JP2011240448A - Wire-driven robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact wire-driven robot capable of accurately and quickly performing control with respect to movement in a plurality of directions without installing a drive source in a movable section.SOLUTION: An XθZ type wire-driven robot includes: an ascent and descent base including a θ rotation means for turning a robot arm; an ascent and descent guide for constraining an ascent and descent path of the ascent and descent base in the Z-axis direction; a travel base for supporting the ascent and descent guide; a travel guide for constraining a travel path of the travel base in the X-axis direction perpendicular to the Z-axis; a base frame for supporting the travel guide; a wire-driven Z-axis drive means for applying driving force in the Z-axis direction to the ascent and descent base; and a wire-driven X-axis drive means for applying a drive force in the X-axis direction to the travel base. The wire-driven robot includes an ascent and descent drive source and a travel drive source for the Z-axis drive means and the X-axis drive means on the base frame.

Description

  The present invention relates to a robot that employs a wire drive system using wires and pulleys.

A robot used for assembling, processing, transporting, and the like of a product generates a desired operation by performing drive control of each joint and traveling / lifting / rotating control by servo control or the like on the arm.
However, in order to make such many complicated movements, it must be a relatively large and heavy arm, and the torque and parts of the drive source required for control must naturally have high output and strength. It becomes.

  In order to reduce the weight of each movable part constituting the arm, it is effective not to mount a drive source on the movable part, and via a belt (for example, see Patent Document 1 below) or a wire (for example, see Patent Document 2 below). A method to transmit power to machining tools such as chucks is introduced.

Utility Model Registration No. 2506918 Japanese Patent Laying-Open No. 2005-40888

However, all the above conventional methods are common in that the drive source is not mounted on the movable part, but in any case, the drive direction is limited to the horizontal direction.
Therefore, when driving in other directions, it is necessary to separately provide driving directions.

  The present invention has been made in view of the above circumstances, and is a compact wire-driven robot that can perform accurate and quick control on movement in a plurality of directions without mounting a drive source on a movable part. For the purpose of provision.

  The wire-driven robot according to the present invention, which has been made to solve the above-mentioned problems, employs an XθZ drive system, and regulates a lift base having a θ rotation means for turning a robot arm and a lift track of the lift base in the Z-axis direction. An elevating guide, a traveling base that supports the elevating guide, a traveling guide that regulates the traveling path of the traveling base in the X-axis direction perpendicular to the Z axis, and a base frame that directly or indirectly supports the traveling guide; A Z-axis drive comprising: a wire-drive Z-axis drive that applies a drive force in the Z-axis direction to the lift base; and a wire-drive X-axis drive that applies a drive force in the X-axis to the travel base. The base frame is provided with the elevating drive source and the travel drive source of the means and the X-axis drive means.

  The Z-axis drive means supports a pair of left and right transmission pulleys on the travel base at substantially the same height with a rotation axis perpendicular to the Z axis and the X axis, and a pair of upper and lower passive pulleys on the lift base and the Z axis and Pull out one end of the lifting wire that is spirally wound around the driving pulley fixed to the shaft of the lifting drive source, supported at a position that overlaps with the axis of rotation perpendicular to the X axis, for example, left end or right end of the base frame Hang on the first pulley (Z-axis swing pulley) supported on the starting end of the traveling track, and then on the transmission pulley supported on the starting end of the traveling track of the traveling base from below, It is hung on the upper passive pulley, and further on the transmission pulley supported on the end side of the traveling track of the traveling base from below, for example, it is fastened to the end of the traveling track, such as the right end or the left end of the base frame, while being driven up and down Source Pull out the other end of the running wire spirally wound around the driving pulley fixed to the shaft, for example, to the second pulley (Z-axis fixed pulley) supported at the start end of the running track, such as the left end or right end of the base frame Next, after hanging on the transmission pulley supported on the starting end side of the traveling base of the traveling base from above, it is hung on the lower passive pulley of the lifting base and further supported on the terminal side of the traveling base traveling path. For example, it is possible to employ one that is fastened to the end of the traveling track, such as the right end or the left end of the base frame.

  For example, a fixed bearing fixed at the starting end of the traveling track, such as one of the left and right ends of the base frame, and a dynamic bearing that swings in the gap between the left and right support plates that constitute the fixed bearing. The second pulley is rotatably supported, the first pulley is rotatably supported by the dynamic bearing, and the fixed bearing includes two upper and lower support shafts that project from the inner surface of the support plate toward the gap, The dynamic bearing is provided with a bearing that is open in the same direction in which the two upper and lower support shafts are loosely fitted. For example, the upper part of the dynamic bearing is a traveling track with a bolt or the like that has a compression spring at the start end of the traveling track. A structure including an elongation detection mechanism including an attitude sensor that supports and biases the dynamic bearing in a direction in which the lifting / lowering wire is stretched, such as elastically biasing toward the terminal end of the shaft. It is also good.

