JPH07178683A - Driving device for orthogonal three-axis robot - Google Patents
Driving device for orthogonal three-axis robotInfo
- Publication number
- JPH07178683A JPH07178683A JP5326406A JP32640693A JPH07178683A JP H07178683 A JPH07178683 A JP H07178683A JP 5326406 A JP5326406 A JP 5326406A JP 32640693 A JP32640693 A JP 32640693A JP H07178683 A JPH07178683 A JP H07178683A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- axis direction
- orthogonal
- pulley
- moving body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Feeding Of Workpieces (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、スピンドルチャックと
ワーク供給部又は搬出部との間でワークを搬送する直交
３軸ロボットの構成に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of an orthogonal three-axis robot which conveys a work between a spindle chuck and a work supply section or a carry-out section.
【０００２】[0002]
【従来の技術】従来から自動旋盤に直交３軸ロボットと
してガントリーローダ装置を付設して、スピンドルチャ
ックにワークを供給したり、加工後の製品をスピンドル
チャックから搬出したりする技術は公知となっている。
このガントリーローダの構成は門型のローダフレームを
旋盤のベース上に立設して、このローダフレームの横フ
レーム上に移動体を載置して、該移動体はモーターの動
力によって走行輪を駆動して左右（Ｘ軸）方向に走行
し、該移動体には前後（Ｚ軸）方向に移動可能な摺動体
を設け、該摺動体は別のモーターで前後動され、該摺動
体には上下（Ｙ軸）方向に移動可能な昇降ロッドを設け
て、該昇降ロッドも別のモーターで昇降可能とし、該昇
降ロッド下部にローダヘッドを配置し、該ローダヘッド
に設けたローダチャックでワークを把持して受渡しがで
きるようにしていたのである。2. Description of the Related Art Conventionally, a technique of supplying a work to a spindle chuck or carrying out a processed product from a spindle chuck by attaching a gantry loader device as an orthogonal three-axis robot to an automatic lathe has been known. There is.
The structure of this gantry loader is such that a gate-type loader frame is erected on the base of a lathe, and a moving body is placed on the horizontal frame of this loader frame, and the moving body drives the traveling wheels by the power of a motor. And traveling in the left-right (X-axis) direction, the moving body is provided with a sliding body that can move in the front-back (Z-axis) direction, and the sliding body is moved back and forth by another motor, and the sliding body moves up and down. An elevating rod movable in the (Y-axis) direction is provided, the elevating rod can also be moved up and down by another motor, a loader head is arranged below the elevating rod, and a loader chuck provided on the loader head grips a workpiece. I was able to deliver it.
【０００３】[0003]
【発明が解決しようとする課題】このような従来のガン
トリーローダはＸ軸・Ｙ軸・Ｚ軸それぞれの方向へ別々
のモーターによって移動させる構成とし、該モーターは
位置決め精度を高くするためにサーボモーターが使用さ
れていたので、コストが高くなっており、また、モータ
ー自体が重いので移動体の重量も増加し、これを支える
ローダフレームも頑丈に構成する必要があった。Such a conventional gantry loader is constructed such that it is moved in the directions of X-axis, Y-axis and Z-axis by separate motors, and the motors are servo motors for increasing the positioning accuracy. However, since the motor itself is heavy, the weight of the moving body also increases because the motor itself is heavy, and the loader frame that supports the moving body also needs to be robustly constructed.
【０００４】[0004]
【課題を解決するための手段】本発明の解決すべき課題
は以上の如くであり、該課題を解決するために、直交３
軸ロボットを、走行フレームに対して移動体をＸ軸方向
に、該移動体に対して摺動体をＺ軸方向に、該摺動体に
対して昇降体をＹ軸方向にそれぞれ移動可能に設け、こ
の３軸方向の動力伝達をプーリーとベルトによって走行
フレームに設けた駆動モーターより下手側へ直列に駆動
するように構成し、Ｘ軸方向・Ｙ軸方向・Ｚ軸方向の動
力伝達部のそれぞれ所定位置にブレーキ装置を設けて、
該ブレーキ装置の作用或いは非作用の選択切換により、
各軸を別々に駆動可能とし、走行フレームに設けた一つ
のモーターで直交３軸ロボットを駆動すべく構成したも
のである。The problems to be solved by the present invention are as described above, and in order to solve the problems, the orthogonal 3
An axis robot is provided so that the moving body can move in the X-axis direction with respect to the traveling frame, the sliding body can move in the Z-axis direction with respect to the moving body, and the lifting body can move in the Y-axis direction with respect to the sliding body. This three-axis power transmission is configured to be driven in series downward by a drive motor provided on the traveling frame by a pulley and a belt, and the power transmission parts in the X-axis direction, the Y-axis direction, and the Z-axis direction are respectively specified. Install a brake device at the position,
By selectively switching the operation or non-operation of the brake device,
Each axis can be driven separately, and a single motor provided on the traveling frame drives the orthogonal three-axis robot.
