JP2844572B2 - Orthogonal two-axis moving device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates, for example, to connecting one end of an arm to one axis extending from the arm and the other axis perpendicular to the one axis. The present invention relates to an orthogonal two-axis moving device that can be moved to an arbitrary position in a plane having the same.

2. Description of the Related Art Conventionally, one end of an arm can be moved to an arbitrary position in a plane having two axes in one direction in which the arm extends and another direction orthogonal to the one direction. Various types of two-axis moving devices are known. For example, as shown in FIG. 7, a slide block a is slid along respective guide rods b and c by first and second guide rods b and c orthogonal to each other. It is movably supported. This slide block a has two ball screw axes d, orthogonal to each other.
The first ball screw shaft d is rotatably driven by a first driving motor f attached to one end of a first guide rod b, and the second ball screw shaft d. e is configured to be rotationally driven by a second drive motor g attached to one end of a second guide rod c.

In the conventional orthogonal two-axis moving device configured as described above, if attention is paid to the other end of the second guide rod c, it is selectively driven to control the first and second drive motors f and g. Thus, it can be moved to an arbitrary position in a plane including the first and second guide rods b and c.

[Problems to be Solved by the Invention] However, in such a conventional orthogonal two-axis moving device, since two expensive ball screw shafts are used, the device becomes expensive, which is a problem. When the first drive motor f is focused on, the weight serving as the drive load of the first drive motor f is considerably large because the weight of the second drive motor is added together with the slide block a. As a result, a large-capacity motor must be used as the first drive motor f, which leads to an increase in cost, and also causes a problem in that exercise performance is reduced due to an increase in the weight of the moving part. It is pointed out.

In addition, there is a demand for an origin detection mechanism capable of securely and inexpensively finding the origin of each of the two axes, which are the starting points when performing the movement control.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an orthogonal two-axis moving device that realizes two-dimensional movement at low cost and with good movability, and that can reliably and securely originate at low cost. It is to be.

[Means and Actions for Solving the Problems] In order to solve the above-mentioned problems and achieve the object, the orthogonal two-axis moving device according to the present invention extends along one direction and is attached to a fixed position. A first guide member (24a, 24b), a slide block (30) slidably supported by the first guide member and movable in one direction, and another direction orthogonal to the one direction. A second guide member (34a, 34b) supported by the slide block so as to be movable in the other direction, and a second guide member rotatably supported by both ends of the first guide member. First and second rollers (42, 44); a third roller (46) rotatably supported at one end of the second guide member; and rotatably supported at four corners of the slide block. Intermediate rollers (48, 50, 52, 54), and the other end of the second guide member A connecting belt (56) fixed at both ends and crossed over the first to third rollers, the four intermediate rollers, and the first and second fixing blocks; First and second drive motors (62, 72) for rotationally driving the first and second rollers (42, 44), respectively, and detecting an origin position of the slide block along the one direction. A first origin detecting means (88, 96); and a second origin position detecting means (86, 94) for detecting an origin position of the second guide member along the other direction. I have.

That is, the “first and second drive motors (62, 7) for rotating the first and second rollers (42, 44) respectively”.
For example, if “2)” rotates in the same direction as each other, movement in “one direction” is achieved, and conversely, if they rotate in opposite directions, movement in “other direction” is achieved.

Thus, the movement device of the present invention achieves arbitrary movement in a two-dimensional range.

Furthermore, the two origin detecting means of the present invention detect the "origin position along the one direction and the [origin position along the other direction of the second guide member], so that the origin can be reliably determined in the two directions. Can be performed.

The orthogonal two-axis moving device according to the present invention includes first and second fixed blocks attached to both ends of the first guide member and rotatably supporting the first and second rollers, respectively. A first moving block rotatably supporting a third roller and a second moving block to which both ends of a connecting belt are fixed, which are attached to one end and the other end of the second guide member, respectively. And a first origin detecting means provided between the slide block and the first or second fixed block, and wherein the second origin detecting means is provided between the slide block and the first or second fixed block. And a moving block.

 The configuration for finding the origin is further simplified.

In the orthogonal two-axis moving device according to the present invention, the first and second drive motors are respectively provided with first and second rotary encoders for detecting respective rotational drive amounts. And

By using the rotary encoder, the accuracy of the two-dimensional position is further improved.

In the orthogonal two-axis moving device according to the present invention, the first origin detecting means is attached to a first home position sensor attached to a first or second fixed block, and to a slide block. A first detection member that turns on the first home position sensor when the slide block approaches the fixed block on the side where the first home position sensor is provided. I have.

Further, in the orthogonal two-axis moving device according to the present invention, the first origin detecting means may be arranged so that the first home position sensor is temporarily displaced to a position where the first home position sensor is not turned on by the first detected member. Move
Thereafter, the first and second drive motors are controlled so as to move the slide block to a position where the first home position sensor is turned on by the first detected member, and thereafter the first and second drive motors are controlled. It is characterized in that control means is provided for controlling the driving of the first and second drive motors so as to turn on the respective zero phases of the two rotary encoders.

