JPH0583350B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a rectangular coordinate type assembly type robot.

[Prior art]

Cartesian coordinate type industrial robots have three basic units: a basic unit that strokes the slider in the x-coordinate direction, a basic unit that strokes the slider in the y-coordinate direction, and a basic unit that strokes the slider in the z-coordinate direction. It is assembled by selecting at least two basic units from the following.

However, the basic unit of a conventional orthogonal coordinate robot is constructed by arranging a screw shaft for driving a slider and a guide rod for guiding and supporting the slider in parallel. The rigidity of the basic unit itself was maintained by the screw shaft and the guide rod. Therefore, the rigidity of this basic unit is different from the bending rigidity against an external force applied in a direction perpendicular to the parallel plane between the screw shaft and the guide rod, and the bending rigidity against an external force applied parallel to this parallel plane. were different from each other.

Therefore, in conventional orthogonal coordinate robots,
The structure of the basic unit was made to have a different structure in each of the x-coordinate direction, y-coordinate direction, and z-coordinate direction, where the external force is applied differently. Therefore, since each basic unit cannot be used for other coordinates, there is no freedom in assembly, and there is a drawback that there is a lack of flexibility when developing various systems or changing the assembly.

[Purpose of the invention]

An object of the present invention is to have mutual assemblability with a degree of freedom that allows one type of basic unit to be applied in any of the x-, y-, and z-coordinate directions in the assembly of industrial robots, and to prevent changes in assembly. It is an object of the present invention to provide an orthogonal coordinate type assembly type robot that can flexibly respond to various situations.

[Structure of the invention]

To achieve the above object, the present invention is an orthogonal coordinate type assembly robot in which at least two basic units are assembled so as to be orthogonal to each other. An end face perpendicular to the longitudinal direction is integrally formed at the longitudinal end of each side surface, and the two longitudinal sides and the end face are respectively used as mounting surfaces for other basic units to form a casing. The basic unit is characterized in that a structure in which a screw shaft driven by a motor and a slider reciprocated in the longitudinal direction by the screw shaft are installed inside the casing is a common structure of each of the basic units. .

Since the casing is extended in the longitudinal direction and has two integrated sides that are orthogonal to each other, it exhibits approximately equal bending rigidity no matter which side is applied an external force. be able to. Moreover, each basic unit has the same common structure, and the common structure has three sides, the two longitudinal sides and an end face perpendicular to them,
In order to use those three surfaces as mounting surfaces for other basic units,
This common structure can be used for any unit in the x-coordinate direction, y-coordinate direction, and z-coordinate direction, allowing for a high degree of freedom in assembly that allows for a wide variety of assembly modes.

[Embodiments of the invention]

Hereinafter, the present invention will be explained with reference to embodiments shown in the drawings.

In FIGS. 1 and 2, numeral 1 is a basic unit for assembling an industrial prefabricated robot, and numeral 2 is a lightweight casing cast from an aluminum alloy that forms the outer shell of the basic unit 1. The casing 2 has an L-shaped cross section in the longitudinal direction, as shown in FIG. Each of the two outer surfaces in the longitudinal direction of the casing 2 has a side mounting surface 3.
a, 3b are formed, and these side mounting surfaces 3a and 3b
are orthogonal to each other. Further, an end mounting surface 4 is formed on the outer surface of the end in the longitudinal direction, and is perpendicular to the side mounting surfaces 3a and 3b. A cover 2' is attached to the opening side of the casing 2 so as to cover the inside of the casing 2.

A screw shaft 5 extending along the longitudinal direction is supported inside the casing 2, and is driven by a motor 6 provided inside the casing 2 on the opposite side from the end mounting surface 4. . A slider 8 is screwed onto the screw shaft 5, and is configured to reciprocate along the longitudinal direction by forward and reverse rotation of the screw shaft 5.
The lower part of the slider 8 is slidably engaged with a guide rail 7 fixed to the inner surface of the casing 2, and when it reciprocates by being driven by the screw shaft 5,
It is designed to be guided so that there is no wobbling. Also, buffer rubber 9, 9 is provided at both ends of the screw shaft 5.
is installed to buffer the slider 8. 10 is a sensor that detects the position of the slider 8.

Brackets 11, 11 are attached to the slider 8 so as to partially protrude to the outside of the cover 2', and a support plate 12 is detachably attached to the brackets 11, 11 with screws 14. When assembling a plurality of basic units 1, this support plate 12 serves as a support surface for fixing the mounting surfaces 3a, 3b, 4 of other basic units 1, or for attaching a working tool or the like.

The support plate 12 shown in FIG. 2 has a vertical support surface, and the mounting surface 3a, 3b, or 4
etc. are fixed in a vertical direction.
On the other hand, the support plate 12' shown in FIG. The unit 1st grade can be fixed.

The casing 2 of the basic unit 1 described above has a configuration in which the two side mounting surfaces 3a and 3b are connected perpendicularly to each other in an L shape and extend in the longitudinal direction. It exhibits almost uniform rigidity even against bending due to external force applied from the outside. Therefore, as shown in FIGS. 4 to 7, which will be explained below, this same basic unit 1 is
It can be used in both the coordinate direction and the z-coordinate direction.

