JPH05104462A - Two rectangular shaft type moving device - Google Patents

Abstract

PURPOSE:To make the vertical driving control of a hand possible by only the horizontal driving device of an arm in a cylindrical coordinates type robot. CONSTITUTION:12 represents a basic table, and 14 represents a horizontally rotatable block, and 42, 44 represent blocks fixed to both the ends of slide shafts 40a, 40b, and the block of 42 guides a perpendicular slide shaft 48 having a hand 62 attached to its tip. 2Oa, 20b represent a driving pulley driven by a nonillustrated motor, and 56 represents a timing belt, and 18a-18d represent guide rollers, and 52a, 52b, 54a, 54b represent idle pulleys, and 5Oa, 50b represent idle rollers. A nonillustrated brake is attached to the shaft of the idle pulley 52a, and the brake and the rotational direction of the motor are controlled to optionally control the horizontal driving of the arm and the vertical driving of the hand.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an orthogonal two-axis moving device capable of plane movement in two directions orthogonal to each other.
The present invention relates to an orthogonal biaxial moving device suitable for a structure of an industrial robot that moves (rotates) at high speed.

[0002]

2. Description of the Related Art The applicant of the present invention has attached a belt to a plurality of pulleys.
Japanese Patent Application No. 01-1889
No. 13 has already been filed. Orthogonal according to this earlier application
In the two-axis moving device, for example, as shown in FIG.
On the center slide block a, 2
Pair of guide members b₁ , B₂; C₁ , C₂ Penetrates inside
It is installed in a closed state. Also, these two pairs of guides
Member b₁ , B₂ ; C₁ , C₂ In the directions orthogonal to each other
Slide member d to move forward and backward₁ , D₂ ; E₁ , E₂ Is supported
I have it. Each pair of slide members d₁ , D ₂ ; E₁ ，
e₂ Blocks f, g, h, and i are fixed at both ends of
Has been.

Of the four blocks f to i, three blocks f to h are provided with rotatable pulleys j, k and l. On the other hand, the slide block a is provided with four rotatable pulleys m to q. The belt r whose both ends are locked to the block i is connected to the pulleys m to q.
Have been hung over. The pulleys j, k are rotationally driven by drive motors s, t, respectively, and these drive motors s, t
By driving t, the slide block a moves to the slide member d.
Moves linearly along ₁ and d ₂ , and slide member e
₁ and e ₂ linearly move in a direction orthogonal to the extending direction of the slide members d ₁ and d ₂ .

Generally, when the orthogonal two-axis moving device according to this prior application is applied to an industrial robot, a slide member d is used.
₁ , ₁ and ₂ are vertically set, and an end effector u (shown in FIG. 18) such as a hand is attached to the tip of the block i and used as a robot arm having two degrees of freedom. Furthermore,
When this industrial robot is used as a three-degree-of-freedom robot, as shown in FIG. 18, the block g of this orthogonal two-axis moving device is attached to the rotary drive part v. That is, a robot having three degrees of freedom is generally configured as a cylindrical robot.

When such an orthogonal two-axis moving device is constructed as a cylindrical robot, when the power is turned off, the end effector u at the tip may spontaneously drop due to its own weight and may be damaged. It is conceivable that the drive motors s and t are respectively equipped with brake devices that are configured to turn on the brake when the power is turned off.

[0006]

[Problems to be Solved by the Invention] However, 2
When each of the two motors s and t is braked, the end effector u does not move in the vertical direction, and the spontaneous fall of the end effector u is prevented, but the slide members e ₁ and e ₂ of the slide block a are prevented. Lateral movement will also be prohibited. As a result, the robot cannot be moved from the outside by a human hand or the like, and accordingly, there arises a problem that the teaching work cannot be manually performed on the robot. That is, the teaching work by the human hand on the robot cannot be executed unless the hand is restricted to move in the vertical direction and can be moved to an arbitrary teaching point along the horizontal direction.

The present invention has been made in view of the above-mentioned problems, and a main object of the present invention is to provide an orthogonal biaxial moving device which can be moved only by an external force in the horizontal direction and can regulate the movement in the vertical direction. It is to be. Another object of the present invention is to provide an orthogonal two-axis moving device that can easily perform a teaching operation by hand.