In the orthogonal two-axis moving device according to the present invention, the second origin detecting means is attached to a second home position sensor attached to the first or second moving block, and to a slide block. When the slide block approaches the moving block on the side where the second home position sensor is provided, a second detected member that turns on the second home position sensor is provided. .

Further, in the orthogonal two-axis moving apparatus according to the present invention, the second origin detecting means includes a slide block so that the second home position sensor is once deviated to a position where the second home position sensor is not turned on by a second member to be detected. Move
Thereafter, the first and second drive motors are controlled so as to move the slide block to a position where the second home position sensor is turned on by the second detected member, and thereafter the first and second drive motors are controlled. It is characterized in that control means is provided for controlling the driving of the first and second drive motors so as to turn on the respective zero phases of the two rotary encoders.

[Embodiment] Hereinafter, a case in which the configuration of an embodiment of an orthogonal two-axis moving device according to the present invention is applied to an assembling robot will be described in detail with reference to FIGS. 1 to 6 of the accompanying drawings. I do.

As shown in FIG. 1, the assembly robot 10 includes a main motor 12 installed on a base (not shown) and a main motor 12.
A reduction mechanism 14 connected to the upper part of the motor and having a drive shaft 14a that is rotatably driven about a vertical axis and protrudes upward.
And an orthogonal two-axis moving device (hereinafter, simply referred to as a moving device) 16 which is driven to rotate about a vertical axis by a drive shaft 14a of the speed reducing mechanism 14a, and is attached to the left end of the moving device 16 in the drawing. Finger mounting plate 18 and the finger mounting plate
It mainly comprises a finger device 20 attached to 18.

Next, the configuration of the moving device 16 will be described in detail with reference to FIG.

The moving device 16 includes a drive shaft 14a of the reduction mechanism 14 described above.
A base 22 fixed to the upper end of the base 22 and an erect base (Z
It comprises two first guide shafts 24a, 24b extended along the axial direction) and an upper fixing block 26 fixed to the upper ends of the first guide shafts 24a, 24b. With the first guide shafts 24a and 24b penetrating through the first slide bushings 28a and 28b, respectively, the slide block 30 is slidably supported along the Z-axis direction. In other words, the slide block 30 is a pair of first
The guide shafts 24a and 24b are slidably supported in the vertical direction.

In this slide block 30, a pair of second guide shafts 34a, 34b are slidable along the horizontal direction (R-axis direction) while penetrating through the second slide bushes 32a, 32b, respectively. It is supported by. Here, at one end of these second guide shafts 34a, 34b, that is, at the right end in the drawing,
A right movement block 36 is attached, and the other end, that is,
A left movement block 38 is attached to the left end in the figure. The above-mentioned finger mounting plate 18 is fixed to the lower surface of the left moving block 38.

With such a configuration, the finger mounting plate 18 can be moved to an arbitrary position in a vertical plane including two axes of the R axis and the Z axis which are orthogonal to each other. In particular, as shown in FIG. 1, the moving device 16 is attached to a drive shaft 14a which is driven to rotate about a vertical axis, so that the finger mounting plate 18 and, consequently, the finger The finger device 20 attached to the attachment plate 18 can move to an arbitrary position within a predetermined radius (that is, a stroke in the R-axis direction) around the main motor 12.

Next, a driving mechanism for moving the finger mounting plate 18 to an arbitrary position in a vertical plane in the above-described configuration will be described.

In this drive mechanism, a first drive roller 42 is rotatably supported on the above-described base 22 via an attachment stay 40 so as to be rotatable around an axis orthogonal to the above-described vertical plane.
A second drive roller 44 is rotatably supported on the upper fixed block 26 in the same manner as described above. On the other hand, the right moving block 36 has a driven roller 46 which is rotatable in the same state.
Is supported.

Further, the slide block 30 described above is formed in a substantially square shape on the front, and the first and second slide blocks described above are formed at four corners thereof.
In the same state as the drive rotors 42 and 44, the four intermediate rollers 4
8,50,52,54 are rotatably supported. Here, the first
The intermediate roller 48 is at the upper left in the figure, the second intermediate roller 50 is at the upper right in the figure, the third intermediate roller 52 is at the lower right in the figure, and
The fourth intermediate rollers 54 are respectively located at the lower left in the figure.

The first and second drive rollers 42 and 44 and the driven roller 46 are each formed of a toothed roller having teeth formed on the outer peripheral surface thereof. The first to fourth intermediate rollers
Reference numerals 48 to 54 each have a flat outer peripheral surface and are configured as so-called idle rollers.

On the other hand, a connecting belt 56 is wound around the first and second driving rollers 42 and 44, the driven roller 46, and the first to fourth intermediate rollers 48 to 54 in a cross shape. Here, the connecting belt 56 is formed of a toothed timing belt, and in this embodiment, the connecting belt 56
Is wound so that the surface on which the teeth are formed becomes the inner surface.

