WO2016190344A1

WO2016190344A1 - Multibase-type single-axis robot and multibase-type dual single-axis robot

Info

Publication number: WO2016190344A1
Application number: PCT/JP2016/065426
Authority: WO
Inventors: 純雄菅原
Original assignee: Ｓｋマシナリー株式会社
Priority date: 2015-05-26
Filing date: 2016-05-25
Publication date: 2016-12-01
Also published as: JPWO2016190344A1

Abstract

Provided is a single-axis robot in which a plurality of bases 11a-11e are assembled so as to face each other and to freely reciprocate along the lengthwise direction of the bases. A drive mechanism 21 has a movement element 23 that moves the bases reciprocally along the lengthwise direction of the base. One base 11a among two adjacent bases 11a, 11b has an attachment surface along the lengthwise direction thereof, and the drive mechanism 21 is attached to the attachment surface. The movement element 23 is connected to the other base 11b. The bases 11a-11e are connected via a link mechanism 31 so as to be able to reciprocate in an interlocked manner along the lengthwise direction of the bases. Due to this configuration, a compact single-axis robot can be provided while securing a large stroke.

Description

Multi-base type single-axis robot and multi-base type single-axis robot

The present invention relates to a multi-base single-axis robot and a multi-base double-axis single-axis robot that can be suitably used for positioning devices, moving arms, actuators, and the like.

As is well known, single-axis robots are widely used as means for transporting workpieces in the field of manufacturing automobiles and other various products. A typical example of this single-axis robot is disclosed in Patent Document 1 (Japanese Patent Laid-Open No. 07-276269).

The single-axis robot described in Patent Document 1 includes a nut member 9 to which a ball screw shaft 7 is screwed, a motor 11 that rotates the nut member 9, and a movable portion 3 that is integrally attached to the nut member 9. The movable part 3 is configured to move along the fixed rail 6 by forward / reverse rotation driving of the nut member 9, but the motor 11 has an axis of the ball screw shaft 7 with respect to the movable part 3. Arranged in the direction. When such a single-axis robot is used, the work unit mounting portion can be provided directly on the upper surface of the movable part 3, so that even if the work unit is mounted on the movable part 3, the entire robot is large in the height direction. Therefore, the space of the robot can be saved.

In the single-axis robot of Patent Document 1, since the motor 11 is disposed in the relay box 16 for storing signal lines, relay terminals, and the like, the relay box 16 functions as a motor storage case. The robot can be reduced in size, and from this point, the robot can be saved in space.

However, when trying to increase the stroke of the movable part 3 in the single-axis robot of Patent Document 1, the ball screw shaft 7 must be long, but in this case, the long ball screw shaft 7 is supported. Therefore, the support block (base) 8 is also increased in size. Therefore, in the single-axis robot disclosed in Patent Document 1, in order to increase the stroke of the movable part, it is required to avoid the lengthening of the robot.

In order to solve the above problems, the technique disclosed in Patent Document 2 (Japanese Patent Laid-Open No. 2006-043867) can be referred to. In order to obtain a large amount of movement with a simple low-floor structure, the multistage telescopic positioning movement device described in this document employs the following technical configurations (1) to (6).

(1) A pair of driven

transmission wheels

21 and 22 of a fixed column member 2 erected on one side of the base 1 is supported, and a linear motion guide groove 23 is provided vertically on the inner surface.
(2) A pair of

intermediate transmission wheels

32 and 33 are supported on the first-stage liftable movable member 3 extending a linear motion slide 31 that is slidably fitted in the linear motion guide groove 23, and the linear motion guide groove 34 is provided vertically.
(3) The intermediate stage elevating movable member 4 that is the same as the first stage elevating movable member 3 extending the full length of the linear motion slide 41 that is fitted in the linear motion guide groove 34 is provided. Combine movable members.
(4) A guide transmission wheel 71 supported on a fixed block 7 provided on the base 1 and a drive wheel 11 that can rotate integrally with a shaft are arranged vertically.
(5) A non-slip transmission band 6 whose start end is fixed to the last movable moving member 5 is wound in a meandering manner on each transmission wheel.
(6) The terminal end 62 of the non-slip transmission band 6 that has passed through the lower intermediate transmission wheel 52 of the final stage elevating movable member 5 is fixed to the starting end 62.

The multi-stage expansion / contraction positioning / moving device of Patent Document 2 can combine a plurality of elevating movable members by circulating a common non-slip transmission band in an endless manner. In this way, a large amount of movement can be obtained with a small device.