  The X-axis drive means pulls out one end of a traveling wire spirally wound around a driving pulley fixed to the shaft of the traveling drive source, and supports the end of the traveling track such as the right end or the left end of the base frame. After hanging on the third pulley (right relay pulley), and then hanging on the fourth pulley (X-axis swing pulley) supported at the start end of the traveling track, such as the left end or the right end, for example, One end of the traveling wire is fastened, while the other end of the traveling wire spirally wound around the driving pulley fixed to the shaft of the traveling drive source is pulled out, for example, the end of the traveling track such as the right end or the left end of the base frame It is possible to employ one that is hung on a fifth pulley (right relay pulley) supported by the portion, and then the other end of the traveling wire is fastened to the traveling base.

  For example, it comprises a fixed bearing fixed at the start end of the traveling track, such as one of the left and right ends of the base frame, and a dynamic bearing that swings in the gap between the left and right support plates that constitute the fixed bearing. The fourth pulley is rotatably supported, and the fixed bearing is provided with two upper and lower support shafts protruding from the inner surface of the support plate toward the gap, and the two upper and lower support shafts are loosely fitted to the dynamic bearing. Bearings opened in the same direction, for example, elastically biasing the upper part of the dynamic bearings toward the end of the traveling track with a bolt or the like passing through a compression spring at the starting end of the traveling track, etc. The dynamic bearing may be urged and supported in the direction in which the traveling wire is stretched, and the first pulley may be provided with an extension detection mechanism including an attitude sensor that detects the inclination of the dynamic bearing. Rotate the second pulley The support may be rotatably supported by extending the detection mechanism constructed integrally with said first pulley to said motion bearings.

A pulling member that applies tension to the traveling wire or the lifting wire, a fixing member that holds an end of the traveling wire or the lifting wire fastened to the pulling member, and a track of the traveling wire or the lifting wire in a holding region of the fixing member It is good also as a structure provided with the elongation adjustment mechanism which has a track | orbit change means to change.
Here, the elevating drive source and the travel drive source may be a prime mover such as a motor, or a bearing portion that supports a rotation shaft in which a reduction gear, a gear, or a belt stopper is connected to the rotation shaft of the prime mover. The thing which can apply motive power directly with respect to a raising / lowering wire or a traveling wire.
Lifting, traveling, up / down, left / right, start / end, side, top, and bottom indicate the relative positional relationship on the base frame. Depending on the case, the absolute direction of each may differ.

  The wire-driven robot according to the present invention employs the XθZ drive system to temporarily move the trajectory of the arm at each joint as compared to a multi-joint arm (hereinafter abbreviated as a multi-joint arm) that requires control of the amount of rotation at each joint. In addition, it is easy to adopt a buffering method to be removed, but it is possible to obtain an operating range and accuracy that are not inferior to the articulated arm, and convenience of control. In addition, since there are few requests for providing a plurality of actuators on one arm for positioning, it is extremely convenient for reducing the weight of the arm.

  Furthermore, the traveling arm and the lifting arm are driven by mounting the lifting arm on the traveling arm and performing the two-axis driving composed of the Z-axis driving means and the X-axis driving means by the wire driving method instead of the driving method by the gear or belt. The source can be placed outside the travel base. It can also be configured as a small robot that can move the operating point at a relatively high speed by placing the driving source of the traveling arm and lifting arm outside the traveling base, and can be used when performing precise work at high speed. There is an effect that can be.

  In addition, the efficient arrangement of the pulleys and the way of laying the wires enable a small, lightweight and accurate arm movement with the minimum number of pulleys and the shortest possible wire.

  If the elongation detection mechanism is provided, the elongation of the wires of the Z-axis driving means and the X-axis driving means can be managed collectively with a relatively simple configuration, and the elongation adjusting mechanism according to the present invention is adopted. Then, an appropriate tension can be applied to the wire with a simple operation.

It is a principal part perspective view which shows an example of the wire drive type robot by this invention. It is the perspective view seen from the back side which shows an example of the Z-axis drive means of the wire drive type robot by this invention. It is the perspective view seen from the back side which shows an example of the X-axis drive means of the wire drive robot by this invention. It is the enlarged view seen from the back side which shows an example of the travel base back board in the wire drive type robot by this invention. It is a perspective view which shows an example of the winding structure of the wire in the drive pulley of the wire drive robot by this invention. It is a perspective view which shows an example of the winding structure of the wire in the drive pulley of the wire drive robot by this invention. It is a perspective view which shows an example of the elongation detection mechanism in the wire drive type robot by this invention. It is a disassembled perspective view which shows an example of the elongation detection mechanism in the wire drive type robot by this invention. It is a side view which shows the operation example of the elongation detection mechanism in the wire drive type robot by this invention.