That is, in detail, the connecting belt 56 is firstly provided inside the first intermediate roller 48 in a state where one end thereof is locked on the upper surface of the locking portion 58 formed integrally with the left movement block 38. The outer peripheral surface of the second driving roller 44, the outer peripheral surface of the driven roller 46, the third intermediate roller
52, the outer peripheral surface outside the first drive roller 42, and the outer peripheral surface inside the fourth intermediate roller 54. It is stretched in such a way that it is locked to.

Here, a large-diameter driven pulley 60 is fixed to the first driving roller 42 coaxially with the first driving roller 42, and a driving shaft that is driven to rotate about a rotation axis parallel to the rotation axis of the driven pulley 60 is enabled. A first drive motor 62 having a reversible rotation is mounted on the base 22 described above. A drive pulley 64 is coaxially fixed to the drive shaft of the first drive motor 62. An endless belt 66 is wound around the drive pulley 64 and the driven pulley 60. With such a configuration, when the first drive motor 62 is activated, the first drive roller 42 is rotationally driven in either the clockwise direction or the counterclockwise direction.

On the other hand, a large-diameter driven pulley 68 is fixed to the second driving roller 44 coaxially with the second driving roller 44, and a driving shaft that is driven to rotate about a rotation axis parallel to the rotation axis of the driven pulley 68 can be reversible. The second drive motor 72 included in the
Is mounted on the upper fixed block 26 described above. A drive pulley 74 is coaxially fixed to the drive shaft of the second drive motor 72.
An endless belt 76 is wound around the driven pulley 68 and the driven pulley 68. With this configuration, when the second drive motor 72 is started, the second drive roller 44 moves clockwise,
It is driven to rotate in any counterclockwise direction.

Here, as the first and second drive motors 62 and 72,
A type having a built-in brake mechanism on a corresponding drive shaft for applying a brake when power supply is stopped is employed. In addition, this brake mechanism, with the power on,
The brake operation is immediately released. By providing such a brake mechanism, it is possible to reliably prevent the slide block 30 from falling downward due to its own weight when, for example, turning off the power after completing a day's work.

In particular, when the power is suddenly turned off during the work due to a power failure or the like, if the brake mechanism does not apply the brake, the article gripped by the finger device 20 is moved along with the lowering of the slide block 30, for example, Although the finger device 20 itself is also damaged while colliding with the floor or the like, the finger device 20 itself is also damaged.However, in this embodiment, the above-described brake mechanism operates with the stop of the power supply, and the respective drive motors 62, Since the rotation of the drive shaft 72 is stopped, such breakage of the article is reliably avoided.

As shown in FIG. 3, the first and second drive motors 62 and 72 are connected to a control unit 82 via corresponding drivers 78 and 80, respectively. The control unit 82 is configured to move an article held by the finger device 20 from a start point to an end point based on a control program stored in advance. Here, a teaching unit 84 for teaching the start point, the end point, and other necessary information is connected to the control unit 82.

The control unit 82 includes an R-axis home position sensor 86 and a Z-axis home position sensor 88 in order to detect the current position of the center of the mounting plate 18 to be moved. A first rotary encoder 90 attached to the first drive motor 62 and detecting the amount of rotation thereof, and a second rotary encoder 92 attached to the second drive motor 72 and detecting the amount of rotation thereof. Is connected.

As shown in FIG. 1, the R-axis home position sensor 86 and the Z-axis home position sensor 88 are located at the right end of the upper surface of the left moving block 38 and the lower end of the right side of the upper fixed block 26, respectively. Installed. A second guide shaft 34a is provided on the left end of the upper surface of the slide block 30.
When 34b is deviated to the right to the maximum in the figure, in other words,
When the mounting plate 18 is retracted, the R-axis sensor dog 94 is opposed to the R-axis home position sensor 86 and is turned on.
Is attached. At the upper end of the right side of the slide block 30, a Z-axis sensor dog 96 is attached to turn on the Z-axis home position sensor 88 when the slide block 30 is maximally displaced upward. .

In this embodiment, the R-axis home position sensor 86, the R-axis sensor dog 94, the first and second rotary encoders 90 and 92, and the home position control operation for the R-axis based on the detection information from these. The control unit 82 to be executed constitutes an R-axis origin detecting mechanism 98.
Also, the Z-axis home position sensor 88 and the Z-axis sensor dog
A Z-axis origin detecting mechanism 100 is constituted by the 96, first and second rotary encoders 90 and 92, and a control unit 82 for executing an origin finding control operation on the Z-axis based on detection information from these.

Here, the control unit 82 recognizes a position where the mounting plate 18 is most retracted toward the slide block 30 and is displaced upward as a home position as a reference position in the moving vertical plane. First, in the first and second rotary encoders 90 and 92, the position at which the zero phase is turned on is defined as the origin position.
The control operation for finding the origin will be described later in detail.