【０００５】[0005]
【作用】このような手段を用いることによって、Ｚ軸方
向を制動するブレーキ装置として電磁ブレーキ３２と、
Ｙ軸方向を制動するブレーキ装置として電磁ブレーキ４
５をＯＮして、Ｘ軸方向のブレーキ装置であるロータリ
ソレノイド３３を解除すると、駆動モーター１０の駆動
によって移動体９は走行フレーム３に沿ってＸ軸方向に
移動でき、ロータリソレノイド３３の係合部３３ａがラ
ッチ１７〜２０のいずれか一つに係合させて移動体９を
走行フレーム３に固定して、電磁ブレーキ３２をＯＮ、
電磁ブレーキ４５をＯＦＦとして、駆動モーター１０を
駆動させると、昇降体４０をＹ軸方向に移動でき、ラッ
チ１７〜２０のいずれか一つに係合し、電磁ブレーキ３
２をＯＦＦ、電磁ブレーキ４５をＯＮとして、駆動モー
ター１０を駆動させると、摺動体３５を移動体９上でＺ
軸方向に移動させることができる。By using such means, an electromagnetic brake 32 as a brake device for braking in the Z-axis direction,
Electromagnetic brake 4 as a braking device for braking in the Y-axis direction
5 is turned on to release the rotary solenoid 33, which is a brake device in the X-axis direction, the moving body 9 can be moved in the X-axis direction along the traveling frame 3 by driving the drive motor 10, and the rotary solenoid 33 is engaged. The portion 33a engages with one of the latches 17 to 20 to fix the moving body 9 to the traveling frame 3 and turn on the electromagnetic brake 32.
When the drive motor 10 is driven by turning off the electromagnetic brake 45, the lifting body 40 can be moved in the Y-axis direction and is engaged with any one of the latches 17 to 20, and the electromagnetic brake 3
2 is turned off and the electromagnetic brake 45 is turned on to drive the drive motor 10, and the sliding body 35 is moved to Z on the moving body 9.
It can be moved in the axial direction.
【０００６】[0006]
【実施例】次に本発明の一実施例を図面に従って説明す
ると、図１は本発明に係る直交３軸ロボットとワーク供
給装置と排出コンベアを装備した自動旋盤の全体正面
図、図２は本発明の直交３軸ロボットの斜視図、図３は
同じく駆動構成を示す模式図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described with reference to the drawings. FIG. 1 is an overall front view of an automatic lathe equipped with an orthogonal three-axis robot according to the present invention, a work supply device and a discharge conveyor, and FIG. FIG. 3 is a perspective view of an orthogonal triaxial robot of the present invention, and FIG. 3 is a schematic diagram showing the same drive configuration.
【０００７】本発明の直交３軸ロボットを装備した二軸
型自動旋盤について図１より全体構成から説明すると、
ベース１上に旋盤Ａが載置され、該旋盤Ａの両側に直交
３軸ロボットＢのローダフレームの支柱２・２を立設
し、該支柱２・２上部に走行フレーム３を横架し、該走
行フレーム３上に後述する移動体９を載置している。旋
盤Ａはベース１中央上にヘッドストックからスピンドル
チャック４・４を突出し、該スピンドルチャック４・４
の側方に前後摺動及び回転可能にタレット７・７が突出
され、該タレット７・７の外周面に数種の切削工具が付
設され、該タレット７・７を回転させて加工に必要な切
削工具を選択して、ワークをチャックした主軸を回転さ
せながら、タレット７を前後左右に摺動させて切削加工
ができるようにしている。５は操作盤、６は切粉排出コ
ンベアである。A two-axis automatic lathe equipped with the orthogonal three-axis robot of the present invention will be described with reference to FIG.
The lathe A is placed on the base 1, the columns 2 and 2 of the loader frame of the orthogonal triaxial robot B are erected on both sides of the lathe A, and the traveling frame 3 is horizontally mounted on the columns 2 and 2. A moving body 9 to be described later is placed on the traveling frame 3. The lathe A projects the spindle chucks 4 and 4 from the headstock onto the center of the base 1,
The turrets 7 and 7 are projected laterally and rotatably on the sides of the turret 7 and several kinds of cutting tools are attached to the outer peripheral surface of the turrets 7 and 7. The cutting tool is selected, and the turret 7 is slid forward, backward, leftward and rightward while rotating the spindle that chucks the work, so that cutting work can be performed. Reference numeral 5 is an operation panel, and 6 is a chip discharging conveyor.