[0008]

In order to achieve the above-mentioned object, the orthogonal biaxial moving device according to the present invention extends along one direction with the first block and can move along this one direction. The first block attached to the first block
Slide member, a second block fixed to one end of the first slide member, a third block fixed to the other end of the first slide member, and another direction orthogonal to the one direction. A second slide member attached to the second block and movably along the other direction, and first and first rotatably supported by the first block. Two drive rotors, first and second drive motors respectively connected to the first and second drive rotors, and rotatably and rotatably driving the first and second drive rotors, respectively. The first and second idle rotors that are movably attached, the third idle rotor that is rotatably attached to the third block, and one end and the other end of the third idle rotor are attached to the second block. Fixed, midway through the first idle rotor, Drive rotor, third idle rotor, second drive rotor, one belt sequentially engaged with the second drive rotor, and rotation of the third idle rotor arbitrarily stopped And a braking means capable of controlling the rotation direction of the first and second drive motors to be set to a predetermined direction so that the second slide member is moved in the one direction and the other direction. The feature is that it is moved.

The orthogonal two-axis moving device according to the present invention is attached to the first block so as to extend along the first block in one direction and be movable in the one direction. A first slide member, a second block fixed to one end of the first slide member, a third block fixed to the other end of the first slide member, and a second block. , Two slide members movably mounted along the other direction orthogonal to the one direction, and first and second rotatably supported by the first block.
Drive rotors, first and second drive motors respectively connected to the first and second drive rotors, and rotationally driving the first and second drive rotors in a reversible manner, and along the other direction of the second block. First and second idle rotors rotatably attached to both ends, a third idle rotor rotatably attached to the third block, and one end and the other end,
The first idle rotor, the first drive rotor, the third idle rotor, the second drive rotor, and the second drive rotor, which are fixed to the second slide member and have intermediate portions, are sequentially arranged. It is provided with one engaged belt and a braking means capable of arbitrarily stopping the rotation of the third idle rotating body, and the rotation driving direction of the first and second drive motors is set to a predetermined direction. Is set to move the second slide member along the one direction and the other direction.

Also, the orthogonal biaxial moving device according to the present invention extends along one direction with the first block, and is attached to the first block so as to be movable along this one direction. One slide member, a second block fixed to one end of the first slide member, a third block fixed to the other end of the first slide member, and another orthogonal to the one direction. A second slide member which extends along a direction and is movable along the other direction, is attached to the second block, and is attached to a gripping means for holding an article, and is rotated to the first block. First and second drive rotating bodies that are freely pivotally supported, and the first and second drive rotating bodies.
First and second drive motors, which are respectively connected to the driving rotary bodies of FIG. 1 and rotationally drive them so as to be reversible, and first and second rotatably attached to both ends of the second slide member.
Idle rotor, a third idle rotor rotatably attached to the third block, one end and the other end fixed to the second block, and an intermediate portion of the first idle rotor. A rotating body, a first drive rotating body, a third idle rotating body, a second driving rotating body, one belt sequentially engaged with the second driving rotating body, and a teaching point of the gripping means are stored. Storage means, braking means capable of arbitrarily stopping the rotation of the third idle rotating body, detecting means for detecting the respective rotation amounts of the first and second drive motors, and this detecting means. Calculating means for calculating the moving position of the gripping means from the respective rotation amounts of the first and second drive motors detected by the means, and updating the teaching point of the gripping means in the storage means, The first And the power supply to the second drive motor are cut off, the gripping means is manually moved to a new teaching point, and the teaching point in the storage means is rewritten according to the calculation result of the moving position by the calculating means. Is characterized by.

Further, the orthogonal biaxial moving device according to the present invention extends along one direction with the first block and is attached to the first block so as to be movable along this one direction. One slide member, a second block fixed to one end of the first slide member, a third block fixed to the other end of the first slide member, and a second block, Two slide members movably attached along the other direction orthogonal to the one direction, to which a gripping means for gripping an article is attached, and a first slide member pivotally supported by the first block. And a second drive rotor, first and second drive motors respectively connected to the first and second drive rotors, and rotationally driving the first and second drive rotors in a reversible manner, and the other of the second block. Rotatable on both ends along the direction First and second idle rotation body kicked, and the third idle rotary member rotatably mounted to said third block, the one end and the other end, the second
Fixed to the slide member of the first idle rotor, the first drive rotor, the third idle rotor, the second drive rotor, and the second drive rotor are sequentially engaged. 1
A belt and a braking means capable of arbitrarily stopping the rotation of the third idle rotating body, and detecting means for detecting the respective rotation amounts of the first and second drive motors; And a computing means for computing the moving position of the gripping means from the respective rotation amounts of the first and second drive motors detected by the detecting means, when updating the teaching point of the gripping means in the storage means. While the power supply to the first and second drive motors is cut off, the gripping means is manually moved to a new teaching point, and the teaching in the storage means is performed according to the calculation result of the movement position by the calculation means. It is characterized by rewriting points.