Thus, the first and second drive motors 62 and 72
And the second rotary encoders 90 and 92 are respectively mounted, so that the amount of movement of the mounting plate 38 along the R-axis direction and Z
The amount of movement along the axial direction is obtained by calculating the amounts of rotation of the first and second rotary encoders 90 and 92 from a predetermined arithmetic expression.

Next, in the mobile device 16 configured as described above,
A control procedure of the moving operation in the control unit 82 will be described.

First, when lowering the mounting plate 18 along the Z-axis, the control unit 82 synchronizes the first drive motor 62 and the second drive motor 72 with each other along the counterclockwise direction. To rotate.

Here, as the first drive motor 62 rotates counterclockwise, both ends of the timing belt 56 move to the left movement block 38.
, The length of the timing belt 56 between the left movement block 38 and the fourth intermediate roller 54 does not change, and the length of the timing belt 56 between the first drive roller 42 and the fourth intermediate roller 54 is not changed. The length of the timing belt 56 is shortened, while the timing belt 56 between the left movement block 38 and the first intermediate roller 48 is caused by the rotation of the second drive motor 72 in the counterclockwise direction.
Does not change, and the length of the timing belt 56 between the second drive roller 44 and the first intermediate roller 48 increases.

The portion of the timing belt 56 between the first drive roller 42 and the third intermediate roller 52 is
And the portion of the timing belt 56 between the third intermediate roller 52 and the driven roller 46 is moved toward the space between the driven roller 46 and the second intermediate roller 50. The portion of the timing belt 56 between the driven roller 46 and the second intermediate roller 50 is fed to the second drive roller 44 and the second
And a timing belt 56 between the second driving roller 44 and the second intermediate roller 50.
Is sent between the second drive roller 44 and the first intermediate roller 48.

Since the drive amounts of the first and second drive motors 62 and 72 are synchronized with each other and are set to be the same, the feed amounts are the same.

Thus, the length of the portion of the timing belt 56 between the first and fourth intermediate rollers 48, 54 and the left movement block 38, the driven roller 46 and the second and third intermediate rollers 50, 5
2, the length of the portion of the timing belt 56 between the first drive roller 42 and the third and fourth intermediate rollers 52, 54 is also unchanged. Is also shorter, and the timing belt 56 between the second drive roller 44 and the first and second intermediate rollers 48, 50
The length of this part is likewise increased, so that the slide block 30 moves vertically downward, ie, the mounting plate 18 descends along the Z axis, as shown in FIG. 4A.

On the other hand, when the mounting plate 18 is raised along the Z axis, the control unit 82 controls the first and second drive motors 62 and 72 to
Both are rotationally driven along the clockwise direction in synchronization with each other. As a result, the length of the portion of the timing belt 56 between the first drive roller 42 and the third and fourth intermediate rollers 52 and 54 is completely reversed from the case where the rotation is performed in the above-described counterclockwise direction. And the length of the portion of the timing belt 56 between the second drive roller 44 and the first and second intermediate rollers 48, 50 is similarly reduced, resulting in a slide block. 30 moves vertically upward as shown in FIG. 4B, ie, the mounting plate 18 rises along the Z-axis.

When the mounting plate 18 is projected leftward along the R-axis, the control unit 82 controls the first drive motor 62 in a clockwise direction and the second drive motor 72 in a counterclockwise direction. It is driven to rotate in synchronization.

Here, with the clockwise rotation of the first drive motor 62, the portion of the timing belt 56 between the driven roller 46 and the third intermediate roller 52 is displaced by the third intermediate roller 52 and the first drive. Roller 42 and a third intermediate roller 52
The portion of the timing belt 56 between the first drive roller 42 and the fourth drive roller 42 is sent between the first drive roller 42 and the fourth intermediate roller 54, The portion of the timing belt 56 between the intermediate roller 54 and the intermediate belt 54 is sent between the fourth intermediate roller 54 and the left moving block 38. Thus, the length of the portion of the timing belt 56 between the fourth intermediate roller 54 and the left movement block 38 is increased.

On the other hand, with the counterclockwise rotation of the second drive motor 72, the portion of the timing belt 56 between the driven roller 46 and the second intermediate roller 50 The portion of the timing belt 56 sent between the second driving roller 44 and the first intermediate roller 48 is sent to the space between the second driving roller 44 and the first intermediate roller 48. The portion of the timing belt 56 that is sent between the second drive roller 44 and the first intermediate roller 48 is sent between the first intermediate roller 48 and the left moving block 38. Will be. Thus, the length of the portion of the timing belt 56 between the first intermediate roller 48 and the left movement block 38 is increased.

Since the drive amounts of the first and second drive motors 62 and 72 are synchronized with each other and are set to be the same, the feed amounts are the same.

Thus, the first drive roller 42 and the third and fourth
And the length of the portion of the timing belt 56 between the second drive roller 44 and the first and second intermediate rollers 48 and 50. Similarly, without change, the length of the portion of the timing belt 56 between the first and fourth intermediate rollers 48, 54 and the left movement block 38 is likewise increased, and the driven roller 46 is connected to the second and third rollers. The length of the portion of the timing belt 56 between the intermediate rollers 50 and 52 is similarly reduced, so that the second guide shafts 34a and 34b are moved with respect to the slide block 30 as shown in FIG. 4C. The mounting plate 18 projects leftward along the R-axis.