Embodiments of a wire drive type robot according to the present invention will be described below with reference to the drawings.
In the embodiment shown in FIG. 1, the robot arm 6 adopting the XθZ drive system (turning in the θ direction, linear movement in the X axis direction perpendicular to the turning axis, and in the Z axis direction parallel to the turning axis). This is a robot of a driving system consisting of a linear movement.

The XθZ drive system in this embodiment is composed of θ rotation means (see FIG. 1) 1, Z-axis drive means (see FIG. 2) 2 and X-axis drive means (see FIG. 3) 3 by wire drive system. , Θ rotating means 1 and a vertical shaft 1a driven by the motor are mounted on a wire-driven lift base 4, and the lift base 4 is mounted on a wire-driven travel base 5.
In the present embodiment, by fixing the base end portion of the robot arm 6 to the vertical shaft 1a driven by a motor, the robot arm 6 fixed to the vertical shaft 1a can be moved up and down, left and right, and turned.

The vertical shaft 1 a to which the robot arm 6 of the present embodiment is fixed is provided in the vertical direction from the θ rotation means 1.
The θ rotation means 1 of the present embodiment includes a motor fixed to the elevating base 4 via a stay 1b, a speed reducer connected to the rotating shaft, and the like, and receives control (deceleration) of the rotational speed by the speed reducer. The rotating shaft is referred to as a vertical shaft 1a (see FIG. 1).

The lift base 4 is slidably mounted on vertical travel guides (guides in the X-axis direction) 8a and 8b passed over the base frame 7 under so-called automatic control (see FIG. 1).
The base frame 7 includes a left side plate 7a and a right side plate (not shown), and a bottom plate (not shown) that supports the plate so as to stand vertically.
The left side plate 7a and the right side plate support a pair of upper and lower traveling guides 8a and 8b at the front lower part and the rear upper part thereof so as to be parallel to each other.

The traveling base 5 has a back plate 5b standing vertically on the rear side of the substrate 5a (see FIG. 1).
The back plate 5b includes an upper support portion 5c through which the upper travel guide 8a is inserted, and a pair of left and right transmission pulleys 10a constituting the Z-axis drive means 2 at the same height in the middle portion of the back plate 5b. , 10b are supported by a rotation axis perpendicular to the X-axis direction and the Z-axis direction (see FIGS. 1 to 3).
Further, the back plate 5b includes two wire fixing mechanisms 12a and 12b that support both ends of the traveling wire 11 (see FIGS. 3 and 4). The wire fixing mechanisms 12a and 12b receive the traveling force by the X-axis driving means 3 through the traveling wire 11 fixed thereto.

The substrate 5a is provided with a lower support portion 5d through which the lower traveling guide 8b is inserted in the front portion thereof, and a pair of left and right lifting guides (in the Z-axis direction) that stands vertically from the surface of the substrate 5a in the middle portion of the depth Guides 9 and 9 are provided (see FIGS. 1 and 2).
The upper and lower guides 9 and 9 are supported at the top by a top plate 5e that is fixed to the upper portion of the back plate 5b so as to protrude forward.

The lifting base 4 is integrally provided with a lifting base body 4 a and a passive body 4 b that receives the lifting force from the Z-axis driving means 2.
The elevating base body 4a includes support portions 4c and 4c through which the elevating guides 9 and 9 are inserted, and a base surface for fixing the stay 1b on the front surface thereof (see FIGS. 1 and 2).
The passive body 4b supports a pair of upper and lower passive pulleys 13a and 13b constituting the Z-axis driving means 2 with a rotation axis perpendicular to the X-axis direction and the Z-axis direction.
The lifting base 4 is integrated by fixing the passive body 4b between the guide holes provided in the support portions 4c, 4c of the lifting base body 4a.

  By attaching the elevating base 4 to the elevating guides 9, 9 of the traveling base 5, the passive body 4 b receives elevating force from the Z-axis driving means 2 via the elevating wires 14, and a pair of left and right transmission pulleys 10 a, In the space between 10b, the track regulated by the lifting guides 9 and 9 is lifted and lowered.

The X-axis drive means 3 of the present embodiment includes a motor as a travel drive source 3a fixed to the right end of the bottom plate in the base frame 7 and has the following configuration (see FIG. 3).
That is, one end of a traveling wire 11 spirally wound around a driving pulley 3b fixed to the shaft of the traveling drive source 3a is pulled out and one of a pair of right relay pulleys having the same coaxial diameter and supported on the nearest (right) side plate ( (3rd pulley) 15 and then hanging on the X-axis swing pulley (fourth pulley) 16 supported on the opposite side plate (left side) 7a, then the traveling wire is connected to one wire fixing mechanism 12a of the back plate 5b. 11 end is fastened.
Further, the other end of the running wire 11 spirally wound around the driving pulley 3b is pulled out, and a pair of other right relay pulleys (fifth pulleys) 17 having the same diameter and supported on the nearest (right) side plate, It fastens to the other wire fixing mechanism 12b with which the said back plate 5b is equipped (refer FIG.3 and FIG.4).