【０００８】また、旋盤Ａの右側にはワークフィーダＣ
が配置され、左側には製品搬出コンベアＤが配置され、
これら旋盤ＡとワークフィーダＣと製品搬出コンベアＤ
の間でワークを搬送するように本発明の直交３軸ロボッ
トＢが配設されているのである。即ち、直交３軸ロボッ
トＢの構成は、図２、図３に示すように、前記走行フレ
ーム３がワークフィーダＣと製品搬出コンベアＤの上方
間に横設されており、該走行フレーム３の右端にサーボ
モーターよりなる駆動モーター１０が固設され、該駆動
モーター１０の駆動軸１０ａ上にプーリー１１が固定さ
れ、走行フレーム３左端に従動プーリー１２が回転自在
に枢支され、該プーリー１１・１２間にタイミングベル
ト１３が巻回されている。A work feeder C is provided on the right side of the lathe A.
Is arranged, the product unloading conveyor D is arranged on the left side,
These lathe A, work feeder C, product unloading conveyor D
The orthogonal triaxial robot B of the present invention is arranged so as to convey the work between them. That is, as shown in FIGS. 2 and 3, the orthogonal three-axis robot B has a configuration in which the traveling frame 3 is provided horizontally above the work feeder C and the product unloading conveyor D, and the right end of the traveling frame 3 is arranged. A drive motor 10 composed of a servo motor is fixedly mounted on the drive motor 10. A pulley 11 is fixed on a drive shaft 10a of the drive motor 10, and a driven pulley 12 is rotatably supported on the left end of the traveling frame 3 to support the pulleys 11 and 12. The timing belt 13 is wound between them.
【０００９】一方、前記走行フレーム３上には走行レー
ル３ａが付設されて、移動体９が該走行レール３ａに沿
って（Ｘ軸方向）移動可能とされ、該移動体９前部内に
はプーリー１４・１５・１６が三角形状の頂点位置に回
転自在に配設され、該プーリー１４・１５・１６に前記
タイミングベルト１３の中途部がジグザグ状に巻回され
ている。また、走行フレーム３の前面のワークフィーダ
Ｃの上方、スピンドルチャック４・４の上方、製品搬出
コンベアＤの上方にそれぞれ移動体９を停止させるため
のブレーキ装置としてラッチ１７・１８・１９・２０が
配設され、該ラッチ１７・１８・１９・２０にはそれぞ
れ凹部１７ａ・１８ａ・１９ａ・２０ａを形成してお
り、該凹部１７ａ・１８ａ・１９ａ・２０ａに係合でき
る係合片３３ａを有するロータリソレノイド３３が移動
体９に設けられ、該ロータリソレノイド３３は通常係合
片を自由状態にしておき、前記ラッチ１７・１８・１９
・２０のいずれかに至ると係合片３３ａが凹部１７ａ・
１８ａ・１９ａ・２０ａに滑り込み移動体９が停止され
る。そして、その位置から脱出させたいときには、ロー
タリソレノイド３３を作動させて係合片３３ａを回転さ
せて凹部より出して係合を解除し、駆動モーター１０を
駆動すれば走行フレーム３上を移動できるようにしてい
る。但し、移動体９の走行レール３ａ嵌合部にブレーキ
装置を設けて任意位置で停止させるように構成すること
もできる。On the other hand, a traveling rail 3a is attached on the traveling frame 3 so that the moving body 9 can be moved along the traveling rail 3a (X-axis direction), and a pulley is provided in the front portion of the moving body 9. 14, 15, and 16 are rotatably arranged at the apexes of a triangular shape, and the intermediate portions of the timing belt 13 are wound around the pulleys 14, 15, and 16 in a zigzag shape. Further, latches 17, 18, 19, 20 are provided as brake devices for stopping the moving body 9 above the work feeder C on the front surface of the traveling frame 3, above the spindle chucks 4 and above the product unloading conveyor D, respectively. The latches 17, 18, 19 and 20 are provided with recesses 17a, 18a, 19a, and 20a, respectively, and the rotary includes an engaging piece 33a that can engage with the recesses 17a, 18a, 19a, and 20a. A solenoid 33 is provided on the moving body 9, and the rotary solenoid 33 normally keeps the engaging piece in a free state, so that the latch 17, 18, 19,
When any of the 20 is reached, the engaging piece 33a is recessed 17a.