JP 07-276269 A JP 2006-043867 A

However, the multistage telescopic positioning and moving device of Patent Document 2 also has many problems as described below when diverted to a single-axis robot.
(A) A driving wheel or a transmission wheel is attached to the base 1 or a large number of the movable movable members 3 to 5, and a non-slip transmission band is wound around these wheels while meandering, so that the multi-stage movable movable member is expanded and contracted. The transmission means becomes extremely complicated.
(B) Since the non-slip transmission band is wound in a meandering manner, there is a drawback that the transmission band becomes longer. The long non-slip transmission band makes the device expensive, and also increases slack and elongation, which may cause errors in the transmission system.
(C) Since the non-slip transmission band, drive wheel, and transmission wheel are exposed to the outside, it is necessary to take care to ensure work safety and to prevent foreign matter from entering the transmission system. Consideration to do is necessary.

The present invention solves the above-described problems and provides a single-axis robot technology that can be made compact while ensuring a large stroke.

In order to solve the above-described problems, the present invention provides a multi-base type single-axis robot and a multi-base type single-axis robot having the following technical matters.
The first problem solving means of the present invention is:
(1) A plurality of bases, a drive mechanism, and a link mechanism are provided.
(2) The plurality of bases are combined so as to reciprocate along the longitudinal direction of the plurality of bases so as to face each other,
(3) The drive mechanism has a moving element that reciprocates the base in the longitudinal direction,
(4) Of two adjacent bases selected from the plurality of bases, one base has a mounting surface along the longitudinal direction of the base, the drive mechanism is mounted on the mounting surface, and The moving element is connected to the other base,
(5) Each base is connected via the link mechanism so as to freely reciprocate while interlocking with the longitudinal direction of the base,
(6) When the drive mechanism is operated to move the moving element back and forth in the longitudinal direction of the base, the base to which the moving element is connected and the other base are connected to the link mechanism. The multi-base type single-axis robot is provided that moves forward and backward along the longitudinal direction of the base while interlocking with each other (7).
The second problem solving means of the present invention is:
(1) A plurality of bases and a plurality of drive mechanisms are provided,
(2) The plurality of bases are combined so as to be reciprocable along the longitudinal direction of the plurality of bases so that the plurality of bases face each other,
(3) The plurality of drive mechanisms have moving elements that can reciprocate along the longitudinal direction of the plurality of bases,
(4) Each of the other bases excluding one base among the plurality of bases has an attachment surface along the longitudinal direction of the base, and the drive mechanism is attached to the attachment surface, and the drive The moving element is connected to each of the base to which the mechanism is attached and the adjacent base,
(5) When operating each driving mechanism to move each moving element back and forth in the longitudinal direction of the base, each of the bases to which the moving element is connected is the length of the base. The present invention provides a multi-base type single-axis robot characterized by moving forward and backward in a direction (6).
The third problem solving means of the present invention is:
(1) comprising two or more multibase type single axis robots selected from the multibase type single axis robot according to the first problem solving means and / or the multibase type single axis robot according to the first problem solving means;
(2) Provided is a multi-base type single-axis robot characterized in that the plurality of multi-base type single-axis robots are arranged so as to be capable of cooperating with each other (3). .