On the other hand, when the mounting plate 18 is to be pulled right along the R axis, the control unit 82 moves the first drive motor 62 counterclockwise and the second drive motor 62 clockwise.
They are driven to rotate in synchronization with each other. As a result, in the state completely reversed from the case of projecting to the left, the first
And the length of the portion of the timing belt 56 between the fourth intermediate rollers 48, 54 and the left movement block 38 is similarly reduced,
Further, the driven roller 46 and the second and third intermediate rollers 50, 52
The length of the portion of the timing belt 56 between them is also increased, so that the second guide shafts 34a, 34b
As shown in Fig. D, the slide plate 30 moves rightward with respect to the slide block 30, that is, the mounting plate 18 is retracted rightward along the R axis.

Here, when the mounting plate 18 is moved obliquely to the lower right, the control unit 82 rotates only the first drive motor 62 in the counterclockwise direction with the second drive motor 72 stopped. I do. As a result, the slide block 30 is lowered,
Further, the second guide shafts 34a and 34b are drawn rightward. In this way, the mounting plate 18 moves downward and to the right at an inclination angle of 45 degrees.

When the mounting plate 18 is moved obliquely to the upper left, the control unit 82 rotates only the first drive motor 62 clockwise with the second drive motor 72 stopped. As a result, the slide block 30 is raised, and the second guide shafts 34a, 34b are projected leftward. In this way, the mounting plate 18 is
It will move at an angle of inclination.

When the mounting plate 18 is moved obliquely to the lower left, the control unit 82 drives only the second drive motor 72 to rotate counterclockwise while the first drive motor 62 is stopped. . As a result, the slide block 30 is lowered,
In addition, the second guide shafts 34a and 34b project leftward. In this way, the mounting plate 18
It will move at a 45 degree tilt angle.

When the mounting plate 18 is moved obliquely to the upper right, the control unit 82 rotates only the second drive motor 72 in the clockwise direction with the first drive motor 62 stopped. As a result, the slide block 30 is raised, and the second guide shafts 34a and 34b are retracted to the right. In this way, the mounting plate 18
It will move at a 45 degree tilt angle.

When the mounting plate 18 is moved to the lower right at an arbitrary inclination angle (for example, an angle smaller than 45 degrees with respect to a horizontal line), the control unit 82 drives the second drive motor 72 to rotate clockwise. While driving the first drive motor 62 in a counterclockwise direction, but reducing the drive amount of the second drive motor 72 to the first
Is set to be smaller than the driving amount of the driving motor 62. As a result, the slide block 30 moves to the lower right at an inclination angle defined based on the ratio of the drive amounts of the first and second drive motors 62 and 72.

Similarly, when the mounting plate 18 is moved in a predetermined direction at an arbitrary inclination angle, the control unit 82 sets the rotation directions and the rotation amounts of the first and second drive motors 62 and 72 as appropriate. By doing so, the above-described movement operation is achieved.

The following table summarizes the drive control modes of the first and second drive motors 62 and 72 in the control unit 82 as described above, and the movement of the mounting plate 18 based on this drive control.

That is, in the moving device 16 configured as described above, conventionally, a drive motor for moving and driving in the R-axis and Z-axis directions is provided for the R-axis and the Z-axis, respectively. In comparison with this, in this embodiment,
The first and second drive motors 62 and 72 are provided in a state common to the R axis and the Z axis. In this embodiment, by appropriately selecting the rotation direction and the rotation amount of both drive motors 62 and 72, as shown in the above table, the mounting plate 18 as the moved portion can be moved to an arbitrary position. Will be moved by an arbitrary route.

In particular, in this embodiment, the driving force of the first and second driving motors 62 and 72 is transmitted via the timing belt without using an expensive ball screw shaft as in the related art. As a result, the cost as a whole can be reduced.

Also, in this embodiment, the first and second
Drive motors 62 and 72 are attached to the base 22 and the upper fixed block 26, and the first and second drive motors
The weight of 62, 72 no longer acts as a moving load, and the part that is actually moved is the slide block 30,
Only the left moving block 58, the mounting plate 18 and the finger device 20 attached to the moving block 58 are included. In this way, the drive capacity of the first and second drive motors 62, 72 can be small, and the cost for these motors can be reduced.

Further, since the weight of the moving portion is reduced as described above, the responsiveness of the drive is increased, the kinetic performance is improved, and the effect of shortening the operation time can be obtained.

Hereinafter, the home position control operation in the control unit 82 of the moving device 16 configured as described above will be described based on the flowcharts shown in FIGS. 5 and 6A to 6F.

First, with reference to FIG. 5, a description will be given of a main routine of an origin finding control operation in this embodiment.