[0012]

As described above, since the orthogonal biaxial moving device according to the present invention is constructed, the rotation of the third idle rotor rotatably attached to the third block is restricted by the brake means. By doing so, when the power supply to the first and second drive motors is turned off,
Only the movement of the slide block with respect to the slide block is restricted.
The movement of the slide member with respect to the first slide block is permitted. In this way, it is possible to manually perform the teaching work on the hand attached to the second slide member.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An orthogonal biaxial moving device 1 according to the present invention will be described below.
The configuration of the first embodiment will be described in detail with reference to FIGS. 1 to 9. The orthogonal biaxial movement device 10 of this embodiment is
As shown in FIG. 1, it has a base 12 placed on a base (not shown). A rotating block 14 as a first block is mounted on the base 12 so as to be rotatable about a central axis extending along a vertical axis. The base 12 has a hollow inside, and a rotation drive mechanism 16 for rotating the rotation block 14 is housed in the base 12. The configuration of the rotary drive mechanism 16 will be described later.

On the other hand, the rotary block 14 is composed of a flat surface whose front surface rises perpendicularly to a horizontal plane, and on the front surface, four guide rollers 18a, 18b, 18c, serving as forcibly engaging means, are provided. 18d and first and second drive pulleys 20 as first and second drive rotating bodies.
The a and 20b are rotatably supported about a rotation axis set perpendicular to the front surface of the rotation block 14.
Here, the four guide rollers 18a to 18d are arranged so as to form four apexes of a rectangle having a pair of horizontally extending sides and a pair of vertically extending sides. The first drive pulley 20a is located above a line segment connecting the pair of guide rollers 18a and 18b located above, and the second drive pulley 20b is located below the line segment paired below. The guide rollers 18c and 18d are arranged so as to be located below the line segment connecting them.

Here, the first and second drive pulleys 20a and 20b, as shown in FIG.
A drive motor 22a, which is arranged on the back surface of the
22b are connected so as to be rotationally driven respectively. The drive motors 22a and 22b are provided with rotary encoders 24a and 24b for detecting respective rotation amounts.
Are connected. These rotary encoders 24a,
As will be described later, 24b is connected to a control unit 26 that controls the overall control of the orthogonal biaxial movement device 10, and is configured to transmit the detected rotation amount information of the corresponding drive motors 22a and 22b to this control unit 26. Has been done.

On the other hand, as shown in FIG. 2, the above-mentioned base 12
Is formed in a hollow cylindrical shape with an open upper surface, and the lower end of the rotary block 14 is pivotally supported on the upper portion of the base 12 via a bearing 28. In addition, the rotary drive mechanism 1 described above
Reference numeral 6 denotes a drive motor 30 having a motor shaft (not shown) protruding upward in the base 12, and a drive motor 30 capable of forward and reverse rotation, and a reduction mechanism for reducing the drive force of the drive motor 30 and transmitting it to the drive shaft 32a. 32 and the drive shaft 32a is
A joint shaft 14a integrally projecting downwardly at the center of the lower surface of the rotary block 14 via the coupling member 34.
Is elastically connected to.

Since the rotary drive mechanism 16 is configured as described above, when the drive motor 30 is started, the drive force of the drive motor 30 is transmitted to the drive shaft 32a in a decelerated state via the reduction mechanism 32. , Further coupling member 34
It is transmitted to the rotary block 14 via the rotary block 14, and the rotary block 14 is driven to rotate about its own central axis.

A rotary encoder 36 for detecting the amount of rotation of the drive motor 30 is connected to the drive motor 30. The rotary encoder 36 is connected to the control unit 26 described above, and is configured to transmit the detected rotation amount information of the drive motor 30 to the control unit 26. On the other hand, a pair of horizontal slide guide members 38a, 38b are provided in the above-described rotation block 14 in a state of being parallel to each other and vertically separated from each other and penetrating in the horizontal direction.
Is provided. These horizontal slide guide members 38
Horizontal slide shafts 40a and 40b extending in the horizontal direction as first slide members are slidably supported on the a and 38b along the horizontal direction. One end of each of the horizontal slide shafts 40a and 40b, that is, the left end in the figure is fixed together with a guide block 42 as a second block, and the other end, that is, the right end in the figure is a fixed block 44 as a third block. Fixed together.

A vertical slide guide 46 is provided in the guide block 42 so as to extend vertically. A vertical slide shaft 48 extending in the vertical direction and serving as a second slide member is slidably supported on the vertical slide guide 46 along the vertical direction. A pair of upper and lower guide rollers 50a and 50b are rotatably supported on the front surface of the guide block 42 so as to be rotatable about a rotation axis set perpendicular to the front surface 42a. These guide rollers 50a and 50b are the above-mentioned guide rollers 18a (18b) and 18c (18
The heights are substantially the same as those in d).