The moving body 9 is stopped by sliding on 18a, 19a, 20a. Then, when it is desired to escape from that position, the rotary solenoid 33 is actuated to rotate the engagement piece 33a so that the engagement piece 33a is moved out of the recess to release the engagement, and the drive motor 10 is driven so that the traveling frame 3 can be moved. I have to. However, a brake device may be provided at the fitting portion of the traveling rail 3a of the moving body 9 so as to be stopped at an arbitrary position.
【００１０】前記移動体９前部に設けた三つのプーリー
の中央のプーリー１５は回転軸２１前端に固定されて、
該回転軸２１が移動体９に回転自在に枢支されて、該回
転軸２１の後端にはベベルギア２２が固設され、該ベベ
ルギア２２にベベルギア２３が噛合されて、該ベベルギ
ア２３の軸２４は移動体９に回転自在に支持され、該軸
２４の他端にはプーリー２５が固設され、移動体９後部
にもプーリー２６が回転自在に枢支され、該プーリー２
５・２６間にタイミングベルト２７が巻回されている。
また、前記プーリー２５・２６とタイミングベルト２７
に平行となるように、プーリー２８・２９を移動体９上
の前後に回転自在に枢支して、該プーリー２８・２９間
にベルト３０を巻回している。該プーリー２９の回動軸
３１にはブレーキ装置として電磁ブレーキ３２と接続さ
れ、ベルト３０の回転を停止できるようにしている。The central pulley 15 of the three pulleys provided at the front of the moving body 9 is fixed to the front end of the rotary shaft 21,
The rotating shaft 21 is rotatably supported by the moving body 9, and a bevel gear 22 is fixedly mounted on a rear end of the rotating shaft 21. A bevel gear 23 is meshed with the bevel gear 22 to form a shaft 24 of the bevel gear 23. Is rotatably supported by the moving body 9, a pulley 25 is fixedly mounted on the other end of the shaft 24, and a pulley 26 is rotatably supported at the rear part of the moving body 9 as well.
The timing belt 27 is wound between 5 and 26.
In addition, the pulleys 25 and 26 and the timing belt 27
The pulleys 28 and 29 are rotatably supported on the movable body 9 in the front and rear directions so as to be parallel to the belt 28, and the belt 30 is wound between the pulleys 28 and 29. A rotating shaft 31 of the pulley 29 is connected to an electromagnetic brake 32 as a brake device so that the rotation of the belt 30 can be stopped.
【００１１】そして、前記移動体９には摺動体３５が前
後（Ｚ軸）方向に摺動自在に嵌合され、該摺動体３５は
底面で前記ベルト３０に連結板３６を介して固定されて
おり、該摺動体３５前部には嵌合部３５ａが設けられ
て、昇降体４０が上下（Ｙ軸）方向に摺動自在に嵌合さ
れ、該昇降体４０下部にローダヘッド４１が設けられ、
該ローダヘッド４１にローダチャック４２・４２が９０
°位置をずらせて水平方向と垂直方向に向けて配置し、
ローダヘッド４１を回転させることによって互いに位置
を変更可能としている。A sliding body 35 is slidably fitted in the moving body 9 in the front-back (Z-axis) direction, and the sliding body 35 is fixed to the belt 30 at the bottom surface thereof via a connecting plate 36. A fitting portion 35a is provided at the front part of the sliding body 35, the lifting body 40 is fitted slidably in the vertical (Y-axis) direction, and a loader head 41 is provided below the lifting body 40. ,
The loader chuck 41 is attached to the loader head 41 by 90.
° Displace and position horizontally and vertically,
The positions can be changed with each other by rotating the loader head 41.
【００１２】また、前記摺動体３５上にはプーリー３７
・３８・３９を三角形状の頂点位置に回転自在に配置し
て、前記タイミングベルト２７の中途部をジグザグ状に
巻回し、この中央のプーリー３８を固設した回転軸４３
は摺動体３５に回転自在に支持されて他端にプーリー４
４とブレーキ装置である電磁ブレーキ４５が付設され
て、該プーリー３８・４４・回転軸４３を制動可能に構
成され、該プーリー４４にタイミングベルト４６が巻回
され、該タイミングベルト４６の一端は前記昇降体４０
の上部（４０ａ）に固定され、他端は昇降体４０の下部
（４０ｂ）に固定され、摺動体３５前部にはガイドプー
リー４７・４８が回転自在に配設されて、前記タイミン
グベルト４６をプーリー４４に巻回できるようにガイド
している。但し、前記タイミングベルトはチェーンに、
プーリーはスプロケットに代えて直交３軸ロボットを駆
動するように構成することもできる。A pulley 37 is mounted on the sliding body 35.