As shown in FIG. 5, first, when the home position control operation is started, in step 10, the slide block is moved until the Z-axis home position sensor 88 once reaches a position where it comes off the corresponding Z-axis sensor dog 96. Move 30 (down)
Let it. Also, in step 20, the second guide shafts 34a, 34b are moved until the R-axis home position sensor 86 is once deviated from the corresponding R-axis sensor dog.
Is pushed out of the slide block 30, and the mounting plate 18 is moved to the left in the figure.

As described above, after the Z-axis home position sensor 88 and the R-axis home position sensor 86 are turned off,
In step 30, the slide block 30 is moved (elevated) to a position where the Z-axis home position sensor 88 is turned on by the Z-axis sensor dog 96. Further, in step 40, the second guide shaft is moved until the R-axis home position sensor 86 is turned on by the R-axis sensor dog 94.
34a and 34b are drawn into the slide block 30, and the mounting plate 18
To the right in the figure. In steps 30 and 40, respective home positions for the Z axis and the R axis are defined.

Thereafter, in step 50, the first rotary motor 90 connected to the first drive motor 62 drives the first drive motor 62 clockwise until its zero phase is turned on. Further, in step 60, the second rotary motor 92 connected to the second drive motor 72 is turned on until its zero phase is turned on.
Drive 72 clockwise.

In this embodiment, the driving of the first and second drive motors 62 and 72 is stopped in steps 50 and 60, respectively, so that the slide block 30 and the second guide shafts 34a and 34b are stopped. In the position, the origin positions on the Z axis and the R axis are defined.

That is, although the home position relating to the Z-axis and the R-axis described above is determined accurately, this rotary encoder is not turned on unless a zero phase (Z-phase), which is a reference for measuring a rotation angle in the rotary encoder, is detected and turned on. Cannot be accurately grasped, and therefore, it is impossible to detect the position as an absolute value. For this reason, in this embodiment, in each home position, by rotating the corresponding drive motors 62 and 72 in the clockwise direction, the position where the zero phase is first turned on is defined as the origin position. As a result, this origin position is defined (detected) as an absolute value in the corresponding rotary encoder.

Hereinafter, the details of each step in the above-described main routine will be described with reference to FIGS. 6A to 6F.

First, in step S10, when this step S10 is started, it is determined in step S12 whether or not the Z-axis home position sensor 88 is on. If NO is determined in this step S12, the process proceeds to step S20 which is the next procedure described above. On the other hand, in step S12, YE
If it is determined as S, that is, if it is determined that the Z-axis home position sensor 88 is on, the first step is performed in step S14.
And the second drive motors 62 and 72 are both driven to rotate counterclockwise. The execution of this step S14 causes the slide block 30 to move (fall) directly downward along the axis of the slide block 30Z.

Then, in step S16, the above-described step S1 is performed until the Z-axis home position sensor 88 does not turn on.
4 is executed. When it is detected that the Z-axis home position sensor 88 does not turn on, that is, when it is detected that the Z-axis home position sensor 88 turns off, in step S18, the first and second drive motors 62 and 72 are turned off. The rotational drive along the counterclockwise direction is stopped, and the control procedure returns. In this way, this step
In S10, the slide block 30 moves (falls) until the Z-axis home position sensor 88 reaches a position where the Z-axis home position sensor 88 is once separated from the corresponding Z-axis sensor dog 96.

Next, in step S20, when this step S20 is started, it is determined in step S22 whether or not the R-axis home position sensor 86 is on. If NO is determined in this step S22, the process proceeds to step S30 which is the next procedure described above. On the other hand, in step S22, YE
If it is determined as S, that is, if it is determined that the Z-axis home position sensor 88 is on, the first step is performed in step S24.
And the second drive motors 62 and 72 are driven to rotate clockwise and counterclockwise, respectively. By performing this step S24, the second guide shafts 34a and 34b move (extrude) to the left from the slide block 30 along the R axis.

Then, in step S26, the above-described step S2 is performed until the R-axis home position sensor 86 does not turn on.
4 is executed. When it is detected that the R-axis home position sensor 86 does not turn on, that is, when it is detected that the R-axis home position sensor 86 turns off, in step S28, the first and second drive motors 62 and 72 are turned off. The rotation driving along the clockwise direction and the counterclockwise direction is stopped, and the control procedure returns. In this way, in this step S20, the second guide shafts 34a, 34 are moved leftward from the slide block 30 until the R-axis home position sensor 86 once comes off the corresponding R-axis sensor dog 94. Will be moved to.

In step S30, when this step S30 starts, in step S32, the first and second drive motors 62 and 72 are both driven to rotate clockwise. This rotation is continued until the Z-axis home position sensor 88 is turned on in step S34. Here, when it is determined in step S43 that the Z-axis home position sensor 88 has been turned on, in step S36, the rotation of the first and second drive motors 62 and 72 is stopped, and the control procedure returns. I do.

