JPS6134953B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a cylindrical coordinate type industrial robot.

(Prior art) Generally, industrial robots use DC motors for each axis, and in order to move each axis, the DC motors are mounted in independent positions and directions, and a transmission mechanism is used to convert rotational motion into linear motion. For example, as in JP-A No. 53-71458, a lifting drive device and a rotary drive device are arranged so that their drive axes are parallel to each other. There are those that are positioned and actuated by separate motors. Furthermore, there is also a system described in Japanese Patent Application Laid-Open No. 50-48654, in which a shaft driven by a single motor is moved up and down and rotated through a brake.

(Problem to be solved by the invention) However, in the case of the former, the above-mentioned operating structure is complicated, the power transmission efficiency is poor, and the capacity of the motor cannot be increased compared to the loads of lifting, lowering, and turning. However, in the case of the latter, in addition to the above-mentioned drawbacks, switching of the electromagnetic brake makes it difficult to assemble, making it difficult to assemble and increasing costs. cannot be performed at the same time, and continuity of operation cannot be expected. Therefore, the present invention aims to improve the above-mentioned drawbacks of the conventional robot and to provide an industrial robot that can simultaneously perform three-dimensional operations and is made smaller and lighter overall.

(Means for solving the problem) The vertical movement and rotational movement of the robot chuck are operated by separate flat type direct motors on a coaxial shaft, and the horizontal drive part is moved vertically by a ball screw coaxial with the motor rotation axis. At the same time, a base fixing the horizontal drive unit is rotated through a slide shaft that supports the horizontal drive unit to impart a turning movement to the horizontal drive unit, and the horizontal movement of the horizontal drive unit is actuated by a linear motor, and The motor is equipped with a rotation angle and speed detection mechanism.

(Function) With the above configuration, one flat type direct motor performs vertical movement by rotating the rotating shaft, and the other coaxial motor directly transmits the turning movement to the robot body, and other transmission mechanisms In addition, the robot chuck's horizontal movement, unlike conventional ones, uses a linear motor, with a permanent magnet on the moving side and an electromagnet on the stationary side, and direct linear movement is achieved by the repulsive force of both magnets. Therefore, the space occupied and the weight can be particularly reduced.

(Examples) The present invention will be further explained by examples shown in the drawings. 1 is a box-shaped robot body, and a base drive motor 3 consisting of a thin flat direct motor is fixed to the top surface of the base drive motor fixing base 2 attached to the top of the robot body 1. Base drive motor fixing base 2
A center hole 4 is bored in the base drive motor 3.
A base 6 is provided on the upper end of the output shaft 5, and a timing pulley 7 is fitted on the lower end of the output shaft 5.A timing belt 9 connects the timing pulley 7 to the timing pulley 8. Transmit rotation. A base driving pulse encoder 10 and a base driving tachometer generator 11 are attached to the timing pulley 8, and these base driving pulse encoders 1
0 and a base driving tachometer generator 11 are attached to a fixed base 2 of the base driving motor.

Further, the fixed base 2 of the base drive motor is provided with, for example, a donut-shaped housing 12,
The base 6 is guided by a bearing 14 fitted to the inner edge 13 of the housing 12, and the rotation of the base drive motor 3 is directly transmitted to the base 6 via the output shaft 5, and the base drive The rotation angle is detected by the pulse encoder 10 for the base drive, and the tachometer generator 1 for driving the base is
1 to detect the rotational speed.

Next, three slide shafts 15 are erected on the upper surface of the base 6, and a top plate 16 for maintaining the parallelism of the slide shafts 15 is attached to the tips of the slide shafts 15.

Further, there is a horizontal drive section 17 that moves up and down with the guidance of the slide shaft 15, and a bearing 19 is attached to the mounting section 18 at the center of the horizontal drive section 17.
The upper end of the ball screw 20 is fitted, the lower part of the ball screw 20 is screwed into a nut 21 fixed to the base 6, the lower end of this ball screw 20 is connected to a spline shaft 22, and the spline shaft 22 is connected to the lower end of the ball screw 20. is inserted into a spline bearing 23, and this spline bearing 23 is fitted into a vertical drive motor output shaft 24, and the nut 21 is inserted into a center hole 35 provided in the output shaft 5. The vertical drive motor 25, which is a flat type direct motor with a reduced thickness, is fixed to a motor mounting base 26, and a timing pulley 27 is fitted to the vertical drive motor output shaft 24. Rotation is transmitted to the timing pulley 28 by a timing belt 29.