38 and 39 are rotatably arranged at the apexes of a triangular shape, the middle portion of the timing belt 27 is wound in a zigzag shape, and the rotary shaft 43 having the central pulley 38 fixed thereto is provided.
Is rotatably supported by the sliding body 35, and the pulley 4 is attached to the other end.
4 and an electromagnetic brake 45, which is a braking device, are attached so that the pulleys 38, 44 and the rotary shaft 43 can be braked. A timing belt 46 is wound around the pulley 44, and one end of the timing belt 46 is Lifting body 40
Is fixed to the upper portion (40a) of the sliding member 35, the other end is fixed to the lower portion (40b) of the elevating body 40, and guide pulleys 47 and 48 are rotatably arranged on the front portion of the sliding body 35 to keep the timing belt 46 It is guided so that it can be wound around the pulley 44. However, the timing belt is a chain,
The pulley may be configured to drive an orthogonal three-axis robot instead of the sprocket.
【００１３】このように構成した直交３軸ロボットＢに
よってワークを搬送するために移動体９を左右に摺動さ
せる場合には、ロータリソレノイド３３の係合片３３ａ
がラッチ１７・１８・１９・２０と係合していない状態
で、電磁ブレーキ３２を作動することによってベルト３
０が回転できなくなり摺動体３５が前後動不能となり、
更に、電磁ブレーキ４５を作動することによって、プー
リー４４が摺動体に固定されて昇降体４０が上下動不能
となると同時にプーリー３８も回転不能となってタイミ
ングベルト２７が回転できなくなり、ベベルギア２３・
２２を介してプーリー１５も回転できなくなり、移動体
９がタイミングベルト１３に固定されたと同じ状態にな
る。When the movable body 9 is slid to the left and right in order to convey a work by the orthogonal three-axis robot B constructed as described above, the engaging piece 33a of the rotary solenoid 33 is used.
Is not engaged with the latches 17, 18, 19, 20 and the belt 3 is operated by operating the electromagnetic brake 32.
0 cannot rotate and the sliding body 35 cannot move back and forth,
Further, by operating the electromagnetic brake 45, the pulley 44 is fixed to the sliding body, and the lifting body 40 cannot move up and down. At the same time, the pulley 38 also cannot rotate and the timing belt 27 cannot rotate, and the bevel gear 23.
The pulley 15 is also unable to rotate via 22, and the movable body 9 is in the same state as when it is fixed to the timing belt 13.
【００１４】この状態で駆動モーター１０を駆動する
と、移動体９が走行レール３ａ上を左右に摺動され、ワ
ークフィーダＣからワークをチャックする場合にはラッ
チ１７の位置まで移動体９を移動して係合片３３ａを係
合させて停止させ、ワークフィーダＣからワークを把持
して搬送しスピンドルチャック４に把持させる場合に
は、ラッチ１８又は１９の位置まで移動して係合片３３
ａを係合させ、スピンドルチャック４から製品を搬送し
て製品搬出コンベアＤに搬出する場合にはラッチ２０の
位置まで移動して係合片３３ａを係合させ、その位置か
ら他の位置へ移動する時にはロータリソレノイド３３を
作動して係合片３３ａを退避させて係合を解除し、所望
の位置へ移動体９を移動させる。When the drive motor 10 is driven in this state, the moving body 9 is slid left and right on the traveling rail 3a, and when chucking the work from the work feeder C, the moving body 9 is moved to the position of the latch 17. When engaging and stopping the engaging piece 33a, the work is grasped and conveyed from the work feeder C and grasped by the spindle chuck 4, the engaging piece 33a is moved to the position of the latch 18 or 19.
When a is engaged and the product is conveyed from the spindle chuck 4 and conveyed to the product unloading conveyor D, it moves to the position of the latch 20 to engage the engaging piece 33a, and moves from that position to another position. In doing so, the rotary solenoid 33 is operated to retract the engagement piece 33a to release the engagement, and the moving body 9 is moved to a desired position.
