JPS6322072Y2

JPS6322072Y2 -

Info

Publication number: JPS6322072Y2
Application number: JP1983096649U
Authority: JP
Priority date: 1983-06-24
Filing date: 1983-06-24
Publication date: 1988-06-17
Also published as: JPS604387U

Description

【考案の詳細な説明】（技術分野）本考案は平面上の一点の上下から同時に動作を
行うようにしたロボツトに関するものである。[Detailed Description of the Invention] (Technical Field) The present invention relates to a robot that operates simultaneously from above and below a single point on a plane.

（従来技術）平面基板上の一点を上下から同時に部品挿入、
クリツピング等の動作をロボツトで行う場合、従
来は非常に複雑な治具を用いていたので動作ポイ
ントが変わる度に治具を取り付け直す必要があ
り、時間を要し動作性が悪いという欠点があつ
た。そのため同一ロボツトを２台使用するのが常
識となつていたが、コストアツプとなり、又メン
テナンス面で２台のロボツトの制御誤差、機械誤
差を小さくするのが極めて困難であるという欠点
があつた。(Prior Art) Simultaneous insertion of components from above and below a single point on a flat board.
When performing operations such as clipping with a robot, a very complicated jig was used in the past, and it was necessary to reattach the jig every time the operating point changed, which was time-consuming and had the disadvantage of poor operability. Therefore, it was common practice to use two identical robots, but this increased costs and also had the disadvantage of being extremely difficult to reduce the control error and mechanical error of the two robots in terms of maintenance.

（目的）本考案は複雑な治具を用いず、簡単な機構によ
り上下で制御誤差、機械誤差のない同一動作を行
わせて従来の欠点を除くことを目的としている。(Purpose) The purpose of the present invention is to eliminate the drawbacks of the conventional method by using a simple mechanism to perform the same operation on the upper and lower sides without any control error or mechanical error, without using complicated jigs.

（実施例）次に添付図面に示した一実施例について本考案
の構成を説明する。１はボデイーでその上下にモ
ーター２，３が上下同軸に取り付けてある。上部
モーター２の軸４、外周の軸受５，６に筒軸７を
回動自在に枢着し、筒軸７はボデイー１の軸受
８，９に枢着され下部モーター３と筒軸７とをク
ランク１０で一体に連結してある。筒軸７の上下
に夫々第１アーム１１，１１′の基部を固定し、
軸４の上下に夫々第３アーム１２，１２′の基部
を固定し、第１アーム１１，１１′及び第３アー
ム１２，１２′に夫々第２アーム１３，１３′及び
リンク１４，１４′を回動自在に連結して平行４
辺形を構成し、第２アーム１３，１３′先端にツ
ール１５，１５′を取り付けてある。(Example) Next, the configuration of the present invention will be described with reference to an example shown in the attached drawings. 1 is a body, and motors 2 and 3 are installed coaxially above and below it. A cylindrical shaft 7 is rotatably connected to the shaft 4 of the upper motor 2 and bearings 5 and 6 on the outer periphery, and the cylindrical shaft 7 is pivotally connected to bearings 8 and 9 of the body 1 to connect the lower motor 3 and the cylindrical shaft 7. They are connected together by a crank 10. The bases of the first arms 11 and 11' are fixed to the top and bottom of the cylinder shaft 7, respectively,
The bases of the third arms 12, 12' are fixed on the upper and lower sides of the shaft 4, respectively, and the second arms 13, 13' and the links 14, 14' are attached to the first arms 11, 11' and the third arms 12, 12', respectively. Rotatably connected parallel 4
It has a rectangular shape, and tools 15, 15' are attached to the tips of the second arms 13, 13'.

次に作用について説明する。下部モーター３に
より上下平行４辺形の第１アーム１１，１１′が
同一に回動する。又上部モーター２により上下平
行４辺形の第３アーム１２，１２′が同一に回転
する。従つて上下平行４辺形の第２アーム１３，
１３′も同一に回動し、上下同一動作を行う。 Next, the effect will be explained. The lower motor 3 rotates the upper and lower parallelogram-shaped first arms 11, 11' in the same manner. Further, the upper motor 2 rotates the upper and lower parallelogram-shaped third arms 12, 12' in the same manner. Therefore, the upper and lower parallelogram second arms 13,
13' also rotates in the same manner and performs the same vertical movement.

