JPH0829510B2 - Industrial single-axis robot - Google Patents

Description

TECHNICAL FIELD The present invention relates to an industrial single-axis robot used as a basic module of a Cartesian coordinate type assembly robot.

(Prior Art) This type of assembly-type robot can obtain complicated movements by combining a plurality of basic modules as manipulators, and is often used in automatic production machines and the like. In the uniaxial robot as the basic module, generally, when a screw shaft is driven by a motor, a slider screwed with the screw shaft is guided by a guide rail to reciprocate linearly.

By the way, a work tool such as a screw tightener or a tool hand is attached to the slider for work, but when the guide rail or the like for guiding the slider is deformed due to a reaction force received from the tool at that time, the work accuracy is improved. It deteriorates or becomes inoperable. In order to avoid such a situation, the guide rail has high rigidity. Then, conventionally, in order to increase the rigidity, the guide rail is usually fixed to a base plate which is a casing formed in a substantially L-shaped cross section. When the modules including the base plate are used in combination, the whole body including the base plate becomes a moving body. As a result, an increase in the weight of the entire moving body and an increase in size have been inevitable.

However, if the work is relatively light work, it is necessary to improve the control position accuracy, and for that purpose, it is necessary to reduce the weight and size of the entire moving body. Therefore, it has been desired to realize a uniaxial robot itself as a module, which can be lightened and downsized, and can also have a required amount of rigidity appropriately depending on the type of work.

(Object of the Invention) The present invention meets the above-mentioned conventional demands. By using a guide rail as a base and mounting all parts on the basis of the guide rail, the size and weight of the guide rail are reduced, the handling is easy, and the control is easy. It is an object of the present invention to provide an industrial uniaxial robot that can improve position accuracy and that can complementally contribute to improving rigidity.

(Structure of the Invention) The present invention is an industrial single-axis robot in which a slider screwed onto a screw shaft is driven by a motor and is reciprocated by being guided by a guide rail. At both ends of the guide rail, a pair of stand members each having a mounting portion having a U-shaped cross section are fitted and fixed in a saddle-like manner at the mounting portions, and one of the stand members is thicker than the other stand member. One stand member supports one end of the motor and the screw shaft, and the other stand member supports the other end of the screw shaft, and a cover surrounding the screw shaft is fixed over the respective stand members. It is a thing.

According to this configuration, parts are attached using the guide rail as a base, and the overall weight including the cover can be complementarily improved while achieving weight reduction.

(Embodiment) An embodiment of the present invention will be described with reference to FIGS.

Reference numeral 1 denotes a bar-shaped guide rail having a substantially rectangular cross section. The guide rail 1 is made of a material having a relatively high rigidity, and various members described below are attached to the guide rail 1 as a base. That is, the stand members 2 and 3 are fixed to both ends of the guide rail 1 by the bolts 4,5 and 6. A mounting portion having a U-shaped cross section is formed on each of the stand members, and the stand member is fixed to the guide rail 1 in a saddle-like shape by fitting the mounting portion to the guide rail 1. One of the stand members 2 is formed to have a large thickness, a servomotor 8 for driving the screw shaft 7 is fixed to one end portion of the stand member 2, and the screw shaft connected to the motor output shaft via a coupling 9. A bearing 10 for pivotally supporting one end side of 7 is attached. The other stand member 3 is formed so that its thickness is sufficiently smaller than that of the one stand member 2, and the stand member 3 has a bearing 11 that supports the other end of the screw shaft 7. Installed.

Further, a linear bearing 12 is guided on the guide rail 1, and a bracket screw 13 is attached to the linear bearing 12.
Is fixed by bolts 14 and 15, and a nut 16 composed of a cylindrical portion and an integral flange portion, the cylindrical portion is fitted into the through hole portion of the bracket screw 13, and the flange portion of the bracket screw 13 is fixed by the bolt 17. It is connected to the bracket screw 13 by being fixed to the side surface. The nut 16 is screwed onto the screw shaft 7, and the nut 16 and the bracket screw 13 which are integrated by the rotation of the screw shaft 7 are guided by the guide rail 1 via the linear bearing 12 and reciprocally moved in the longitudinal direction thereof. It is like this. A plate 18 for mounting a tool is fixed to the top portion 13b of the bracket screw 13 by a bolt 19, and the slider 20 is fixed by the bracket screw 13 and the nut 16.
Is configured.

Further, on both side surfaces of the stand members 2 and 3 (front side and back side of the paper surface in FIG. 1), the upper and lower end portions are bent inward in the longitudinal direction across the both sides, respectively, and the cross-section is substantially inward. Character-shaped covers 21 and 22 are fixed by bolts 23 and 24 and the like. The covers 21 and 22 are made of a material having relatively high rigidity so that they can contribute to increasing the rigidity of the whole.

Further, the upper end of the bracket screw 13 is formed with a longitudinal concave portion 13a for inserting the upper facing sides of the covers 21 and 22, and the top portion 13b thereof protrudes above the covers 21 and 22, and also its supersurface. Has slidable slide surfaces 13c that are slantingly downward to the left and right in the moving direction. A flexible thin film tape 25 is provided between the stand members 2 and 3 so as to close the narrow gap between the upper facing sides of the covers 21 and 22, and a part of the tape 25 is It is along the upper surface of the sliding surface 13c of the bracket screw 13. On the other hand, rollers 26, 26 contacting the upper surface of the tape 25 are provided on the lower surface in the moving direction of the plate 18 attached to the top 13b of the bracket screw 13. With these configurations,
Even if the slider 20 moves, the drive mechanism portion formed of a ball screw is always surrounded so that the intrusion of dust from the outside is prevented.