【００１５】そして、そのラッチと係合片３３ａが係合
した停止位置で昇降体４０を上下動させてワークの受渡
しをする場合には、電磁ブレーキ４５の作動を解除（電
磁ブレーキ３２は作動）すると、回転軸４３が回転自在
となりプーリー１５も回転自在となり、駆動モーター１
０を駆動すると、プーリー１１を介してタイミングベル
ト１３が回転されて、プーリー１５、ベベルギア２２・
２３、プーリー２５、タイミングベルト２７、プーリー
３８、回転軸４３、プーリー４４と動力が伝えられて、
タイミングベルト４６が回転されて昇降体４０が上下に
摺動されるのである。尚、昇降体４０の上下高さ位置は
センサーにて検知され、最上昇位置は一定であり、下降
位置は停止位置によって所定の高さまで下降するように
制御されている。When the lifting body 40 is moved up and down at the stop position where the latch and the engagement piece 33a are engaged to deliver the work, the operation of the electromagnetic brake 45 is released (the electromagnetic brake 32 is operated). Then, the rotating shaft 43 becomes rotatable and the pulley 15 also becomes rotatable, and the drive motor 1
When 0 is driven, the timing belt 13 is rotated via the pulley 11, and the pulley 15 and the bevel gear 22.
23, the pulley 25, the timing belt 27, the pulley 38, the rotary shaft 43, and the pulley 44, the power is transmitted,
The timing belt 46 is rotated and the lift 40 is slid up and down. It should be noted that the vertical height position of the lifting body 40 is detected by a sensor, the highest rising position is constant, and the lowering position is controlled so as to descend to a predetermined height by the stop position.
【００１６】また、ワークをチャック４・４とローダチ
ャック４２との間で受渡しする場合には、摺動体３５を
前後させる必要があり、この場合、ラッチ１８又は１９
に係合体３３ａを係合させて移動体９を固定した状態
で、電磁ブレーキ３２の作動を解除し、電磁ブレーキ４
５を作動させると、ベルト３０が回転自在となり摺動体
３５が前後に摺動可能となるとともに、昇降体４０が摺
動体３５に固定されると同時に、プーリー３８も回転で
きなくなり、タイミングベルト２７の回転に従って摺動
体３５が前後に摺動されることになる。従って、駆動モ
ーター１０を駆動してタイミングベルト１３を回転させ
ると、プーリー１５、ベベルギア２２・２３、プーリー
２４を介してタイミングベルト２７が回動されて摺動体
３５が前後に摺動されることになるのである。なお、該
摺動体３５の前後動した位置も前記同様にセンサーによ
って検知されて、所定の位置で所定の距離摺動されるよ
うに制御されている。When the work is transferred between the chucks 4 and 4 and the loader chuck 42, it is necessary to move the sliding body 35 back and forth. In this case, the latch 18 or 19 is used.
With the moving body 9 fixed by engaging the engaging body 33a with the moving body 9, the operation of the electromagnetic brake 32 is released, and the electromagnetic brake 4 is released.
When 5 is operated, the belt 30 becomes rotatable, the sliding body 35 can slide back and forth, and the lifting body 40 is fixed to the sliding body 35. At the same time, the pulley 38 cannot rotate and the timing belt 27 The sliding body 35 is slid back and forth in accordance with the rotation. Therefore, when the drive motor 10 is driven to rotate the timing belt 13, the timing belt 27 is rotated via the pulley 15, the bevel gears 22 and 23, and the pulley 24, and the sliding body 35 is slid back and forth. It will be. The position of the sliding body 35 moved back and forth is also detected by the sensor in the same manner as described above, and is controlled so as to slide at a predetermined position for a predetermined distance.
【００１７】以上説明したように、電磁ブレーキ３２・
４５をＯＮして駆動モーター１０の駆動によって移動体
９を左右（Ｘ軸）方向に移動させて、ラッチ１７〜２０
のいずれかの位置で係合体３３ａがラッチ１７ａ〜２０
ａに係合して移動体９を固定して、電磁ブレーキ３２を
ＯＮ、電磁ブレーキ４５をＯＦＦとして、駆動モーター
１０を駆動させると、昇降体４０を昇降（Ｙ軸方向に移
動）でき、移動体９を固定した状態で、電磁ブレーキ３
２をＯＦＦ、電磁ブレーキ４５をＯＮとして、駆動モー
ター１０を駆動させると、摺動体３５を前後動（Ｚ軸方
向に移動）させることができるのである。As described above, the electromagnetic brake 32.
45 is turned on and the drive motor 10 is driven to move the moving body 9 in the left-right (X-axis) direction, and the latches 17 to 20 are moved.
Of the latches 17a to 20
When the drive motor 10 is driven by engaging with a and fixing the moving body 9 and turning on the electromagnetic brake 32 and turning off the electromagnetic brake 45, the elevating body 40 can be moved up and down (moved in the Y-axis direction). With the body 9 fixed, the electromagnetic brake 3
When the drive motor 10 is driven with 2 turned off and the electromagnetic brake 45 turned on, the sliding body 35 can be moved back and forth (moved in the Z-axis direction).