The driving pulley 20 passes through the winding surface thereof through a spiral groove (not shown) along the rotational direction of the traveling drive source 3a or the elevating drive source 2a and a central portion of the driving pulley 20 at right angles to the rotation axis. It is desirable to provide the pin hole 20a and the lock hole 20b (refer FIG. 5).
The lock hole 20b is a hole through which a lock screw 19 that functions as a detachment stopper for the wire fixing pin 18 inserted through the pin hole 20a is inserted.
The pin hole 20a and the lock hole 20b are set in a positional relationship where they intersect within the driving pulley 20 so as to contact each other by about 1/3 to about 1/4 of the diameter of the wire fixing pin 18.

  The wire fixing pin 18 includes a wire hole 18a penetrating at a right angle to the longitudinal direction of the wire fixing pin 18 so as to pass through the intermediate portion of the traveling wire 11 or the lifting wire 14 wound spirally around the driving pulley 20 ( (See FIG. 6).

  The wire fixing pin 18 is provided with a tapered surface 18b in contact with the side surface of the lock screw 19 inserted through the lock hole 20b at a portion facing the lock hole 20b when buried. When the entire wire hole 18a is exposed from the surface of the driving pulley 20, the tip of the lock screw 19 screwed into the lock hole 20 comes into contact with the taper portion 18b. As the screw enters the lock hole 20b, the side surface of the lock screw 19 presses the taper 18b and pushes down the wire fixing pin 18, and when the taper surface 18b comes into contact with the side surface of the lock screw 19, a part of the wire hole 18a becomes a driving pulley. The inclination and range are set so as to be buried from the surface of 20.

  In the present embodiment, the wire fixing pin 18 that is adopted as the driving source of the X-axis driving means 3 and the traveling wire 11 is passed through the wire hole 18a is loaded into the pin hole 20a of the driving pulley 3b and the lock screw 19 is tightened. The fixing pin 18 is buried in the driving pulley 20 to fix the intermediate portion of the traveling wire 11. Subsequently, starting from the portion fixed to the wire fixing pin 18 of the traveling wire 11, if the winding amount of one of the traveling wires 11 wound around the starting point is increased, the other winding amount is increased. The traveling wire 11 is wound so as to decrease (see FIG. 6).

With the above configuration, when the traveling drive source 3a performs forward and reverse rotation, it is possible to travel in the X-axis direction according to the amount of rotation, and it is possible to securely hold the intermediate portion of the wire without slipping. This contributes to improving the positioning accuracy.
The wire winding mechanism can be used not only for the X-axis drive means 3 but also for the shaft of the elevating drive source 2 a of the Z-axis drive means 2.

The Z-axis drive means 2 of the present embodiment is provided with a motor as its elevation drive source 2a fixed to the left end of the bottom plate in the base frame 7, and has the following configuration.
That is, one end of a lifting wire 14 spirally wound around a driving pulley 2b fixed to the shaft of the lifting drive source 2a is pulled out and a Z-axis swing pulley (first pulley) supported below the nearest (left) side plate 7a. ), And then hung on the left transmission pulley 10a supported on the left side of the back plate 5b from below, then on the upper passive pulley 13a of the passive body 4b, and further supported on the right side of the back plate 5b. The pulley 10b is hung from below and fastened to the wire fixing mechanism 22 provided on the opposite (right) side plate (see FIG. 2).

  In addition, the other end of the lifting / lowering wire 14 spirally wound around the driving pulley 2b fixed to the shaft of the lifting / lowering drive source 2a is pulled out, and a Z-axis fixed pulley (second shaft) supported above the nearest (left) side plate 7a. Pulley) 23, and then hung on the left transmission pulley 10a supported on the left side of the back plate 5b from above, then on the lower passive pulley 13b of the passive body 4b and further supported on the right side of the back plate 5b. The transmission pulley 10b is hung from above and fastened to the wire fixing mechanism 22 provided on the right side plate.

With the above configuration, when the lifting drive source 2a performs forward and reverse rotation, the lifting base 4 can be lifted in the Z-axis direction according to the amount of rotation.
In the present embodiment, the X-axis swing pulley 16, the Z-axis fixed pulley 23 and the Z-axis fixed pulley 21 as constituent elements, the extension detection mechanism 24 for the traveling wire 11 and the lifting wire 14, and the X-axis extension adjustment. A mechanism 25 and a Z-axis elongation adjusting mechanism 26 are provided (see FIGS. 2 to 4 and FIGS. 7 to 9).

The elongation detecting mechanism 24 detects slack and disconnection of the traveling wire 11 and the lifting wire 14, and the driving body (the traveling base 5 and the lifting base 4) moved by the wires 11 and 14 has been overloaded due to a collision or the like. It is a mechanism for detecting cases.
The stretch detection mechanism 24 of the present embodiment is a dynamic bearing that swings between a fixed bearing fixed to the left end of the base frame (the right and left may be switched as appropriate) and a left and right support plate that constitutes the fixed bearing. It consists of.

