JPH0679660A - Robot - Google Patents

Abstract

PURPOSE:To prevent damage of a robot and provide possibility of setting the operating region by furnishing a mechanical stopper to absorb shock in any position on the effective stroke of a uniaxial robot. CONSTITUTION:A moving body 2 is moved in one direction by a ball screw 1, and the moving extent of the moving body 2 is set with a cushion 4 provided thereon which runs against a stopper 5 formed from a screw 6 fixed to a rail 8, a groove engaged by a rail 8 installed parallel with a rack 7 and sliding only in one direction, and a rack part to mesh with the rack 7 installed parallel with the moving direction of the moving body 2. Thereby shocks on the moving body 2 running against the stopper 5 are absorbed and damage of constituent members can be prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot capable of moving a moving body, which is a component conveying means, in one direction on a plane and arbitrarily setting a moving range of the moving body.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 7, a robot for positioning a component in one direction has a drive source 24, a transmission means 21 for transmitting the power thereof, and a moving body 2 connected to the transmission means 21.
2 and a linear bearing 23 that moves the moving body 22 in only one direction are known.

In the above robot, when the movement range of the moving body 22 is arbitrarily set within the effective stroke of the robot (the range where the moving body does not interfere with the robot constituent elements), the sensor detects the set movement range of the moving body 22. , The drive source 24 is stopped when it exceeds it, or when the transmission means 21 is a ball screw, a stopper is attached to the threaded portion to move the moving body 22.
Has been adopted to prevent the operation of.

[0004]

However, in the robot having the above structure, in the structure in which the drive source is stopped by the sensor, if the sensor is damaged, the set operation range of the moving body cannot be detected and the certainty is lacking. There was a problem.

On the other hand, in the structure in which the stopper is fixed to the screw portion by the robot having the ball screw as the power transmission means, the operation area of the moving body is restricted by the collision of the moving body with the stopper. There is a problem that the ball screw is damaged and the life is remarkably reduced.

The present invention solves such a problem. The movable range of the movable body can be limited at an arbitrary position within the effective stroke of the robot, and the life of the stopper can be maintained even when the movable body collides with the stopper. It is an object of the present invention to provide a robot that does not impair the above.

[0007]

In order to achieve the above-mentioned object, the present invention provides a moving means for moving a moving body in one direction,
A robot capable of arbitrarily setting a moving range of the moving body, comprising a rack installed parallel to the moving direction of the moving body, and a rail installed parallel to the rack, and a rack engaging with the rack. The movable body abuts on a stopper composed of a portion, a groove portion that engages with the rail and slides only in one direction, and a screw that is fixed to the rail,
The moving range of the moving body is set.

Further, an arch-shaped rack which is installed parallel to the moving direction of the moving body and grounds only at both ends and forms a space with the ground in an intermediate region; a rack portion which meshes with the rack; The stopper has a pair of protrusions that straddle the rack and sandwich the rack from both sides, and the movable body is provided as a stopper composed of a train pin that penetrates the space from one of the pair of protrusions and reaches the other protrusion. The movable body is brought into contact with the movable body and the moving range of the movable body is set.

[0009]

According to this structure, the stopper can be installed at an arbitrary position on the rack placed parallel to the moving direction of the moving body. When the stopper collides with the moving body, the impact force applied to the stopper is received by the plurality of teeth on the rack, so that the impact force is dispersed and the stopper can withstand a large impact. At this time, the stopper is pushed up along the pressure angle of the rack teeth, but the impact is absorbed because the stopper is limited to sliding in one direction only by the rail. By this operation, the collision force between the moving body and the stopper damages the robot and prevents the life of the robot from being shortened.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot according to an embodiment of the present invention will be described below with reference to the drawings.

1 to 4 show the structure of the robot of the first embodiment. 1 to 4, 1 is a ball screw for transmitting power, 2 is a moving body coupled to the nut portion of the ball screw 1, and 3 is a linear sliding bearing that allows the moving body 2 to slide only in one direction. is there.

The moving body 2 is integrally provided with an interference portion 2a which collides with a stopper 5 fixed to a T-shaped rail 8 described later by a screw 6 when the moving body 2 comes out of the operating range, The interference portion 2a is provided with a cushion 4 that softens the collision with the stopper 5.