【００１８】[0018]
【発明の効果】本発明は以上の如く構成したので、次の
ような効果を奏するのである。即ち、駆動モーターが一
つで３軸をそれぞれ個々に駆動できるようになり、従来
のように３軸別個のサーボモーターで駆動していた構成
に比べて、フレームや移動体を軽量化することができ、
構成も簡略化し、コスト低減化も図れ、また、従来のよ
うにサーボモーターを用いるとボールネジによって移動
させることになるが、本発明ではタイミングベルトによ
って駆動できるようになるので、更に軽量化を図ること
ができる。Since the present invention is constructed as described above, it has the following effects. In other words, one drive motor can drive each of the three axes individually, and it is possible to reduce the weight of the frame and the moving body as compared with the conventional configuration in which the servo motors for the three axes are separately driven. You can
The structure can be simplified and the cost can be reduced. Further, if a servo motor is used as in the conventional case, it can be moved by a ball screw, but in the present invention, since it can be driven by a timing belt, further weight reduction can be achieved. You can
【図１】本発明に係る直交３軸ロボットとワーク供給装
置と排出コンベアを装備した自動旋盤の全体正面図であ
る。FIG. 1 is an overall front view of an automatic lathe equipped with an orthogonal three-axis robot, a work supply device, and a discharge conveyor according to the present invention.
【図２】本発明の直交３軸ロボットの斜視図である。FIG. 2 is a perspective view of an orthogonal triaxial robot of the present invention.
【図３】同じく駆動構成を示す模式図である。FIG. 3 is a schematic diagram showing a drive configuration of the same.
Ａ 旋盤 Ｂ 直交３軸ロボット ３ 走行フレーム ９ 移動体 １０ 駆動モーター １３・２７・４６ タイミングベルト １７〜２０ ラッチ ３２・４５ 電磁ブレーキ ３３ ロータリソレノイド ３３ａ 係合片 ３５ 摺動体 ４０ 昇降体 A Lathe B Cartesian 3-axis robot 3 Travel frame 9 Moving body 10 Driving motor 13, 27, 46 Timing belt 17-20 Latch 32, 45 Electromagnetic brake 33 Rotary solenoid 33a Engaging piece 35 Sliding body 40 Elevating body
Claims (1)
に、該移動体に対して摺動体をＺ軸方向に、該摺動体に
対して昇降体をＹ軸方向に移動可能に設けた直交３軸ロ
ボットにおいて、この３軸方向の動力伝達系を直列に設
け、各動力伝達部にブレーキ装置を設けて、該ブレーキ
装置の作用或いは非作用の選択切換により、一つのモー
ターで各軸を別々に駆動可能に構成した直交３軸ロボッ
トの駆動装置。1. A movable body is provided so as to be movable in the X-axis direction with respect to the traveling frame, a sliding body is movable in the Z-axis direction with respect to the moving body, and an elevating body is movable in the Y-axis direction with respect to the sliding body. In an orthogonal three-axis robot, this three-axis power transmission system is provided in series, each power transmission unit is provided with a brake device, and each axis is driven by one motor by selectively switching operation or non-operation of the brake device. Orthogonal three-axis robot drive device that can be driven separately.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5326406A JPH07178683A (en) | 1993-12-24 | 1993-12-24 | Driving device for orthogonal three-axis robot |
| TW083110098A TW269660B (en) | 1993-12-24 | 1994-11-02 | |
| KR1019940034120A KR100234957B1 (en) | 1993-12-24 | 1994-12-14 | Driving device for a right angled three shaft robot |
| CN94113559A CN1044691C (en) | 1993-12-24 | 1994-12-24 | Driving mechanism of orthogonal three axle robert |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5326406A JPH07178683A (en) | 1993-12-24 | 1993-12-24 | Driving device for orthogonal three-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07178683A true JPH07178683A (en) | 1995-07-18 |
Family
ID=18187441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5326406A Pending JPH07178683A (en) | 1993-12-24 | 1993-12-24 | Driving device for orthogonal three-axis robot |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JPH07178683A (en) |
| KR (1) | KR100234957B1 (en) |
| CN (1) | CN1044691C (en) |
| TW (1) | TW269660B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1217382A2 (en) * | 2000-12-21 | 2002-06-26 | Hansaem Digitec Co. Ltd. | Test pin unit for PCB test device and feeding device of the same |
| JP2007091447A (en) * | 2005-09-30 | 2007-04-12 | Nke Corp | Double-shaft movable conveying device |