The fixed bearing is composed of a pair of support plates 27 and 27 which are spaced apart from each other and face each other in parallel.
In order to rotatably support the Z-axis fixed pulley 23 between the pair of support plates 27, 27, and to detect the swing angle of the dynamic bearing disposed between the support plates 27, 27 between them. Posture sensors 28 and 28 are provided.
The pair of left and right support plates 27, 27 project two upper and lower support shafts 29 a, 29 b at positions facing each other inside, and a Z-axis fixed pulley at an intermediate point between the support plates 27, 27. The bearing 30 which supports the both ends of 23 spindles is provided.

The dynamic bearings are adjacent to each other between the pair of support plates 27 and 27 so as to be able to stably swing while maintaining a constant distance from the support plate. 31b.
The X-axis detection plate 31a and the Z-axis detection plate 31b are each provided with a bearing 32 at a position facing each other, and the bearing 32 passes between the X-axis detection plate 31a and the Z-axis detection plate 31b. A horizontal shaft is supported, and the X-axis swing pulley 16 and the Z-axis swing pulley 21 are supported by the horizontal shaft so that they can rotate independently (see FIGS. 7 and 8).

  The X-axis detection plate 31a and the Z-axis detection plate 31b include bearings 33a and 33b in which the two upper and lower support shafts 29a and 29b are loosely fitted in the same direction, and both detection plates 31a and 31b. A relief portion 33c that avoids interference with the support shaft of the Z-axis fixed pulley 23 is provided at an intermediate point between the bearings 33a and 33b (see FIG. 8).

  The X-axis detection plate 31a and the Z-axis detection plate 31b are bent at upper portions thereof in a U-shape at right angles to form suspension pieces 34a and 34b. The maximum amount of swinging is adjusted by suspending the suspension pieces 34a and 34b by the amount of bolts 35a and 35b. Further, in the present embodiment, a compression spring 36 is interposed between at least one of the bolts 35a and 35b and the suspension piece 34a or 34b through which the bolt 35a or 35b is inserted, The upper portions of the X-axis detection plate 31a and the Z-axis detection plate 31b are urged toward the outer surface (the direction of the right side plate) of the left side plate 7a. The detected load can be adjusted by adjusting the strength of the compression spring 36 and tightening the bolt 35a or 35b inserted through the compression spring 36.

The X-axis detection plate 31a and the Z-axis detection plate 31b have detected portions 37 and 37, which are detection targets of the posture sensors 28 and 28, at the upper ends thereof, and outputs of the posture sensors 28 and 28 according to their swinging. Is prepared to change (see FIG. 9).
The posture sensor 28 in the present embodiment is a limit switch that detects two on / off states along the swinging direction of the X-axis detection plate 31a and the Z-axis detection plate 31b. The cam portion presses the detection portion 28a of the limit switch.

The stretch detection mechanism 24 of the present embodiment is configured as described above. When the tension of the lifting / lowering wire 14 in the Z-axis driving means 2 becomes stronger, the lifting / lowering wire 14 causes the Z-axis swing pulley 21 to move to the left side plate 7a. The X-axis detection plate 31a and the Z-axis detection plate 31b are pivoted on the lower support shaft 29b (see FIG. 9C).
On the other hand, if the tension of the elevating wire 14 in the Z-axis driving means 2 is weakened, the pulling force on the Z-axis swing pulley 21 is weakened, and the upper part of the Z-axis detection plate 31b is applied to the left side plate 7a by the compression spring 36. The lower part is swayed by the compression spring 36 in a direction away from the left side plate 7a. At this time, the fulcrum of the X-axis detection plate 31a and the Z-axis detection plate 31b is pivoted with the upper support shaft 29a. (See FIG. 9D).

  As described above, when the X-axis detection plate 31a and the Z-axis detection plate 31b swing, their fulcrums are applied to the bearings 33a and 33b according to the swing of the X-axis detection plate 31a and the Z-axis detection plate 31b. It alternates with one of the two upper and lower support shafts 29a, 29b. And each time, the detection part 28a of the X-axis detection board 31a and the Z-axis detection board 31b can obtain the output according to the position of the to-be-detected part 37 from the said attitude | position sensor 28 (refer FIG. 9).

  That is, when both the traveling wire 11 and the lifting wire 14 are properly tensioned, both the upper and lower support shafts 29a and 29b are supported at the deepest portion of the bearings 33a and 33b, The detection unit 37 presses the detection unit 28a and sets the output in this state as a normal signal (see FIGS. 9A and 9B).