The multi-base type single-axis robot and the multi-base type single-axis robot according to the present invention have the following effects.
(A) A conventional single-axis robot used when moving a workpiece in a factory or the like is a single base type having only one base. In such a single base type single-axis robot, the stroke that can move the workpiece is limited within the range of the effective length of the single base. Therefore, the workpiece cannot be moved with a large stroke exceeding the limit amount. Since the single-axis robot of the present invention is a multi-base type having a plurality of bases, the total effective length of the plurality of bases can be the maximum stroke. Therefore, since the maximum stroke can be significantly increased, the ability of the single-axis robot for moving, transporting, positioning, etc., can be significantly improved.
(B) Moreover, the multi-base type single-axis robot of the present invention can be applied to work in a wide range of strokes from a short stroke to a long stroke, and the versatility is high. .
(C) In order to secure a stroke of “5 m” with a conventional single base type single-axis robot, a base longer than that, for example, a base with a total length of “5.5 m” is required. In the base type single-axis robot, for example, the length of one base is “5.5 m”, and the maximum stroke obtained based on the length is “left reciprocation stroke 5 m + right reciprocation stroke 5 m = 10 m”. A stroke of “maximum 20 m” and a stroke of “maximum 30 m” can be secured with three bases. Further, in the multi-base type single-axis robot of the present invention, each base that can reciprocate freely expands and contracts in the length direction. Therefore, if the total length of each base is "5.5 m", each base is "5 m". .5 m "contracted state, which can save a lot of space and provide a long stroke single axis robot with very compact size.
(D) In the multi-base type single-axis robot of the present invention, each base is connected via a link mechanism. However, since each base can be reciprocated by one drive mechanism, the number of components is reduced. The configuration can be simplified, and accordingly, labor saving and cost reduction of the assembly work of the single-axis robot can be achieved.
(E) The link mechanism used in the multi-base type single-axis robot of the present invention has a function of appropriately holding each base in a stopped state or an operating state, and therefore, each base is dispersed or detached. Is blocked.
(F) In the multi-base type single-axis robot of the present invention, when the other bases except for one base are reciprocated via the respective driving mechanisms, the amount of movement of each reciprocable base is individually determined. Therefore, it is possible to appropriately handle each base that can reciprocate according to the situation at the work site.
(G) The “multi-base type single-axis robot” of the present invention including two or more “multi-base type single-axis robots” can be obtained by cooperating a plurality of “multi-base type single-axis robots”. Work that cannot be accomplished by the group alone can be performed. Such a dual type robot can also handle each base that can reciprocate according to the situation at the work site.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of a multi-base type single-axis robot according to a first embodiment of the present invention, a longitudinal sectional view of main parts, and a front view of a partially cutaway state. FIG. 2 is a front view of a left-handed state and a right-handed state of the multi-base type single-axis robot of FIG. 1. It is the front view and principal part longitudinal cross-sectional view of the partially notched state of the multi-base type single axis robot by the 2nd Embodiment of this invention. FIG. 4 is a front view of the multi-base type single-axis robot of FIG. 3 in a left motion state and a right motion state. It is a principal part longitudinal cross-sectional view of 1st and 2nd embodiment of the multi-base type | mold double single axis robot which concerns on this invention.

A first embodiment of a multi-base type single-axis robot according to the present invention will be described with reference to FIGS.

Each component of the multi-base type single-axis robot shown in FIGS. 1 and 2 is made of a material having excellent mechanical characteristics. Typically these are made of a metallic material such as steel or aluminum. Some components may be made from synthetic resins (including FRP) or composite materials. In addition, off-the-shelf products (commercial products) are often used as components such as an electric motor, a transmission band, and a cylinder.

The multi-base type single-axis robot shown in FIGS. 1 and 2 includes a plurality of bases 11a to 11e, a drive mechanism wp21, and a link mechanism 31.

The bases 11a to 11e are long in any one direction among front and rear, left and right, and top and bottom. In the example of FIGS. 1 and 2, each of the bases 11a to 11e is long in the left-right direction of FIGS. Of the bases 11a to 11e, the lowermost base 11a has a solid or hollow cross section of a quadrangle. Each of the bases 11b to 11e other than the lowermost base 11a is an inverted U-shaped square channel type having an open bottom surface.

1 and 2, each of the other bases 11a to 11d except the base 11e has a pair of guide rails 12 attached to the upper surface. More specifically, the pair of guide rails 12 are provided on the upper surface front side and the upper surface rear side of each of the bases 11a to 11d. The pair of guide rails 12 extend along the left-right direction (longitudinal direction) in FIG.

As is clear from FIG. 1 (B), the channel-type bases 11b to 11e have grooves 13 on the front lower surface and the rear lower surface. More specifically, a groove-shaped member 14 having an open lower surface groove 13 is attached to the front lower surface and the rear lower surface of the bases 11b to 11e, and thus the grooves 13 are formed in the bases 11b to 11e. Has been. More specifically, each base 11b to 11e has two channel members 14 on the front lower surface and two channel members 14 on the rear lower surface, so that there are four for each base. These four groove-shaped members 14 having the groove-shaped members 14 are provided symmetrically on the left and right and front and rear. As can be seen from FIG. 1B, the distance between the left and right grooves 13 corresponds to the distance between the left and right guide rails 12, and therefore the guide rails 12 and the grooves 13 corresponding to each other are fitted. Although not shown, a sliding member having a sliding property or a rotatable rolling member (for example, a ball retainer) is usually interposed between the guide rail 12 and the groove 13. Often incorporated into the groove 13. Further, the groove 13 may be replaced with a roller or a wheel.

The multi-base type single-axis robot shown in FIGS. 1 and 2 includes a base 11b on the base 11a, a base 11c on the base 11b, a base 11d on the base 11c, and a base 11e on the base 11d. Bases 11a to 11e are stacked in multiple layers. In this case, the two bases adjacent to each other in the vertical direction are fitted so as to be relatively slidable between the guide rail 12 and the groove 13. Accordingly, the bases 11a to 11e are assembled so as to be reciprocally movable (stretchable) in the longitudinal direction of the base.