| US7344017B1 (en) | 2006-09-07 | 2008-03-18 | Nsk Ltd. | Three axis drive apparatus |
| CN104670850A (en) * | 2013-11-27 | 2015-06-03 | 深圳职业技术学院 | Supply device for conveying blanks, loading robot and machining system of blanks |
| JP2016147352A (en) * | 2015-02-13 | 2016-08-18 | 高松機械工業株式会社 | Drive mechanism |
| CN107139006A (en) * | 2017-06-21 | 2017-09-08 | 北京精雕科技集团有限公司 | A kind of automatic loading/unloading lathe of machine outside fix |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659413B (en) * | 2012-09-14 | 2016-03-23 | 珠海格力电器股份有限公司 | A kind of translation mechanism and there is its transplanting machine hand |
| CN102909600B (en) * | 2012-10-31 | 2015-05-06 | 苏州凯蒂亚半导体制造设备有限公司 | Cantilever servo manipulator |
| KR101667303B1 (en) * | 2016-07-29 | 2016-10-18 | 주식회사 로보스타 | Robot |
| CN106743577B (en) * | 2017-01-17 | 2018-11-30 | 浙江优通自动化技术有限公司 | A kind of three-freedom mechanical arm device and manipulator plateform system |
| CN114309240B (en) * | 2022-01-23 | 2024-06-11 | 东莞六淳智能科技股份有限公司 | Automatic punching equipment |
| KR20230154642A (en) | 2022-05-02 | 2023-11-09 | 한국표준과학연구원 | Drive module and multi-axis orthogonal robot using same |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62234674A (en) * | 1986-04-02 | 1987-10-14 | Daihatsu Motor Co Ltd | Controlling method for positioning of multi-axis robot |
| JPH05104462A (en) * | 1991-10-14 | 1993-04-27 | Canon Inc | Two rectangular shaft type moving device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH622196A5 (en) * | 1978-05-19 | 1981-03-31 | Lns Sa | |
| JPS56152552A (en) * | 1980-04-22 | 1981-11-26 | Ikegai Corp | Flexible loader for machine tool and using method thereof |
| US4650234A (en) * | 1985-10-31 | 1987-03-17 | Blatt L Douglas | Transfer boom assembly for workpieces |
| US5153973A (en) * | 1990-11-01 | 1992-10-13 | Kitamura Machinery Co., Ltd. | Work changer |
-
1993
- 1993-12-24 JP JP5326406A patent/JPH07178683A/en active Pending
-
1994
- 1994-11-02 TW TW083110098A patent/TW269660B/zh active
- 1994-12-14 KR KR1019940034120A patent/KR100234957B1/en not_active IP Right Cessation
- 1994-12-24 CN CN94113559A patent/CN1044691C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62234674A (en) * | 1986-04-02 | 1987-10-14 | Daihatsu Motor Co Ltd | Controlling method for positioning of multi-axis robot |
| JPH05104462A (en) * | 1991-10-14 | 1993-04-27 | Canon Inc | Two rectangular shaft type moving device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1217382A2 (en) * | 2000-12-21 | 2002-06-26 | Hansaem Digitec Co. Ltd. | Test pin unit for PCB test device and feeding device of the same |
| EP1217382A3 (en) * | 2000-12-21 | 2003-08-27 | Hansaem Digitec Co. Ltd. | Test pin unit for PCB test device and feeding device of the same |
| JP2007091447A (en) * | 2005-09-30 | 2007-04-12 | Nke Corp | Double-shaft movable conveying device |
| US7344017B1 (en) | 2006-09-07 | 2008-03-18 | Nsk Ltd. | Three axis drive apparatus |
| CN104670850A (en) * | 2013-11-27 | 2015-06-03 | 深圳职业技术学院 | Supply device for conveying blanks, loading robot and machining system of blanks |
| CN104670850B (en) * | 2013-11-27 | 2017-08-25 | 深圳职业技术学院 | Feedway and its loader robot, system of processing for transmitting blank |
| JP2016147352A (en) * | 2015-02-13 | 2016-08-18 | 高松機械工業株式会社 | Drive mechanism |
| CN107139006A (en) * | 2017-06-21 | 2017-09-08 | 北京精雕科技集团有限公司 | A kind of automatic loading/unloading lathe of machine outside fix |
Also Published As
| Publication number | Publication date |
|---|---|
| KR100234957B1 (en) | 2000-04-01 |
| CN1129623A (en) | 1996-08-28 |
| KR950017116A (en) | 1995-07-20 |
| CN1044691C (en) | 1999-08-18 |
| TW269660B (en) | 1996-02-01 |
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