On the other hand, when an excessive load is applied to the robot arm 6 and the tension of either the traveling wire 11 or the elevating wire 14 is excessively increased, the lower support shaft 29b serves as a fulcrum for the swing of the dynamic bearing, The pressing of the detection unit 28a by the detected unit 37 is released, and the output in this state is used as an abnormal signal (see FIG. 9C).
On the other hand, when any of the wires is loosened excessively due to cutting of the traveling wire 11 or the lifting wire 14, the upper support shaft 29 a becomes a fulcrum of the swing of the dynamic bearing, and the detection unit 37 detects the detection unit. 28a is released, and the output in this state is used as an abnormal signal (see FIG. 9D).
By using these changes in output, processing such as sounding an alarm or triggering a predetermined processing can be performed.

  As described above, the X-axis oscillating pulley 16 and the Z-axis oscillating pulley 21 are rotatably supported by a single horizontal axis passed between the X-axis detecting plate 31a and the Z-axis detecting plate 31b. As a result of the configuration, the configuration is such that, in response to an abnormality in either the lifting wire 14 or the traveling wire 11, it swings in a direction that alleviates the obstacles to the other.

  The X-axis extension adjusting mechanism 25 and the Z-axis extension adjusting mechanism 26 adjust the traveling wire 11 or the lifting wire 14 to an appropriate tension when the traveling wire 11 or the lifting wire 14 is slackened.

  The elongation adjusting mechanism includes a pulling member that applies tension to the wire, a fixing member that holds an end portion of the wire fastened to the pulling member, and a track changing unit that changes the track of the wire in a holding region of the fixing member. .

The X-axis elongation adjusting mechanism 25 of the present embodiment is provided integrally with one of the wire fixing mechanisms 12a and 12b provided in the back plate 5b of the traveling base 5 (see FIG. 4).
The X-axis elongation adjusting mechanism 25 of the present embodiment fixes the two fixing plates 39a and 39b that hold the end portion of the traveling wire 11 between the tip portions thereof, and the fixing plates 39a and 39b. The fastening screw 41a to be converted into the fixing plate 39a and the pressurizing screw 41b (fixing member) which presses the traveling wire 11 between the two fixing plates 39a and 39b at the tip thereof are integrated. Fastened to the fulcrum screw 40 serving as a fulcrum of the fixed plates 39a and 39b and the base ends of the integrated fixed plates 39a and 39b, and the swing of the integrated fixed plates 39a and 39b is applied to the traveling wire 11. It consists of a tension spring 38 and a (tensile member) that urges it in the direction of applying tension.

The tension spring 38 according to the present embodiment is disposed horizontally below the back surface of the back plate 5b, and has one end fixed to the right end of the back plate 5b and integrated with the other end of the tension spring 38. The base ends of 39a and 39b are connected.
The fulcrum screw 40 of the present embodiment is intended to change the thread for fixing the upper fixing plate 39a to the lower fixing plate (the one that is in close contact with the back plate 5b) 39b and the trajectory of the traveling wire 11 that runs horizontally. An arcuate peripheral surface for guiding the end of the traveling wire 11 is provided (track changing means).
In the present embodiment, the traveling wire 11 is bent downward at a right angle with the peripheral surface of the fulcrum screw 40 and the inner surfaces of the fixing plates 39a and 39b, and the end of the traveling wire 11 is fixed with the pressure screw 41b. is doing.

  When the fulcrum screw 40 is loosened, the X-axis elongation adjusting mechanism 25 of the present embodiment applies a tension according to the strength to the traveling wire 11 by the tension spring 38. By tightening the fulcrum screw 40 while maintaining the tension, the swinging of the fixing plates 39a and 39b is stopped, and a suitable tension of the traveling wire 11 applied by the tension spring 38 is maintained.

The Z-axis extension adjusting mechanism 26 of the present embodiment is provided integrally with the wire fixing mechanism 22 fixed to the side plate on the opposite side (right side) from the lifting drive source 2a (see FIG. 2).
That is, the Z-axis elongation adjusting mechanism 26 of the present embodiment has a tension spring 42 (a tension member) that fastens one end of the lifting wire 14 and a fixing that holds the end of the lifting wire 14 fastened to the tension spring 42. The block 43 and the fixing plate 44, the pressurizing screw 45b for applying a force for fixing the lifting wire 14 to the fixing block 43 and the fixing plate 44, and the two fixing and fixing the fixing block 43 and the fixing plate 44 to each other. Fastening screws 45a, 45a (fixing member).

The Z-axis stretch adjusting mechanism 26 of the present embodiment is fixed to the outside of the right side plate and at substantially the same height as the X-axis stretch adjusting mechanism 25.
The Z-axis extension adjusting mechanism 26 has a tension spring 42 arranged in a vertical direction below the wire fixing mechanism 22, and one end portion of the elevating wire 14 extending from the wire fixing mechanism 22 is attached to the upper end of the tension spring 42. The length is adjusted so that it can be adjusted, and the lower end of the tension spring 42 is fixed to the right side plate.