1 and 2, the drive mechanism 21 includes a screw screw shaft 22, a nut type moving element 23, an electric motor (motor) 24, and a coupling 25. The screw shaft 22 and the moving element 23 may be in the form of a well-known “ball screw” in which a screw shaft, a nut, and a ball are combined together. The electric motor 23 may be any selected from known motors such as an AC motor, a DC motor, a servo motor, and a stepping motor. The coupling 25 may also be a well-known one that linearly couples the shafts.

In the embodiment shown in FIGS. 1 and 2, the nut-type moving element 23 is screwed to the screw shaft 22, so that the moving element 23 moves in the axial direction of the screw shaft 22 as the screw shaft 22 rotates forward and backward. Move forward or backward. The screw shaft 22 provided with the moving element 23 is disposed on the base 11a along the longitudinal direction of the base 11a, and both ends of the screw shaft 22 are rotatably supported via a pair of bearing stands 26 attached to the upper surface of the base 11a. Has been. Accordingly, the drive mechanism 21 is attached to the attachment surface with the upper surface of the base 11a as the attachment surface. As shown in FIG. 1C, the electric motor 24 is attached to the base 11 a via a support bracket 27 and connected to the right end of the screw shaft 22 via a coupling 25.

As apparent from FIGS. 1B and 1C, the moving element 23 screwed to the screw shaft 22 is connected to the base 11b.

The link mechanism 31 includes a plurality of long link pieces 32 and a plurality of short link pieces 33, and these link pieces are assembled in a pantograph shape via a plurality of

pins

34 and 35. The pantograph-type link mechanism 31 is foldable in the vertical direction (vertical direction) in FIG. 1A, for example, and can be expanded and contracted in a predetermined direction.

In the embodiment of FIGS. 1 and 2, in order to connect the link mechanism 31 and the bases 11 a to 11 e, the attachment portions 15 are respectively provided on a part of the bases 11 a to 11 e (front in the illustrated example). Are arranged on the front side of the bases 11a to 11e and attached to the attachment portions 15 of the bases 11a to 11e via pins (center pins) 34, respectively.

1 and 2, the multi-base type single-axis robot of the embodiment shown in FIG. 1 fixes the base 11a to a floor or the like as a fixed base and operates the electric motor 24 of the drive mechanism 21. When the electric motor 24 is rotated forward or backward, as shown in FIGS. 2A and 2B, the bases 11a to 11e move forward or backward in the longitudinal direction. More specifically, when the electric motor 24 rotates forward or backward to rotate the screw shaft 22 in the same direction, the moving element 23 moves to the left or right in FIG. When the moving element 23 moves left or right, the base 11b connected to the moving element 23 also moves left or right. Since the bases 11a to 11e are connected via the link mechanism 31, the bases 11c to 11e move in the same direction in synchronization with the left or right movement of the base 11b. In this way, the bases 11a to 11e are displaced from the state of FIG. 1A to the state of FIG. 2A, or from the state of FIG. 1A to the state of FIG. To do.

1 and 2, the drive mechanism 21 can be any one of the following forms. One of them is a cylinder mechanism such as an air cylinder mounted on the base 11a. In this case, the moving element 23 connected to the base 1b is attached to the tip of the piston rod of the cylinder mechanism. The other one is a timing belt transmission mechanism that is also mounted on the base 11a and rotates forward and backward in response to power transmission from the electric motor. The moving element 23 is attached to the timing belt of the timing belt transmission mechanism, and the moving element 23 is connected to the base 11b. The other one is a linear motor mounted on the base 11a, and this linear motor travels the moving element 23 connected to the base 11b in an electromagnetic drive type or a piezo element drive type.

Next, a second embodiment of the multi-base type single-axis robot according to the present invention will be described with reference to FIGS.

The multi-base type single-axis robot shown in FIGS. 3 and 4 does not include the link mechanism 31 used in the first embodiment shown in FIGS. Therefore, in the embodiment of FIGS. 3 and 4, the drive mechanism 21 is mounted on each of the four bases 11a to 11d except for the uppermost base, as in the previous example. The moving element 23 mounted on the base 11a is connected to the base 11b, the moving element 23 mounted on the base 11b is connected to the base 11c, and the moving element 23 mounted on the base 11c is connected to the base 11d. The moving element 23 mounted on the base 11d is connected to the base 11e.