In step S40, when this step S40 is started, in step S42, the first and second drive motors 62 and 72 are driven to rotate counterclockwise and clockwise, respectively. And this rotation drive is a step
In S44, the process is continued until the R-axis home position sensor 86 is turned on. Here, in step S44, R
If it is determined that the axis home position sensor 86 has been turned on, the rotation of the first and second drive motors 62 and 72 is stopped in step S46, and the control procedure returns.

Then, in step S50, when this step S50 is started, in step S52, the first drive motor 62 is started.
Is driven to rotate clockwise. This rotation is continued until the zero phase of the first rotary encoder 90 is turned on in step S54, and when the zero phase of the first rotary encoder 90 is turned on in step S54, step S56 is performed. In, the rotation drive of the first drive motor 62 is stopped, and the control procedure returns.

Finally, in step S60, when this step S60 is started, in step S62, the second drive motor 72 is started.
Is driven to rotate clockwise. This rotation is continued until the zero-phase in the second rotary encoder 92 is turned on in step S64. When the zero-phase is turned on in the second rotary encoder 92 in step S64, step S66 is performed. In, the rotational drive of the second drive motor 72 is stopped, and the control procedure returns.

As described in detail above, in this embodiment, although the moving device 16 having a specific configuration is provided, the provision of the Z-axis origin detecting mechanism 98 and the R-axis origin detecting mechanism 100 makes it possible to reduce the cost. Thus, it is possible to execute accurate origin search.

It is needless to say that the present invention is not limited to the configuration of the above-described embodiment, but can be variously modified without departing from the gist of the present invention.

For example, in the above-described embodiment, the mounting plate 18 as the moved portion has been described to be moved in a vertical plane.
The present invention is not limited to such a configuration, and can be configured to move in a horizontal plane. In this case, the first guide shafts 24a, 24b
The second guide shafts 34a and 34b are provided so as to extend along the axis, and the second guide shafts 34a and 34b are provided so as to extend along the Y axis.

As described above, even when the mounting plate 18 is moved in a horizontal plane, the present invention operates in exactly the same manner as the embodiment in which the mounting plate 18 is moved in a vertical plane. In the case where the slide block 30 is moved in the horizontal plane as described above, the possibility of the slide block 30 dropping by its own weight is eliminated when the supply of power is stopped, so that the above-described brake mechanism is not required.

Further, in the above-described embodiment, the slide block 30 is prevented from moving downward by its own weight, that is, dropping due to the suspension of power supply to the first and second drive motors 62 and 72. , These first and second drive motors
62 and 72 have been described so as to incorporate a brake mechanism for stopping the rotation of the corresponding drive shaft. However, the present invention is not limited to such a configuration.
First and second motors connected to the drive shafts of the drive motors 62 and 72.
The drive rollers 42 and 44 may be provided with a brake mechanism, or the brake mechanism may be attached to a shaft portion that supports the driven roller 46.

In the above-described first embodiment, the R-axis home position detection mechanism 98 includes the R-axis home position sensor 86 attached to the left movement block 38 and the R-axis sensor dog 94 attached to the slide block 30. Although the present invention has been described as being provided, the present invention is not limited to such a configuration. For example, the R-axis home position sensor 86 may be configured to be attached to the right movement block 36, It goes without saying that the position of the position sensor 86 and the position of the R-axis sensor dog 94 may be reversed with respect to the case described above.

In addition, the Z-axis origin detecting mechanism 100 has been described as including the Z-axis home position sensor 88 attached to the upper fixed block 26 and the Z-axis sensor dog 96 attached to the slide block 30. However, the present invention is not limited to such a configuration. For example, the Z-axis home position sensor 88 may be configured to be attached to the base 22, or the Z-axis home position sensor 88 and the Z-axis sensor dog 96
Needless to say, the mounting position may be reversed with respect to the above-described case.

Further, in the above-described embodiment, as the driving source,
The first and second two drive motors 62 and 72 have been described. However, the present invention is not limited to such a configuration, and may be applied to a configuration having one drive motor. It goes without saying that you can do it.

[Effects of the Invention] As described above in detail, according to the orthogonal two-axis moving device according to the present invention, the orthogonal two-axis moving device that can reliably locate the origin at low cost, with good mobility, at low cost. Will be provided.

[Brief description of the drawings]

