base frame, a second frame guided to the base frame and driven in the x-direction, and guided to the second frame and driven in the y-direction. A third frame in which a third motor and a third ball screw are disposed; a ball screw nut coupled to the third ball screw disposed in the third frame and driven in a z-direction; and connected to the ball screw nut. And a link member driven in the z-direction in conjunction with the ball screw nut, a bearing means disposed in the link member, and a wrist member having one end inserted into the inner diameter of the bearing means and a chucking means coupled to the other end. In the Cartesian coordinate robot, a first pulley member fixed to a central portion of the wrist member and the first pulley member and the monmon member are driven to rotate. The motor means, the second pulley member fixed to the motor means and rotated by the power of the motor means, and the second pulley member and the first pulley member are connected to each other to transmit power so that the wrist member rotates. Characterized in that consisting of a belt member.

According to such a configuration, the wrist member to which the chucking means is coupled may be driven in the z-direction by the third motor, as well as the parts rotated by the motor means and chucked to the chucking means.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 is a perspective view showing a rectangular coordinate robot of the present invention, Figure 3 is a front view showing the inner front of the third frame to be applied to the present invention, Figure 4 is a left side of the inner frame of the third frame applied to the present invention FIG. 5 is a right side view showing the inner right side of the third frame to which the present invention is applied. FIG. 6 is a plan view showing the inner plane of the third frame to which the present invention is applied.

2 to 6, reference numeral 10 denotes a third frame in which the third motor 11 and the third ball screw 12 are disposed and driven in the y-direction. And the third ball screw 12 are connected by a belt 13, the ball screw nut 14 is coupled to the third ball screw 12, the third motor 11 is a rotational power In this case, the third ball screw 12 is rotated and linked thereto so that the ball screw nut 14 is driven in the up and down directions, that is, the z-direction (H and I direction).

In addition, the link member 15 is integrally formed on the outer circumferential portion of the ball screw nut 14 or connected by means of welding or the like, interlocked with the ball screw nut 14 and connected in the z-direction (H, I, I). Direction), bearing means 16 are arranged in the link member 15.

In addition, one end of the wrist member 17 is forcibly fitted to the inner diameter of the bearing means 16, and the other end of the wrist member 17 is coupled with chucking means for chucking a component (not shown).

In addition, the first pulley member 18 is inserted into and fixed to the center portion of the sonmon member 17.

In the figure, reference numeral 20 denotes a motor means for generating power by fixing the second pulley member 21 to the motor shaft, and the second pulley member 21 and the first pulley member of the motor means 20 ( 18 is connected by the belt member 22 so that the rotational power generated by the motor means 20 is transmitted to the first pulley member 18 and the wrist member 17.

In the figure, reference numeral 9 denotes a second frame in which a second motor and a second ball screw are not shown so that the third frame member is driven in the y-direction, and 8 denotes the second frame 9. ) Is a base frame in which a first motor and a first ball screw are not shown so as to be driven in the x-direction.

Next, the effect of the rectangular coordinate robot according to the present invention configured as described above will be described.

First, when the third motor 11 disposed in the third frame 10 generates rotational power, the ball screw 12 rotates through the belt 13, and the ball screw 12 is rotated. The link member 15 connected to the ball screw nut 14 is driven by the ball screw nut 14 being driven in the up and down direction, that is, the z-direction (H, I direction in the figure) in conjunction with the rotation of the motor. The wrist member 17 is driven in the z-direction by being driven in the -direction (H, I in the figure).

In addition, the sonmon member 17 driven in the z-direction as described above, when the rotational power is generated in the motor means 20, the rotational power is transmitted to the first pulley member 18 through the second pulley member 21. Transmitted and rotated.

That is, the wrist member 17 is driven in the z-direction by the third motor 11 and the motor means 20 to be rotated (E, F directions in the figure) to the other end of the wrist member 17. The coupled chucking means is capable of rotating while being driven in the z-direction.

For this reason, when assembling or disassembling a component such as a bolt or a nut, the wrist member 17 is moved in the z-direction (H, I direction in the figure) and rotational movement (E, F in the figure) by control means (not shown). Therefore, it does not require a dedicated machine or robot to perform a separate rotary motion.

As described above, according to the Cartesian coordinate robot according to the present invention, the wrist member can be rotated while being driven in the z-direction, so that the parts requiring rotation can be easily transported and disassembled, thereby improving productivity. At the same time, there is an excellent effect of minimizing the capital investment.

Claims (1)

A base frame 8, a second frame 9 guided to the base frame 8 and driven in the x-direction, and a third motor guided to the second frame 9 and driven in the y-direction. 11) and the third ball screw 12 is coupled to the third frame 10 and the third ball screw 12 disposed in the third frame 10 are coupled to the drive in the z-direction A link member 15 connected to the ball screw nut 14, the ball screw nut 14 and driven in the z-direction in conjunction with the ball screw nut 14, and the link member 15; In the Cartesian coordinate robot consisting of a bearing means 16 disposed in the wrist member and a wrist member 17 having one end inserted into the inner diameter of the bearing means 16 and a chucking means coupled to the other end, the wrist member 17 A motor that generates power so that the first pulley member 18 and the first pulley member 18 and the wrist member 17 are generally fixed to the central portion. The second pulley member 21, the second pulley member 21 and the first pulley member are fixed to the means 20, the motor means 20 and rotated by the power of the motor means 20 Cartesian coordinate robot, characterized in that consisting of a belt member (22) for transmitting power to the wrist member (17) to rotate by connecting the (18).