In the second embodiment, two upper and lower adjacent bases, for example, a relatively upper base 11b and the like reciprocate relative to a relatively lower base 11a and the like. In this case, a pair of stoppers that collide with each other at the left limit movement position of the base 11b so that the base 11b that moves to the left limit or moves to the right limit in FIG. Alternatively, a pair of stoppers that collide with each other at the right limit movement position of the base 11b are provided. The groove member 14 also serves as one of the stoppers. A stopper 16 corresponding to the groove member 14 is provided on the other base.

3 to 4, other configurations that are not described may be substantially the same as or equivalent to those of the first embodiment of FIGS. 1 and 2.

The operation of the multi-base type single-axis robot of the second embodiment shown in FIGS. 3 to 4 is substantially the same as that of the first embodiment, but the electric motor of the drive mechanism 21 on each base. 24 is operated to rotate the electric motor 24 at each stage forward and backward, and the bases 11a to 11e are reciprocated as shown in FIGS. In this case, only the electric motor 24 of the drive mechanism 21 on a part of the bases can be operated, and / or the electric motor 24 of each drive mechanism 21 can be driven at different rotational speeds and different rotational directions. In this way, the bases 11b to 11e can be operated in various ways.

As in the first embodiment, the second embodiment can employ a cylinder mechanism, a timing belt transmission mechanism, a linear motor, or the like as the drive mechanism 21.

In the multi-base type single-axis robot according to the embodiments shown in FIGS. 1 to 4, the bases 11a to 11e are in a horizontal state, but these bases 11a to 11e are used in a vertical state or an inclined state. Sometimes. Further, when the multi-base single-axis robot is movable, for example, the base 11a or other base may be equipped with wheels, outriggers, and the like.

An embodiment of a multi-base type single-axis robot according to the present invention will be described with reference to FIG.

The multi-base type single-axis robot shown in FIG. 5 (A) uses two of the multi-base type single-axis robots shown in FIGS. 1 and 2, and these are spaced at a predetermined interval. It is installed on the floor. The multi-base type single-axis robot shown in FIG. 5B uses two multi-base type single-axis robots shown in FIGS. It is installed on the floor.

5A and 5B, the multi-base type single-axis robots shown in FIGS. 5A and 5B both handle the workpiece W in cooperation with the two multi-base type single-axis robots.

The multi-base type single-axis robot and the multi-base type single-axis robot according to the present invention can ensure a large stroke while maintaining compactness, and can be suitably used as a positioning device, a moving arm, an actuator, and the like. The possibility of industrial use is high.

11a base 11b base 11c base 11d base 11e base 12 guide rail 13 groove 14 groove-shaped member 15 mounting portion 16 stopper 21 drive mechanism 22 screw shaft 23 moving element 24 electric motor (motor)
25 Coupling 26 Bearing stand 27 Support bracket 31 Link mechanism 32 Long link piece 33 Short link piece 34 pin 35 pin

Claims

A plurality of bases, a drive mechanism and a link mechanism, wherein the plurality of bases are combined so as to reciprocate along the longitudinal direction of the plurality of bases so as to face each other; A moving element that reciprocates in the longitudinal direction of the base, and one of the two adjacent bases selected from the plurality of bases has a mounting surface along the longitudinal direction of the base, and the mounting surface The drive mechanism is attached to the other base, the moving element is connected to the other base, and the bases are connected to each other via the link mechanism so as to reciprocate while interlocking with the longitudinal direction of the base. When the moving element is moved back and forth in the longitudinal direction of the base by operating the base, the base to which the moving element is connected and the other base are connected to the link mechanism. Multibase type single-axis robot, which comprises or backward or forward in the longitudinal direction of the base while interlocked through.
A plurality of bases and a plurality of drive mechanisms, wherein the plurality of bases are combined so that they can reciprocate along the longitudinal direction of the plurality of bases so that they face each other, Each of the plurality of bases excluding one base has a mounting surface along the longitudinal direction of the base, each having a moving element that can reciprocate along the longitudinal direction of the plurality of bases. The driving mechanism is mounted on the mounting surface, and the moving element is connected to each of the bases adjacent to the base to which the driving mechanism is mounted, and the respective movements are operated by operating the driving mechanisms. When the element is moved back and forth in the longitudinal direction of the base, each of the bases to which the moving element is connected may move back and forth in the longitudinal direction of the base. Multibase type single-axis robot according to claim.
Two or more multi-base single-axis robots selected from the multi-base single-axis robot according to claim 1 and / or the second multi-base single-axis robot are provided, and the plurality of multi-base single-axis robots cooperate. A multi-base type single-axis robot characterized by being arranged relative to each other so that it can work.