FIG. 1 is a front view schematically showing the structure of an assembly robot provided with an embodiment of an orthogonal two-axis moving device according to the present invention; FIG. 2 is a diagram showing the structure of the orthogonal two-axis moving device shown in FIG. FIG. 3 is a block diagram showing the configuration of a control system in the orthogonal two-axis moving device. FIGS. 4A to 4D are diagrams showing the mounting plate according to different driving states of the first and second driving motors. FIG. 5 is a front view schematically showing four moving states; FIG. 5 is a flowchart showing a main routine of an origin finding control operation in the control unit; FIGS. 6A to 6F are steps of the main routine shown in FIG. 5; FIG. 7 is a front view schematically showing the configuration of a conventional orthogonal two-axis moving device. In the drawing, 10: assembly robot, 12: main motor, 14: reduction mechanism, 14a: drive shaft, 16: orthogonal two-axis moving device, 18
... Finger mounting plate, 20 Finger device, 22 Base, 24a; 24b First guide shaft, 26 Upper fixed block, 28a; 28b First slide bush, 30
... Slide block, 32a; 32b ... Second slide bush, 34a; 34b ... Second guide shaft, 36 ... Right movement block, 36a ... Through hole, 38 ... Left movement block, 40
... Mounting stay, 42 ... First drive roller, 44 ... Second
Drive roller 46, driven roller 46a, shaft portion 46b
... key, 46c ... roller body, 48; 50; 52; 54 ... intermediate roller, 56 ... connecting belt, 58 ... locking portion, 60 ... driven pulley, 62 ... first drive motor, 64 ... Driving pulley, 66
…… endless belt, 68… driven pulley, 70… mounting stay, 72… second drive motor, 74… drive pulley,
76 …… endless belt, 78; 80 …… driver, 82 ……
Control unit, 84: teaching unit, 86: R-axis home position sensor, 88: Z-axis home position sensor, 90: first rotary encoder, 92: second rotary encoder, 94 ... R-axis sensor dog, 96 ... Z-axis sensor dog, 98 ... R-axis origin detection mechanism, 100 ... Z-axis origin detection mechanism.

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-51-136077 (JP, A) JP-A-49-81655 (JP, A) JP-A-54-64256 (JP, A) JP-A-2- 250784 (JP, A) JP-A-1-183382 (JP, A) JP-A-63-94353 (JP, U) JP-B-58-1309 (JP, B2) JP-B-49-15852 (JP, B1) JP-B-48-35654 (JP, Y1) U.S. Pat. No. 3,618,819 (US, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) F16H 19/02 F16H 19/06

Claims (7)

(57) [Claims] 1. A first guide member (24a, 24b) extending along one direction and attached at a fixed position, slidably supported by the first guide member, and A slide block (30) movable along the other direction, and a second guide member (34a, 34b) extending along the other direction orthogonal to the one direction and supported by the slide block so as to be movable along the other direction. ), First and second rollers (42, 44) rotatably supported at both ends of the first guide member, and a second roller rotatably supported at one end of the second guide member. A roller (46), an intermediate roller (48, 50, 52, 54) rotatably supported at four corners of the slide block, and both ends fixed to the other end of the second guide member, A connecting belt that is laid in a cross shape between the first to third rollers and the four intermediate rollers. (56), respectively attached to the first and second fixed blocks,
First and second drive motors (62, 72) for rotationally driving the first and second rollers (42, 44), respectively, and a second drive motor for detecting an origin position along the one direction of the slide block. A first origin detecting means (88, 96); and a second origin position detecting means (86, 94) for detecting an origin position of the second guide member along the other direction. Orthogonal two-axis moving device. 2. A first and a second fixed block (22, 26) attached to both ends of the first guide member and rotatably supporting the first and second rollers, respectively. A first moving block (36) rotatably supporting a third roller and a second moving block (38) to which both ends of a connecting belt are fixed, which are attached to one end and the other end of the second guide member, respectively. ), Wherein the first origin detecting means (88, 96) includes the slide block (30) and the first or second fixed block (22 or
26), the second origin detecting means (86, 94) is provided between the slide block (30) and the first or second moving block (36 or
38. The orthogonal two-axis moving device according to claim 1, wherein the device is provided between the two-axis moving device and the moving device. 3. The first and second drive motors are provided with first and second rotary encoders (90, 92) for detecting respective rotational drive amounts, respectively. Item 2. The orthogonal two-axis moving device according to Item 1. 4. A first home position sensor (88) mounted on a first or second fixed block, and a first home position sensor mounted on a slide block.
A first detection member (96) for turning on the first home position sensor when the slide block approaches the fixed block on the side where the first home position sensor is provided; The orthogonal two-axis moving device according to claim 3. 5. The first origin detecting means moves the slide block so that the first home position sensor is once deviated to a position where the first home position sensor is not turned on by a first detected member. Position sensor is first
The first and second drive motors are driven and controlled so as to drive the slide block to a position where they are turned on by the detected member, and thereafter, the zero phase of each of the first and second rotary encoders is turned on. 5. The orthogonal two-axis moving device according to claim 4, further comprising control means for controlling the driving of the first and second driving motors. 6. The second origin detecting means includes a second home position sensor (86) attached to a first or second moving block, and a second block attached to a slide block. 4. The apparatus according to claim 3, further comprising a second detection member (94) for turning on the second home position sensor when approaching the moving block on the side provided with the home position sensor. The orthogonal two-axis moving device according to claim 1. 7. The second origin detecting means moves the slide block so that the second home position sensor is once deviated to a position where the second home position sensor is not turned on by a second detected member. Position sensor is second
The first and second drive motors are driven and controlled so as to move the slide block to a position where they are turned on by the detected member, and thereafter, the zero phase of each of the first and second rotary encoders is turned on. 7. The orthogonal two-axis moving device according to claim 6, further comprising control means for controlling the driving of the first and second driving motors.