The adjustment of the length in the present embodiment is realized by connecting the elevating wire 14 and the upper end of the tension spring 42 via the wire hook ring 48.
That is, one end portion of the excess lifting wire 14 extending from the wire fixing mechanism 22 is passed through the hole of the wire fastening bracket 47, and the lifting wire 14 is connected to the wire hook ring 48 connected to the upper end hook of the tension spring 42. It is wound and folded, and is pulled by pulling up the end of the lifting / lowering wire 14 until it passes through the other hole of the wire fastening fitting 47 and the extension of the tension spring 42 becomes an appropriate amount that gives a desired tension to the lifting / lowering wire 14 (pulling) A mark or the like is provided at a position where the spring 42 has an appropriate length). If the hole of the wire fastening bracket 47 is close to a distance shorter than the diameter of the wire hook ring 48, the wire fastening bracket 47 is pulled toward the wire hook ring 48, thereby allowing the lifting wire 14 to pass through the wire fastening bracket 47. It is restrained and the effective length of the elevating wire 14 can be easily adjusted and fixed.

In the present embodiment, the fixing block 43 has a substantially flat upper surface, and the fixing plate 44 fixed to the upper surface has a diameter (about approximately) of the lifting wire 14 so as to regulate the trajectory of the lifting wire 14 on the back surface. A holding groove 46 equivalent to or slightly shallower than 1 mm to about 5 mm (orbit changing means).
In the present embodiment, the elevating wire 14 is guided perpendicularly toward the back side along the holding groove 46 (see FIG. 2), and further, on the back surface of the fixed block 43 (the surface facing the back side of the base frame 7). The end is connected to the upper end of the tension spring 42. The corner at the boundary between the upper surface and the back surface of the fixed block 43 in the present embodiment is chamfered into a cylindrical side surface so as not to impose a burden on the lifting wire 14.

In the Z-axis elongation adjusting mechanism 26 of the present embodiment, when the pressure screw 45b is loosened, a tension according to the strength is applied by the tension spring 42.
If the lifting wire 14 is loosened, loosen the pressure screw 45b, and then adjust the length of the excess lifting wire 14 passed through the wire fastener 47 so that the tension spring 42 has a predetermined elongation. The lifting wire 14 is maintained at a suitable tension by tightening the pressure screw 45b again.

The robot arm 6 of the present embodiment has a base end portion directly fixed to the vertical shaft 1a and is subjected to rotation control with the vertical shaft 1a as an axis.
Based on the above structure, a work chuck capable of receiving a rotational force via a pulley and a belt is attached to the tip of the robot arm 6 by, for example, providing a support hole. By appropriately attaching a supporting platform and the like, the robot is configured according to the purpose of use.

1 θ rotation means, 1a vertical shaft, 1b stay,
2 Z-axis driving means, 2a lifting drive source, 2b driving pulley (Z-axis driving means),
3 X-axis driving means, 3a traveling drive source, 3b driving pulley (X-axis driving means),
4 Lift base, 4a Lift base body, 4b Passive body, 4c Support part,
5 Driving base,
5a substrate, 5b back plate, 5c upper support, 5d lower support, 5e top plate,
6 robot arm,
7 Base frame, 7a Side plate (left),
8a Upper travel guide, 8b Lower travel guide,
9 Lifting guide,
10a Left transmission pulley, 10b Right transmission pulley,
11 traveling wire,
12a Wire fixing mechanism (X axis), 12b Wire fixing mechanism (X axis),
13a Upper passive pulley, 13b Lower passive pulley,
14 lifting wire,
15 Right relay pulley (third pulley),
16 X-axis swing pulley (fourth pulley),
17 Right relay pulley (fifth pulley),
18 wire fixing pin, 18a wire hole, 18b taper part,
19 Lock screw,
20 driving pulley, 20a pin hole, 20b lock hole,
21 Z-axis swing pulley (first pulley),
22 wire fixing mechanism (Z-axis drive means),
23 Z-axis fixed pulley (second pulley),
24 Elongation detection mechanism,
25 X-axis elongation adjustment mechanism,
26 Z-axis elongation adjustment mechanism,
27 support plate,
28 posture sensor, 28a detector,
29a spindle, 29b spindle,
30 bearing (support plate),
31a X-axis detection plate, 31b Z-axis detection plate,
32 bearings (X-axis detection plate, Z-axis detection plate),
33a bearing, 33b bearing, 33c relief part,
34a hanging piece (X axis), 34b hanging piece (Z axis),
35a bolt (X axis), 35b bolt (Z axis),
36 compression spring,
37 detected parts,
38 Tension spring (X axis)
39a fixing plate, 39b fixing plate,
40 fulcrum screws, 41a tightening screws, 41b pressure screws,
42 tension spring (Z-axis), 43 fixing block, 44 fixing plate,
45a tightening screw, 45b pressure screw,
46 holding groove, 47 wire fastener, 48 wire hook ring,

Claims (6)