Reference numeral 7 is a rack installed parallel to the sliding direction of the moving body 2, and 8 is a T-shaped rail installed parallel to the rack 7. Both the rack 7 and the T-shaped rail 8 are robot main bodies 9 It is fixed to.

Further, as shown in FIGS. 2 and 3, the rack portion 5a of the stopper 5 engages with the rack 7, and the rail groove portion 5 is formed.
By engaging the rail 8 with b, the stopper 5 is slid only in one direction. Here, the rail groove 5b and the rail 8
There is a play amount e between them, and if the screw 6 is loosened by this play amount e, the stopper 5 tilts slightly in the T direction, the rack portion 5a and the rack 7 are disengaged, and the stopper 5 moves on the rail 8. It can be moved to any position in one direction. Mobile 2
In the case of changing the operation area of, the stopper 5 can be set at an arbitrary position on the rack 7 according to the pitch of the rack according to the above work. When the position of the stopper 5 is determined, the screw 6 is tightened to move the rack portion 5a to the rack 7
It is fixed to and never comes out of mesh.

When the interference portion 2a of the movable body 2 collides with the stopper 5, the impact force is received by each tooth of the rack, so that the concentration of stress due to the collision force is prevented and the stopper is not damaged. Can withstand a great deal of force. At this time, the stopper 5 moves the pressure angle α of the teeth of the rack 7.
A force for lifting the stopper 5 along (FIG. 4) is received, but it is pressed by the rail 8.

In this way, the operation area of the moving body 2 can be set at an arbitrary position by the stopper 5, and the stopper 5
It will not be damaged by the collision with the robot and the life of the robot will not be significantly reduced.

Next, FIGS. 5 and 6 show the construction of the robot of the second embodiment of the present invention. As shown in the figure, the rack 12 has an arch shape and has a space below, and the rack 12 is connected to the robot body 9 at both ends.

The stopper 11 is formed in a concave shape, and the rack 1
2 includes a pair of protrusions 11b sandwiching 2 and a rack 11a that engages with the rack 12, and a pair of protrusions 11b.
It has a pin 13 penetrating from one side to the other protruding portion through an arch-shaped space below the rack 12.

When the stopper 11 is moved to an arbitrary position, it can be moved to any position on the rack 12 by pulling out the pin 13. When the pin 13 is inserted, the rack portion 11a engages with the rack 12. There is no misalignment. The force that lifts the stopper 11 generated at the time of collision along the pressure angle of the rack 12 is suppressed by the pin 13.

As described above, the robot of the second embodiment is a stopper having a smaller number of constituent parts and a smaller installation space than the robot of the first embodiment, and can be manufactured at a low cost because the number of parts is small.

[0021]

As is apparent from the above description of the embodiments, according to the structure of the present invention, the stopper can move the movable body to any position for each rack pitch. Moreover, since the collision force is distributed and received by each tooth of the rack, the stopper can withstand a large collision force, and the life of the robot is not significantly shortened due to damage caused by the collision.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a robot according to a first embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a front view of the same.

FIG. 4 is a sectional view showing the structure of the stopper.

FIG. 5 is a perspective view showing the configuration of the robot of the second embodiment.

FIG. 6 is a sectional view of the same.

FIG. 7 is a front view showing the configuration of a conventional robot.

[Explanation of symbols]

 1 Ball screw 2 Moving body 3 Linear sliding bearing 4 Cushion 5 Stopper 6 Screw 7 Rack 8 Rail 9 Robot body

Claims (2)

[Claims] 1. A moving body is moved in one direction by driving means,
A robot capable of arbitrarily setting a moving range of the moving body, comprising a rack installed parallel to the moving direction of the moving body, and a rail installed parallel to the rack, and a rack engaging with the rack. The movable body abuts on a stopper composed of a portion, a groove portion that engages with the rail and slides only in one direction, and a screw that is fixed to the rail,
A robot that sets a moving range of the moving body. 2. The driving means moves the moving body in one direction,
A robot capable of arbitrarily setting a moving range of the movable body, the arched rack being installed parallel to the moving direction of the movable body, grounded only at both ends, and forming a space with the ground in an intermediate region. And a rack portion that engages with the rack, and a pair of protrusion portions that straddle the rack and sandwich the rack from both sides, and a regulation member that penetrates the space from one of the pair of protrusion portions to the other protrusion portion. A robot that sets the moving range of the moving body by contacting the moving body with a stopper formed of a pin.