It should be noted that the covers 21 and 22 are extended so as to be able to surround the periphery of the servo motor 8 side, and a cover 27 is separately fixed to the side end surface of the stand member 2 and is attached to the end portions of these covers 21, 22, 27. The bracket 28 is fixed, and the power cord of the servomotor 8 and the position detection sensor 29 described later are inserted into the through holes of the bracket 28.
A lead wire connection connector 30 is provided.

Further, in the figure, 31 is a plate facing the position detection sensor 29 for home position detection and mounted on the slider 20 side so as to be adjustable in the moving direction, and 32 is the slider of the stand member 2.
A flange member fixed to the side end surface facing 20, 33 a damper, 34 a cap, and 35 a tool fixing bolt hole provided in the plate 19.

In the above configuration, the screw shaft 7 is rotated by driving the servo motor 8, and the slider 20 including the nut 16 and the bracket screw 13 screwed onto the screw shaft 7 is guided by the guide rail 1 via the linear bearing 12 to be rotated. The position is moved by a predetermined amount in the direction, and a predetermined work can be performed by a tool (not shown) mounted on the plate 19 of the slider 20. Then, by combining a plurality of such uniaxial robots, it is possible to obtain a three-dimensional movement in the x, y and z axes.

Further, according to the present invention, the stand members 2 and 3 are fixed to both ends of the guide rail 1 as a base, and the screw shaft 7 is pivotally supported by the stand members 2 and 3 and also has a function of reinforcing strength. The covers 21 and 22 are fixed, and the slider 20 is guided only to the guide rail 1 via the linear bearing 12. All the members are assembled with the guide rail 1 as a reference, and the rigidity is complementarily improved. It is possible to work together. Therefore, unlike the future, it is not necessary to separately provide a reinforcing base member for fixing the guide rail 1, and the rigidity is ensured while the size and weight are reduced.

Since the thickness of the stand member 2 supporting the servomotor 8 is formed thick, while the thickness of the stand member 3 on the other side is formed thin, it is possible to suitably secure the rigidity and reduce the weight.

Moreover, since each stand member is fitted and fixed in a saddle-like shape to the guide rail 1 having a rectangular cross section with a mounting portion having a U-shaped cross section, positioning of each stand member in the twisting direction with respect to the guide rail 1 at the time of assembly is performed. Therefore, it is possible to effectively prevent the twisting of the guide rail 1 and the screw shaft 7 that tends to occur during assembly, and to secure the operability of the slider 20 better.

Next, an application example of the present invention will be described with reference to FIGS. If the type of work is, for example, one in which a large reaction force is applied, it is necessary to further increase the rigidity, and in the present invention, the guide can be easily handled by the user. An optional base member 40 or 40 'can be easily fixed to the rail 1. That is, the guide rail 1 has, for example, a diameter of 8 mm.
The base member 40, 40 'is provided with a screw hole 42 having a diameter of 6 mm, a hole having a diameter of 8 mm or more, and a bolt receiving seat 43, respectively. Then, when fixing the base member 40, as shown in FIG. 8 (a), a 6 mm bolt 44 is screwed into the screw hole 42 from above the guide rail 1,
When fixing the base member 40 ', as shown in FIG. 8 (b), any of the base members can be mounted by screwing a bolt 45 of 8 mm into the screw hole 41 from below the base member 40'. It can be easily fixed to the guide rail 1. 6 and 7 show an example of fixing the base member 40 '. Further, when fixing these, the covers 21 and 22 should be removed.

In this way, the user can appropriately support a wide range of work from light work to relatively heavy work by fixing the reinforcing member with increased rigidity as necessary, and as mentioned above, it is lightweight during light work. Therefore, priority should be given to the improvement of the control position accuracy, and priority should be given to increasing the rigidity during heavy work.

(Effect of the Invention) As described above, according to the present invention, in the industrial uniaxial robot, the guide rail having a rectangular cross section for guiding the slider is used as a base, and the stand member is fitted and fixed in a saddle-like shape. While supporting the motor and screw shaft on the member,
By fixing the cover to the stand member, each part is attached with the guide rail as a reference, and it is possible to complementarily contribute to the improvement of rigidity. Compared to the fixed type, the size and weight can be reduced, the rigidity can be secured, the handling is easy, and the control position accuracy can be improved.

[Brief description of drawings]

1 is a sectional view of a uniaxial robot according to an embodiment of the present invention, FIG. 2 is a partial sectional plan view of the robot, FIG. 3 is a sectional view taken along line III-III of FIG. 1, and FIG. 1 is a sectional view taken along line IV-IV in FIG. 1, FIG. 5 is an exploded perspective view of a main part, FIG. 6 is a side view of a robot showing an application example of the present invention, FIG. 7 is an exploded perspective view of the same, and FIG. ) (B) is explanatory drawing of the same application example. 1 ... Guide rail, 2, 3 ... Stand member, 7 ... Screw shaft, 8 ... Servo motor, 20 ... Slider, 21, 22 ...
…cover.

Claims (1)

[Claims] 1. An industrial uniaxial robot in which a slider screwed onto the screw shaft is guided by the guide rail to reciprocate when the screw shaft is driven by a motor, and both ends of the guide rail having a rectangular cross section. A pair of stand members each having a mounting portion having a U-shaped cross section are fitted and fixed in a saddle shape at the mounting portion, and one of the stand members is thicker than the other stand member, and the one of the stand members is formed. The motor and one end of the screw shaft are supported by the other stand member, and the other end of the screw shaft is supported by the other stand member, and a cover surrounding the screw shaft is fixed over the respective stand members. An industrial single-axis robot.