Furthermore, in the above embodiment, the guide surface of the guide rail 7 that guides the slider 8 is formed into a flat surface, but by making it flat in this way, it is possible to achieve more accurate reciprocating movement than with a conventional rod guide with a cylindrical surface. can be made to do so.

Figure 4 A and B show two basic units 1 and 1, x
This is an arm-type assembly robot assembled in the coordinate direction and the z-coordinate direction. This assembly type robot consists of a slider 8 of the basic unit 1 on the base side arranged in the z-coordinate direction.
Then, the support plate 12' having the above-mentioned horizontal support surface is fixed, and the side mounting surface 3b of the other basic unit 1 facing in the x-coordinate direction is fixed on the support surface of this support plate 12'. It is being A support plate 12 having a vertical support surface is attached to the slider 8 of the basic unit 1 in the x-coordinate direction, and a work tool or the like can be attached to this support plate 12.

In this assembly type robot, the upper basic unit 1
While the robot itself strokes in the z-coordinate direction, the support plate 12 is also stroked in the x-coordinate direction.

In the prefabricated robot shown in Fig. 5, the basic unit 1 placed on the base side is the same as in Fig. 4 above, and the support plate 1 attached to the basic unit 1 on the base side
This is a pole-type assembly type robot in which the end attachment surface 4 of another basic unit 1 facing in the y-coordinate direction is fixed on the support surface of the robot 2'.

In this assembly type robot, the basic unit 1 itself attached to the upper part strokes in the z-coordinate direction, and its support plate 12, with a working tool etc. attached thereto, strokes in the y-coordinate direction.

In the assembly type robot shown in FIG. 6, the basic unit 1 is placed on the base side, and the support plate 12 attached to it is placed in the z-coordinate direction so that the support surface of the support plate 12 is horizontal.
The side mounting surface 3a of another basic unit 1 is fixed to the horizontal support surface of the support plate 12 in the x-coordinate direction, so that the support surface of the support plate 12 is also horizontal. It is an assembly type robot.

In this assembly type robot, the upper basic unit 1
strokes in the z-coordinate direction, and at the same time, the support plate 12 strokes in the x-coordinate direction while being on a horizontal support surface.

In the assembly type robot shown in Fig. 7, the two basic units 1, 1 are assembled in the same manner as in Fig. 4, but the lower basic unit 1 is attached to its side mounting surface 3b.
Legs 15 and 16 are fixed to the end mounting surface 4, respectively, and are supported in an arch shape.

As mentioned above, the basic unit 1 according to the present invention has the same common structure for each assembled unit, and has two longitudinally extending side surfaces that are orthogonal to each other and serve as mounting surfaces for attaching other basic units; Since it has three faces with the end face orthogonal to them, x
It can be selectively used in any direction among the coordinate direction, y-coordinate direction, and z-coordinate direction.

〔Effect of the invention〕

As described above, the orthogonal coordinate type assembly robot of the present invention has, as its basic unit, two longitudinally extending side surfaces integrally formed so as to be orthogonal to each other, and at the longitudinal ends of these two side surfaces, The end face perpendicular to the longitudinal direction is integrally formed, and the two longitudinal side faces and the end face constitute a casing, each of which serves as a mounting surface for another basic unit, and a motor-driven motor is installed inside the casing. The basic units have a common structure in which a screw shaft is installed, and a slider is reciprocated in the longitudinal direction by the screw shaft. Since the casing has two curved sides, it can exhibit approximately equal bending rigidity no matter which side an external force is applied to. Furthermore, each basic unit has the same common structure, and the common structure has three sides, the two longitudinal sides and an end face perpendicular to them, and each of these three sides is used as the mounting surface of the other basic unit. In order to achieve this, this common structure can be used in any unit in the x-coordinate direction, y-coordinate direction, and z-coordinate direction, and it has a high degree of freedom in assembly that allows for an extremely wide variety of assembly modes. It is also possible to flexibly respond to assembly changes.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of the basic unit of a prefabricated robot according to an embodiment of the present invention, taken along the - arrow direction in FIG. Figures 3 and 3 are partially omitted cross-sectional views of the same basic unit with a support plate for the horizontal support surface attached, and Figures 4 to 7 respectively show prefabricated robots using the above basic unit. Figure 4 A, B
are the front view and top view of the first assembly example, and the fifth
The figure is a front view of the second example of assembly, FIG. 6 is a plan view of the third example of assembly, and FIG. 7 is a front view of the fourth example of assembly. 1...Basic unit, 2...Casing, 3a, 3
b...Side mounting surface, 4...End mounting surface, 5...Screw shaft, 6...Motor, 7...Guide rail, 8...
Slider, 11... Bracket, 12, 12'...
...Support plate.

Claims (1)

[Scope of Claims] 1. A Cartesian coordinate type assembly robot in which at least two basic units are assembled perpendicularly to each other, wherein two longitudinally extending side surfaces are integrally formed so as to be orthogonal to each other, and An end surface perpendicular to the longitudinal direction is integrally formed on the longitudinal end of the casing, and the two longitudinal sides and the end surface serve as mounting surfaces for other basic units, respectively, to form a casing; An orthogonal coordinate type assembly type characterized in that each of the basic units has a common structure in which a screw shaft driven by a motor and a slider that reciprocates in the longitudinal direction by the screw shaft are installed inside the casing. Robot.