（効果）本考案によるとボデイーに２個のモーターを上
下同軸に取り付け、一方のモーターの軸の上下に
夫々第３アームの基部を固定し、該軸の同心に筒
軸を回動自在に枢着して他方のモーターとクラン
クで連結し、前記筒軸の上下に１対の第１アーム
の基部を固定し、該１対の第１アームと第３アー
ムに１対の第２アームとリンクを連結して同形の
１対の平行４辺形リンクを上下に形成し、１対の
第２アーム先端にツールを対向して取り付ける如
くしたので、ワークの表と裏に上下から同時に作
業を行うことができ、しかも上下での制御誤差、
機械誤差となくすことができ、全体の構成をコン
パクトにしてコストダウンを計ることができる。(Effects) According to the present invention, two motors are attached to the body vertically and coaxially, the base of the third arm is fixed above and below the shaft of one motor, and the cylindrical shaft is rotatably pivoted concentrically with the shaft. the bases of a pair of first arms are fixed above and below the cylindrical shaft, and the pair of first and third arms are linked with a pair of second arms. are connected to form a pair of parallelogram links of the same shape above and below, and the tools are attached to the tips of the pair of second arms facing each other, so that work can be done simultaneously from above and below on the front and back of the workpiece. control error at the top and bottom,
Mechanical errors can be eliminated, the overall configuration can be made more compact, and costs can be reduced.

尚、本考案にあつて平行４辺形を構成するに、
各アーム，リンクの代りにタイミングベルト等を
採用しても何ら本考案の要旨を変更するものでは
ない。 In addition, in this invention, to construct a parallelogram,
Even if a timing belt or the like is used instead of each arm or link, the gist of the present invention will not be changed in any way.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本考案の一実施例要部切断正面図、第
２図は上部平行４辺形機構平面図、第３図は下部
平行４辺形機構平面図である。１……ボデイー、２……上部モーター、３……
下部モーター、４……軸、５，６……軸受、７…
…筒軸、８，９……軸受、１０……クランク、１
１，１１′……第１アーム、１２，１２′……第３
アーム、１３，１３′……第２アーム、１４，１
４′……リンク、１５，１５′……ツール。 FIG. 1 is a cutaway front view of essential parts of an embodiment of the present invention, FIG. 2 is a plan view of the upper parallelogram mechanism, and FIG. 3 is a plan view of the lower parallelogram mechanism. 1...Body, 2...Upper motor, 3...
Lower motor, 4... shaft, 5, 6... bearing, 7...
... cylinder shaft, 8, 9 ... bearing, 10 ... crank, 1
1, 11'...first arm, 12,12'...third arm
Arm, 13, 13'...Second arm, 14, 1
4'...link, 15,15'...tool.

Claims

【実用新案登録請求の範囲】[Scope of utility model registration request]

ボデイーに２個のモーターを上下同軸に取り付
け、一方のモーターの軸の上下に夫々第３アーム
の基部を固定し、該軸と同心に筒軸を回動自在に
枢着して他方のモーターとクランクで連結し、前
記筒軸の上下に１対の第１アームの基部を固定
し、該１対の第１アームと第３アームに１対の第
２アームとリンクを連結して同形の１対の平行４
辺形リンクを上下に形成し、１対の第２アーム先
端にツールを対向して取り付ける如くなした上下
同一動作ロボツト。 Two motors are attached to the body vertically and coaxially, the base of the third arm is fixed above and below the shaft of one motor, and the cylindrical shaft is rotatably pivoted concentrically with the shaft of the other motor. The bases of a pair of first arms are fixed above and below the cylinder shaft, and a pair of second arms and a link are connected to the pair of first and third arms. pair of parallel 4
This is a robot in which vertical links are formed on the upper and lower sides, and tools are attached to the tips of a pair of second arms so as to face each other.