JPH0344470Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a positioning drive device for a plurality of work axes, which is attached to the end of a robot arm so as to be able to move up and down.

(Prior art) Conventionally, a work axis positioning device for a robot having a plurality of work axes corresponding to each part in order to cope with the work of handling different parts is disclosed in the Utility Model Application No. 1983-1 filed earlier by the present applicant. Robot linear drive shaft positioning device disclosed in Publication No. 139825 and Japanese Patent Application Laid-Open No. 151258/1983
The device shown in the publication is publicly known.

(Problem to be solved by the invention) In the above-mentioned conventional technology, two linear sliding shafts are arbitrarily positioned by one positioning device, so that the tip of the robot arm Although this has the effect of improving the operating characteristics of the robot by reducing its weight and reducing costs by simplifying the entire device including the control device, it is expensive because it requires a servo motor and a CPU to control the servo motor, and the latter is expensive. Since the position is adjusted using a positioning member, if one position is changed for adjustment, the other positions will also change, making initial position setting time-consuming. The problem was that it had to be set with high precision.

(Means for Solving the Problems) The present invention aims to solve the above problems, and has an arm tip that can be positioned two-dimensionally within a plane and is slidable in a direction perpendicular to the plane. The linear drive shaft of the robot consists of a pair of work shafts installed on the shaft and a pair of ON-OFF type actuators that slidingly drive the work shafts. Four or more stopper members are provided on the rotary plate and whose positions are adjustable in the direction of the rotation axis of the rotary plate, and the stopper members are selectively engaged with the pair of work shafts by rotation of the rotary plate. This system is characterized in that the axial positioning of a pair of work axes is performed individually.

Hereinafter, a detailed explanation will be given based on the illustrated embodiment. 1 to 7 show a first embodiment. A first arm 2 whose one end is pivotally supported by the column 1, and a spline at the tip end of a second arm 3 which is pivoted at the tip of the first arm 2 by an axis parallel to the pivot axis of the first arm 2. A pair of working shafts 4a and 4b configured by are provided rotatably and slidably in the axial direction. 5b, 5a are work shafts 4b, 4a
Bearings 7b, 7a, 8b, 8a, 9b, 9b with spline bearings fitted with spline parts 6b, 6a of
is pivotally supported by the second arm tip 3'.

Further, the upper ends 4b', 4a' of the working shafts 4b, 4a are connected to air cylinders 11 provided on a bracket 10 fixed to the second arm 3 in parallel with the working shafts 4b, 4a.
Connecting plates 12b, 12a fixed to rods 11b', 11a' of b, 11a and bearings 13b, 13a, 1
They are rotatably connected via 4b and 14a so as to be integral in the axial direction.

On the other hand, the second arm 3 is equipped with a pair of air cylinders 1.
1a, 11b The rotating plate 16 is located below the intermediate position of the bearing 1.
A flange 16' is provided on the upper surface of the rotary plate 16.
is formed on the flange 16', and the dog 15 is formed on the flange 16'.
A stopper member 19A, which has four female threads formed at equal 90° intervals on the circumference including the portion facing the portions a and 15b, and has a male threaded portion that is screwed into the female threads;
19B, 19C, 19D are nuts 19A', 19
It is fixed by B', 19C', and 19D'.
20 is an on-off type rotary actuator that is rotatably connected to the rotary plate 16 and rotates 90 degrees in forward and reverse directions.

21 and 22 are servo motors for driving the first arm 2 and second arm 3, respectively; 23 is a timing belt that rotatably connects a rotary drive device (not shown) and a pulley 24 fixed to the spline bearing 5b.

Next, we will discuss the effect. End effectors such as bands corresponding to different workpieces are attached to the work shafts 4a and 4b (not shown), and the work shaft 4a
are respectively from points P ₁ to P ₂ on the plane, working axis 4b
Assume that the work is to be transferred from P ₁ ′ to P ₂ ′.

Further, the heights of points P ₁ , P ₂ , P ₁ ′, and P ₂ ′ on the plane are H ₁ , H ₂ , H ₁ ′, and H ₂ ′, and these stopper members 19A, 19B, 19C, 19D is within the adjustment range.

First, teach the robot the position of _P1 . After moving the work shaft 4a above _P1 , press the stopper 19B.
Adjust so that the end effector can accommodate the height of _H1 . Next, move the work shaft 4b above _P2 and teach the position, and then do the same to the stopper member 19.
Adjust D to match the height of _H2 . Next, the rotary plate 16 is rotated 90 degrees, and after teaching P ₁ ' to the working shaft 4a, the stopper member 19c is adjusted to match the height of H ₁ '. Similarly, after teaching P ₂ ' to the work shaft 4b, the stopper member 19A is adjusted to match the height of H ₂ '.

