JPS6137072B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides two flat direct current motors on concentric shafts and within a thin circular or polygonal motor unit to perform vertical and turning movements of a robot chuck. related to things.

Conventionally, in this type of robot, the vertical movement and rotation movement are performed using separate operating axes and separate drive sources, so the operating parts occupy a large space, making it difficult to actually work with the robot in a narrow space. It was impossible.

In order to improve the above-mentioned drawbacks, the elevating axis and the turning axis are coaxial (Japanese Patent Application Laid-Open Nos. 15254-1982 and 1973-
71458), but in both cases the drive sources are separate and these are transmitted to the shaft via a power transmission mechanism, which not only increases the size of the device but also reduces the motor's capacity compared to the load on the operating shaft. must be made large, resulting in high costs. Therefore,
The present invention aims to improve the above-mentioned drawbacks of the conventional robots, and to provide an industrial robot that is lightweight, small, easy to work in a narrow space, and capable of accurately correcting the work. This will be explained in detail below with reference to the drawings. Reference numeral 1 denotes a box-shaped robot body, and a robot mounting plate 3 and a reinforcing wall 4 are arranged at the center of the lower surface of a motor fixing base 2 attached to the robot body 1. A motor frame 5 is individually defined, and the inside of the motor frame 5 is divided into two upper and lower chambers by an intermediate mounting plate 6. A base drive motor 8 which is a flat type direct current motor is provided in the upper chamber 7 of this motor frame 5, and an output shaft 9 of this base drive motor 8 has a bearing 1.
0 and is erected upward. Further, a vertical drive motor 12, which is a flat direct current motor, is installed in the lower chamber 11 of the motor frame 5 on a coaxial axis with the base drive motor 8, and the output shaft 1 of this vertical drive motor 12
3 is a center hole 1 which is held by a bearing 14 and is bored in the drive shaft 9 of the base drive motor 8.
5 and is erected.

A coil 17 of a base drive motor 18 is fixed to the upper surface 16 of the intermediate mounting plate 6, and a vertical drive motor 12 is fixed to the lower surface 18 of the intermediate mounting plate 6.
A coil 19 is attached to the intermediate mounting plate 6, and a base drive motor 8 and a vertical drive motor 1 are attached to the intermediate mounting plate 6.
It has both functions of 2.

The reinforcing wall 4 provides the minimum space necessary for the rotation of the base driving motor 8 and the vertical driving motor 12, and the intermediate mounting plate 6 and the reinforcing wall 4 allow the base driving motor 8 and the vertical driving motor 12 to rotate. Reference numeral 12 constitutes a thin circular or polygonal motor unit 20 which is arranged close to each other vertically and has concentric shafts.

Next, the output shaft 9 of the base drive motor 8 is inserted into the center hole 21 of the motor fixing base 2 and the center hole 2 of the motor fixing base 2 attached to the upper part of the robot body 1.
3 and is fixed to a base 24, to which the rotation of the base driving motor 8 is transmitted through the output shaft 9, and a bearing 2 fitted to the inner edge 26 of a donut-shaped housing 25, for example.
7.

A timing pulley 28 is fitted into the intermediate portion of the output shaft 9, and the timing belt 3 is passed from the timing pulley 28 to the timing pulley 29.
0 transmits the rotation of the output shaft 9.

A base drive pulse encoder 31 that detects the rotation angle of the base drive motor 8 and a base drive tachometer generator 32 that detects the rotation speed are connected to the timing pulley 29. The tachometer generator 32 is attached to the motor fixing base 22.

Further, the output shaft 13 of the vertical drive motor 12 is inserted through a bearing 33 fitted into the center hole 15 of the output shaft 9 of the base drive motor 8, and the upper end of this output shaft 13 is connected to the base 24. The lower end of the upright ball screw 34 and the coupling ring 35
The rotation of the vertical drive motor 12 is transmitted through this output shaft 13. A timing pulley 36 is fitted to the lower end of the output shaft 13, and the rotation of the output shaft 13 is transmitted from the timing pulley 36 to a timing pulley 37 by a timing belt 38.

A vertical drive pulse encoder 39 that detects the rotational speed of the vertical drive motor 12 and a vertical drive tachometer generator 40 that detects the rotation speed are connected to the timing pulley 37. The tachometer generator 40 is attached to a fixing plate 41 provided on the side surface of the robot body 1.

These pulse encoders 31 and 39 for driving the base and for vertical driving and the tachometer generator 3
The detection mechanism consisting of 2 and 40 is responsible for controlling the vertical drive, and in particular can ensure accurate positioning by correcting the vertical movement of the horizontal drive unit due to rotation of the base.

Furthermore, a slide shaft 42 is erected on the upper surface of the base 22, and a horizontal drive section 43 is mounted thereon, which is moved up and down by the rotation of the ball screw 34.

As described above, the industrial robot according to the present invention has a motor fixing base provided on the robot body, and the lower side of the motor fixing base is divided into two upper and lower chambers, and the motor has the minimum space necessary for rotation of the motor. The base drive motor and vertical drive motor are arranged on concentric axes within the frame, and the base drive motor output shaft, which has the output shaft of the vertical drive motor in the center, passes vertically through the center of the motor fixing base. Since the motor unit is provided with such a configuration, the peripheral mechanisms such as the motor mounting portion can be simplified, so that the number of assembly steps can be reduced, the cost can be significantly reduced, and the weight can also be reduced.

In addition, in the industrial robot of the present invention, the robot main body can be made very thin, so that, for example, restrictions on the height of the workpiece can be largely lifted, and the stroke of the vertical movement of the horizontal drive section can be lengthened, thereby increasing the robot chuck. It becomes possible to significantly expand the work area.

Furthermore, even if there is an obstacle to operating the robot, such as a low ceiling, the height of the robot, including the horizontal drive section, can be kept low, so that sufficient robot functions can be exerted.

Furthermore, since the motor unit can be placed at the bottom of the robot body, the stability of the robot as a whole increases, and the weight that can be gripped by the robot chuck and the speed of movement of the robot chuck can be increased.
Furthermore, it has many effects such as being able to accurately correct vertical and rotational movements.

[Brief explanation of the drawing]

The drawings show an embodiment of the industrial robot of the present invention, in which FIG. 1 is a cutaway front cross-section of the main part of the robot body, and FIG. 2 is a side view of the same. 1...Robot body, 2...Motor fixing base, 5...
Motor frame, 7... Upper chamber, 8... Base drive motor, 9... Base drive motor output shaft, 11... Lower chamber, 12... Vertical drive motor, 13... Vertical drive motor output shaft, 20... Motor unit.

Claims (1)

[Claims] 1. A base is rotatably supported on the upper part of the robot main body, and a slide shaft is erected on the base to guide the robot chuck up and down, and the robot chuck is given rotational motion via this slide shaft, and The drive shaft of the motor for vertically driving the robot chuck, which passes through the center part, is connected to the robot chuck, and a motor fixing base is provided inside the robot body, and below the motor fixing base, it is divided into two upper and lower chambers.
and a motor frame with the minimum space necessary for rotation of the flat type direct current motor,
Within this frame, the base drive motor and the vertical drive motor, both of which are the above-mentioned flat direct current motors, are arranged on a concentric axis, and the output shaft of the base drive motor is centered around the output shaft of the vertical drive motor. pass vertically through the center of the motor fixing base, each output shaft is directly connected to each drive shaft, and the motor is provided with a rotation angle and speed detection mechanism.