JPH068184A - Robot arm - Google Patents

Abstract

PURPOSE:To easily adjust a work receiving position and a work delivery position so as to improve the transport accuracy for a work by installing two pulleys in the advance and retreat directions on slide arms, winding wires round the respective pulleys, the ends of the wires being fixed to a fixed base, and connecting the upper slide arm to the wire. CONSTITUTION:When a slide arm 2 is moved from a two-dot chain line position to the right by a pinion gear 9, a wire 7 is let out by a pulley 5, and a slide arm 3 connected to the wire 7 through a connecting part 10 is moved from a two-dot chain line position to the right. Simultaneously, when the slide arm 3 is moved, a wire 8 is let out from a pulley 6, and a slide arm 4 connected to the wire 8 through a connecting part 11 is moved from a two-dot chain line position to the right. Accordingly, a work W on the slide arm 4 is transferred to the right side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot arm for linearly transferring a work.

[0002]

2. Description of the Related Art A conventional robot arm is swingably attached to a shaft, and an actuator swings the robot arm around the shaft to transfer a work held by the robot arm to a predetermined position. There is something.

[0003]

However, in the conventional robot arm, since the work is moved to a predetermined position by swinging about the axis, it is difficult to adjust the receiving position and the delivering position of the work. There is such a problem.

The present invention has been made in view of the above circumstances, and can easily adjust the receiving position and the delivering position of a work.
Therefore, it is an object to provide a robot arm capable of improving the transfer accuracy of a work.

[0005]

In a robot arm for linearly transferring a work, a robot arm of the present invention is arranged such that a fixed base is displaced forward and backward with respect to the fixed base and is substantially parallel to the forward and backward directions. The slide arm includes a plurality of slide arms and a drive mechanism for moving the bottom slide arm forward and backward with respect to the fixed base, and at least two pulleys are attached to the slide arm along the forward and backward directions. Wires are wound around the pulleys and spanned, and then crossed with each other, and the ends of the pulleys are fixedly attached to the fixed base. It is characterized by

[0006]

According to the robot arm of the present invention, when the slide arm is moved forward and backward with respect to the fixed base by the drive mechanism, the pulley of the slide arm moves in the forward and backward directions while being relatively displaced with respect to the wire, and at the same time, Feed out the wire. As the wire is fed out, the slide arm connected to the wire is moved forward and backward with respect to the fixed base.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot arm according to an embodiment of the present invention will be described below with reference to the drawings. 1 is a principle diagram of the present invention, and FIGS. 2 to 4 are embodiments of the present invention.

The principle of the present invention will be described with reference to FIG. 1 is a fixed base, 2, 3 and 4 are slide arms, 5 is a pulley attached to the slide arm 2, 6
Is a pulley attached to the slide arm 3, 7 is a wire wound around the pulley 5, 8 is a wire wound around the pulley 6, 9 is a pinion gear for driving the slide arm 2 forward and backward, and 10 is the slide arm 3 And a wire 7 for connecting the slide arm 4 and the wire 8.
It is a connecting portion that connects and.

When the slide arm 2 is moved to the right side in the figure from the position of the chain double-dashed line in the figure by the pinion gear 9, the wire 7 is paid out by the pulley 5.
As a result, the slide arm 3 connected to the wire 7 via the connecting portion 10 moves from the position shown by the chain double-dashed line in the drawing to the right side in the drawing. At the same time, when the slide arm 3 moves, the wire 8 is paid out by the pulley 6. As a result, the slide arm 4 connected to the wire 8 via the connecting portion 11 moves from the position shown by the chain double-dashed line in the figure to the right side in the figure. Therefore, the work W placed on the slide arm 4 is transferred to the right side in the drawing.

An embodiment of the present invention will be described with reference to FIGS.

As shown in FIG. 1, a motor 21 is fixed to the lower portion of the base 20, and the rotary shaft 2 of the motor 21 is fixed.
A turntable 22 is attached to 1a. The turntable 22 is provided with a protrusion 23, and the photosensor 24 detects the protrusion 23 to detect the rotation angle of the turntable 22. A motor 25 is mounted on the rotary table 22. A drive shaft 28 is attached to the rotary shaft 25 a of the motor 25. The drive shaft 28 is provided with a protrusion 26, and the rotation angle of the drive shaft 28 is detected by detecting the protrusion 26 with a photo sensor 27. A supporting member 29 is attached to the motor 25,
The support member 29 is rotatably supported by the base 20 via a bearing 30.