After the robot's arm moves from the starting state of work shown in Fig. 3 and stops on the work axis _4aP1 , when the air cylinder 11a is operated, the work axis 4a is lowered and the dog 15a moves to the stopper member 19B as shown in Fig. 4. to reproduce the predetermined height _H1 . After operating the air cylinder 11a to raise the working shaft 4a, the arm moves and the working shaft 4b stops above _P1 ', and then when the air cylinder 11b is operated and the working shaft 4b is lowered, the dog 15b moves as shown in FIG. As shown, the stopper member 1
9D to reproduce the predetermined height H ₁ '. The working shaft 4b is raised and the rotary actuator 20 is operated to rotate the rotary plate through 90 degrees, and at the same time the arm moves to stop the working shaft 4a on _P2 . When the air cylinder 11a is operated again and the working shaft 4a is lowered, the dog 15 comes into contact with the stopper member 19c as shown in FIG. 6, reproducing the height of _H2 . After the work shaft 4a rises, the arm moves to stop the work shaft 4b above P ₂ ', and the air cylinder 11
When actuating b and lowering the work shaft 4b, the dog 1
5a now comes into contact with the stopper member 19A as shown in FIG. 7, reproducing the height of H ₂ '. After raising the working shaft 4b, the rotary actuator 20 is then reversed by 90 degrees to return the stopper member to the state shown in FIG. 3, and the operation is repeated.

8 to 10 show a second embodiment. A lever D is fixed to the shaft B on the opposite side of the output shaft of the rotary actuator A, with the other end of the tension spring C being locked at one end to the second arm 3.

The lever fixing position is set approximately in the middle of the rotation range of the rotary actuator A. When the power source of the rotary actuator A is stopped, the shaft of the rotary actuator A is stopped in the middle of the rotation angle by the tension of the spring C. Stopper members 19E and 19F are provided. Therefore, when the power of the rotary actuator A is stopped, the rotary plate stops at the neutral position, and the third height position can be set with respect to the work shafts 4a and 4b, making it possible to handle somewhat complicated work.

(Effects) According to the present invention, a pair of work shafts are provided at the tip of an arm that can be positioned two-dimensionally within a plane so as to be slidable in a direction perpendicular to the plane, and the work shaft is slidably driven. The linear drive shaft of the robot consists of a pair of ON-OFF type actuators, including a rotary plate supported parallel to the work axis and a rotary plate provided on the rotary plate whose position can be adjusted in the direction of the rotation axis. More than one stopper member is provided, and the stopper member is selectively engaged with the pair of work shafts by rotation of the rotary plate, so that the axial positioning of the pair of work shafts is performed individually. When a robot performs the work of setting two different heights for different workpieces, the purpose can be achieved with an inexpensive, simple, and lightweight configuration, and a combination of easy-to-control on/off controls. Since the height can be set, there is no need to use NC control such as servo motors or complicated sequences, and the control equipment can be made inexpensive. At the same time, each stopper can be adjusted individually according to the set height, so the time required to adjust the position of the robot and peripheral equipment can be shortened, which has the effect of reducing work man-hours and work change time. There is.

In this example, the stoppers were provided on the rotary plate at equal intervals on the 90° circumference, but they do not necessarily have to be placed on the equal 90° circumference as long as they are arranged in accordance with the rotation angle of the rotary plate. .

[Brief explanation of the drawing]

Fig. 1 is a perspective view of the entire robot to which the first embodiment of the present invention is applied, Fig. 2 is a side sectional view of the main part of Fig. 1,
Figures 3 to 7 are front views showing the operation sequentially;
The figure is a partially cutaway front view of the second embodiment of the rotating plate part, Figure 9 is a top view of Figure 8, and Figure 10 is the view of Figure 8.
It is a bottom view of a figure. DESCRIPTION OF SYMBOLS 1... Support column, 2... First arm, 3... Second arm, 3'... Second arm tip, 4a, 4b...
...Working axis, 6a, 6b...Spline part, 11
a, 11b...air cylinder, 16...rotating plate,
15a, 15b...Dog, 19A, 19B, 19
C, 19D...Stopper member, 20...Rotary actuator.

Claims (1)

[Scope of utility model registration request] A pair of work shafts are provided at the tip of an arm that can be positioned two-dimensionally within a plane so as to be slidable in a direction perpendicular to the plane, and a pair of work shafts that slidably drive the work shafts.
A linear drive shaft of a robot consisting of an ON-OFF type actuator has a rotary plate supported parallel to the working axis and four or more rotary plates whose positions can be adjusted in the direction of the rotary axis. A plurality of robots characterized in that a stopper member is provided, and the stopper member is selectively engaged with the pair of work shafts by rotation of the rotary plate to individually position the pair of work shafts in the axial direction. Work axis positioning drive.