A pulse encoder 30 for vertical driving and a tachometer generator 31 for vertical driving are attached to the timing pulley 28.

Further, the rotation of the vertical drive motor 25 is transmitted from the output shaft 24 of the vertical drive motor 25 to the ball screw 20 via the spline shaft 22, and the rotation of the ball screw 20 is converted into vertical motion by the nut 21. , raises and lowers the horizontal drive section 17. At this time, the vertical position of the horizontal drive unit 17 is detected by the vertical drive pulse encoder 30, and the vertical movement speed is detected by the vertical drive tachometer generator 31.

The spline shaft 22 is rotated by a spline bearing 23 fitted to the output shaft 24 of the vertical drive motor 25, and rotates through the center of the output shaft 24 of the vertical drive motor 25 according to the vertical movement of the ball screw 20. It moves the hole 36 up and down.

Further, the horizontal drive section 17 is connected to a ball screw 20 to move the entire horizontal drive section 17 up and down, and the robot chuck 3 is connected to the sliding section 33 of the linear motor 32 used in the horizontal drive section 17.
By installing 4, the robot chuck 3
4 in the horizontal and vertical directions.

a is a permanent magnet provided in the sliding part 33, b
is an electromagnet provided on the fixed side.

In addition, the horizontal drive unit 17 is guided by a slide shaft 15 erected on the base 6, and operates the robot chuck 34 in the rotational direction. That is, 2
flat type direct motors 3, 25 and 1
Using two linear motors 32, the robot chuck 34 moves in three dimensions: vertical movement, rotational movement, and horizontal movement.

Note that this invention includes a base drive motor 3,
The vertical drive motors 25 are each equipped with a mechanism for detecting the rotation angle and speed, so even if the nut 21 rotates in accordance with the rotation of the base 6, and thereby the ball screw 20 moves up or down, this can be detected. It is possible to make corrections for both, allowing both to perform accurate operations. Furthermore, since the flat direct motor is thinner than a normal servo motor, the height of the entire robot can be reduced.

(Effects of the invention) As described above, by using a flat type direct motor and a linear motor, the overall weight is reduced, continuous operation in three dimensions is possible, and the capacity of the flat type direct motor can be particularly reduced. Since the motor directly transmits the driving force to the operating shaft, there is no need for a mechanism to convert the rotational motion of the motor into linear motion, and the weight of the vertical motor does not burden the base drive motor. Since the ball screw can be placed in the center of the base, the inertial load on the upper part of the robot is reduced, positioning accuracy is improved, the configuration is stable, the robot itself operates well, and the thin flat type direct motor mentioned above Since the height can be lowered by using a lower height, the operation and effective height can be increased in a low-height work room, and it has excellent effects such as being able to reduce the assembly process at low cost. .

[Brief explanation of the drawing]

FIG. 1 shows an embodiment of the present invention, and FIG. 2 is a partially longitudinal side view of a robot main body, and FIG. 2 is a front view of the same. 1... Robot main body, 2... Base drive motor fixing base, 3... Base drive motor,
5,24...Output shaft, 6...Base, 10,30
...Pulse encoder, 11, 31...Tachometer generator, 15...Slide shaft, 17
...Horizontal drive unit, 20...Ball screw, 21...
Nut, 22... Spline shaft, 23...
Spline bearing, 25... vertical drive motor,
32... Linear motor, 34... Robot chuck.

Claims (1)

[Claims] 1 Two flat type direct motors with concentric shafts are installed in upper and lower stages, one rotational shaft of these motors is fixed to a base, a slide shaft is fixed on this base, and the motor is connected via this shaft. The robot chuck is connected to the horizontal drive part of the robot chuck to give rotational motion to the drive part, and the other rotating shaft is slidably connected to the ball screw and fixed to the upper part of the screw by rotation of the ball screw. The horizontal drive section is provided with a linear motor that moves the horizontal drive section up and down guided by a slide shaft and horizontally moves a robot chuck provided on the sliding section of the horizontal drive section. An industrial robot whose motor is equipped with a rotation angle and speed detection mechanism.