A fixed base 3 is provided on the supporting member 29.
1 is fixed, and a drive gear 33 is attached to the upper end of the drive shaft 28 so as to penetrate the fixed base 31. A fixed rail 34 is fixed on the fixed base 31. A first slide arm 35 is slidably mounted on the fixed rail 34. A rack 36 that meshes with the drive gear 33 is fixed to the inner surface of the slide arm 35.

Two pulleys 37 are attached to the side surface of the first slide arm 35. Wires 38 are wound around the pulleys 37, and then the pulleys 37 cross each other so that their ends cross each other. The unit is fixedly attached to the fixed base 31. A second slide arm 40 is connected to the wire 38.

The second slide arm 40 is provided with a rail 41 slidably engaged with a guide 42 formed on the first slide arm 35. A rail 44 is fixed to the back surface of the rail 41.
A third slide arm 47 is slidably attached to the rail 44 via a guide 45. Also,
A pulley 43 is attached to the side surface of the slide arm 40, and a wire 48 is wound around the pulley 43 and laid around the pulley 43. Then, the ends are fixed to a fixed base 31 by crossing each other. It is installed. The third slide arm 47 is connected to the wire 48.

Next, the operation of this embodiment will be described.

First, by rotating the motor 21, a member above the rotary table 22 is rotated to position the third slide arm 47 in the transfer area of the work W. Next, the motor 25 is rotated, and this rotational displacement is applied to the drive shaft 28.
Is transmitted to the drive gear 33 via. Then, the rack 36 meshed with the drive gear 33 moves in the horizontal direction, and the first slide arm 35 moves in the horizontal plane. Here, a pulley 37 is attached to the first slide arm 35, and these pulleys 37 are linked to the fixed base 31 via a wire 38. Therefore, as the first slide arm 35 moves, The wire 38 is paid out.
This causes the second slide arm 40 connected to the wire 38 to move in the horizontal plane.
Move in the same direction as 5. Here, the pulleys 43 are attached to the second slide arm 40, and these pulleys 43 are linked to the fixed base 31 via the wires 48. Therefore, like the second slide arm 40 described above, With the movement of the second slide arm 40, the wire 48 is paid out, so that the third slide arm 47 connected to the wire 48 moves in the same direction as the first and second slide arms 35, 40. Moving. By this movement, the work placed on the third slide arm 47 is transferred in the horizontal plane, and, for example, the work is transferred. The operation is repeated by rotating the motor 21 to return the position of the third slide arm 47 to the original position.

According to the above-described embodiment, since the work can be linearly moved by moving the third slide arm 47 forward and backward in the horizontal plane, the work transfer position and the work receiving position can be easily adjusted. You can Therefore, the transfer accuracy of the work can be improved.

[0018]

As described above, according to the robot arm of the present invention, in the robot arm for linearly transferring the work, the fixed base is displaced forward and backward with respect to the fixed base and is substantially parallel to the forward and backward directions. And a drive mechanism for moving the lowermost slide arm forward and backward with respect to the fixed base. At least two pulleys are attached to the slide arm along the forward and backward directions. Wires are wound around the pulleys and bridged, then cross each other and fixed at their ends to the fixed base. Since the arms are connected, it is possible to easily adjust the receiving position and the delivering position of the work, thereby improving the transfer accuracy of the work.

[Brief description of drawings]

FIG. 1 is a principle diagram showing an operating principle of a robot arm of the present invention.

FIG. 2 is a side view showing an embodiment of the robot arm of the present invention.

FIG. 3 is a plan view of FIG.

FIG. 4 is a sectional view taken along line AA in FIG.

[Explanation of symbols]

 31 Fixed Base 33 Drive Gear 35 First Slide Arm 36 Rack 37 Pulley 38 Wire 40 Second Slide Arm 43 Pulley 48 Wire 47 Third Slide Arm

Claims (1)

[Claims] 1. In a robot arm for linearly transferring a work, a fixed base, a plurality of slide arms which are displaced forward and backward with respect to the fixed base and are arranged substantially parallel to the forward and backward directions, and a slide at the bottom. A drive mechanism for moving the arm forward and backward with respect to the fixed base, at least two pulleys are attached to the slide arm along the forward and backward directions, and a wire is wound around each pulley to hang it. A robot arm, characterized in that after being passed, the ends cross each other and are fixedly attached to the fixed base, and a slide arm on the upper stage is connected to the wire.