In the wire drive robot of XθZ drive system,
A lifting base (4) provided with θ rotation means (1) for turning the robot arm;
An elevating guide for regulating the elevating orbit of the elevating base (4) in the Z-axis direction;
A traveling base (5) for supporting the lifting guide;
A travel guide that regulates the travel path of the travel base (5) in the X-axis direction perpendicular to the Z-axis;
A base frame that supports the travel guide;
Wire-driven Z-axis driving means (2) for applying a driving force in the Z-axis direction to the elevating base (4);
Wire driving type X-axis driving means (3) for applying a driving force in the X-axis direction to the traveling base (5),
A wire-driven robot comprising a base frame provided with a lift drive source and a travel drive source for the Z-axis drive means (2) and the X-axis drive means (3). The Z-axis drive means (2) supports a pair of left and right transmission pulleys (10a, 10b) on a traveling base (5) with a rotation axis perpendicular to the Z-axis and X-axis, and on a lifting base (4). A pair of upper and lower passive pulleys (13a, 13b) are supported by rotation axes perpendicular to the Z axis and the X axis,
One end of a lifting / lowering wire (14) spirally wound around a driving pulley (2b) fixed to the shaft of the lifting / lowering drive source is pulled out and hooked on a first pulley (21) supported at the start end of a traveling track, and then traveled. After hanging on the transmission pulley (10a) supported on the starting end side of the traveling track of the base (5) from below, it is hung on the upper passive pulley (13a) of the elevating base (4) and further traveling on the traveling base (5). Hang on the transmission pulley (10b) supported on the terminal side of the belt from below and fasten it to the terminal part of the running track,
Pull out the other end of the elevating wire (14) spirally wound around the driving pulley (2b) fixed to the shaft of the elevating drive source, and hang it on the second pulley (23) supported on the start end of the traveling track, After hanging on the transmission pulley (10a) supported on the starting end side of the traveling track of the traveling base (5) from above, it is hung on the lower passive pulley (13b) of the elevating base (4) and further traveling on the traveling base (5). The wire-driven robot according to claim 1, wherein the wire-driven robot is hung on a transmission pulley (10b) supported on a terminal end of the track and fastened to a terminal portion of the traveling track. A fixed bearing fixed at the starting end of the traveling track, and a dynamic bearing that swings in the gap between the left and right support plates (27, 27) constituting the fixed bearing,
The second pulley (23) is rotatably supported on the fixed bearing,
The first pulley (21) is rotatably supported on the dynamic bearing,
The fixed bearing includes two upper and lower support shafts (29a, 29b) protruding toward the gap from the inner surface of the support plate (27, 27),
The dynamic bearing includes bearings (33a, 33b) opened in the same direction in which the two upper and lower support shafts (29a, 29b) are loosely fitted,
At the start end of the traveling track, the upper portion of the dynamic bearing is urged toward the end of the traveling track and supported,
The wire-driven robot according to claim 2, further comprising an extension detection mechanism including an attitude sensor (28) for detecting an inclination of the dynamic bearing. The X-axis drive means (3)
One end of a traveling wire (11) spirally wound around a driving pulley (3b) fixed to the shaft of the traveling drive source is pulled out and hooked on a third pulley (15) supported at the end of the traveling track, followed by traveling While hooking on the fourth pulley (16) supported at the starting end of the track, one end of the traveling wire (11) is fastened to the traveling base (5),
The other end of the traveling wire (11) spirally wound around the driving pulley (3b) fixed to the shaft of the traveling drive source is pulled out and hung on the fifth pulley (17) supported at the terminal end of the traveling track. The wire-driven robot according to any one of claims 1 to 3, wherein the other end of the traveling wire (11) is fastened to the traveling base (5). A fixed bearing fixed to the starting end of the traveling track, and a dynamic bearing that swings in the gap between the left and right support plates (27, 27) constituting the fixed bearing,
The fourth pulley (16) is rotatably supported on the dynamic bearing,
The fixed bearing includes two upper and lower support shafts (29a, 29b) protruding toward the gap from the inner surface of the support plate (27, 27),
The dynamic bearing includes bearings (33a, 33b) opened in the same direction in which the two upper and lower support shafts (29a, 29b) are loosely fitted,
At the start end portion of the traveling track, the upper portion of the dynamic bearing is urged toward the end portion of the traveling track and supported,
The wire-driven robot according to claim 4, further comprising an extension detection mechanism including an attitude sensor (28) for detecting the inclination of the dynamic bearing.   A pulling member that applies tension to the traveling wire (11) or the lifting wire (14), a fixing member that holds an end of the traveling wire (11) or the lifting wire (14) fastened to the pulling member, and the fixing The wire-driven robot according to any one of claims 2 to 5, further comprising an extension adjusting mechanism having a trajectory changing means for changing a trajectory of the traveling wire (11) or the elevating wire (14) in the member holding region.

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