Also, on the front surface of the fixed block 44, there is a third
A pair of upper and lower idle pulleys as idle rotating bodies of
2a and 52b are rotatably supported around a rotation axis set perpendicularly to the front surface. These idle pulleys 52a and 52b are set to a height just inside the above-mentioned guide rollers 18a (18b) and 18c (18d) in the vertical direction. Then, at the upper and lower ends of the vertical slide shaft 48, idle pulleys 54a and 54b as first and second idle rotating bodies are provided.
Is rotatably supported around a rotation axis parallel to the above idle pulleys 52a and 52b.

On the other hand, these idle pulleys 52a, 52
The b, 54a, 54b and the drive pulleys 20a, 20b are formed by toothed pulleys having a large number of teeth formed on their outer circumferences. In addition, the guide rollers 18a, 18b, 18
c, 18d; 50a, 50b are formed of cylindrical rollers having no teeth formed on their outer circumferences. And FIG.
As shown in, the guide rollers 18a, 18b, 18
c, 18d; 50a, 50b and idle pulley 52
a, 52b; 54a, 54b and the drive pulleys 20a, 2
One toothed timing belt 56 is stretched over 0b. The timing belt 56 has teeth formed on its inner surface that mesh with the teeth of the toothed pulley described above.
The outer surface is formed flat so as to be in sliding contact with the outer circumference of the cylindrical roller described above.

More specifically, the timing belt 56 is
One end thereof is fixed to the upper part of the left side surface of the guide block 42 in the figure, its inner surface is sequentially meshed with the outer circumference of the idle pulley 54a, and its outer surface is sequentially slidably contacted with the outer circumference of the guide roller 50a and the guide roller 18a. The inner surface of the drive pulley 20a is meshed with the outer circumference of the guide roller 18b, and the outer surface of the guide roller 18b is slidably contacted with the outer circumference of the idler pulleys 52a and 52b. Slidably in contact with the outer periphery of the drive pulley 20b, and its outer surface engages with the guide roller 1.
8c and 50b are successively slidably contacted with each other, and their inner surfaces are meshed with the outer circumference of the idle pulley 54b.
It is fixed to the lower part of the left side surface of the guide block 42 in the figure. Then, as shown in FIG. 3, one end and the other end of the timing belt 56 are specifically fixed to the left side surface of the guide block 42 by mounting bolts 60 via a fixing plate 58.

As is clear from the above description, the guide rollers 18a to 18 constituting the above-mentioned forced engaging means.
d is provided in order to maintain a large winding angle of the timing belt 56 wound around the first and second drive pulleys 20a and 20b so as to withstand a large transmission torque. Further, a mounting plate 64 to which the hand mechanism 62 functioning as an end effector is mounted is attached to the lower end of the vertical slide shaft 48 described above.

Orthogonal two-axis moving device 1 constructed as described above
The configuration of the control unit 26 for 0 will be described with reference to FIG. This control unit 26 is provided with a control procedure of overall control for moving the hand mechanism 62 attached to the attachment plate 64 from the start position to the target position.
U26a, RAM26b backed up by a battery, which stores teaching point data and a robot operation program, ROM26c which stores a robot language interpretation program, and drive motors 22a, 2
2b, 30 rotary encoders 24a, 24b, 36
, And based on the pulse signals output from each,
A counter unit 26d that measures the count value corresponding to the rotational drive amount of the corresponding drive motors 22a, 22b, 36 and latches the count value, and the counter unit 2d.
The counter value information from 6d is obtained, and the necessary counter value corresponding to the required drive amount of each drive motor 22a, 22b, 30 instructed by the CPU 26a is compared, and based on the difference information output as the comparison result, A motor drive unit 26e that outputs a drive signal to each drive motor 22a, 22b, 30 by a quantity corresponding to this difference, a brake drive unit 26f that drives and controls a brake device 66 described later, and a CRT 26g that displays a control operation state. And a keyboard 26h for manually inputting arbitrary information / data and commands. Here, the CPU 26a and these sections 2
6b to 26h are connected so that information is transmitted via a bus line 26i.

Next, the movement control mode of the hand mechanism 62 in the vertical plane of the control unit 26 will be described with reference to FIGS. First, the control unit 26
As shown by arrow A in FIG. 1, when the hand mechanism 62 is moved only to the left in the figure, the upper drive motor 22a is rotationally driven counterclockwise in the figure, while the lower drive motor is driven. 22b is driven to rotate clockwise in the figure at the same rotation speed. As a result, the upper drive pulley 20a rotates counterclockwise and the lower drive pulley 20b rotates clockwise, so that the timing belt 56, as shown by arrow A, in both its upper and lower portions. , Will be sent to the left in the figure.

As a result, both the length of the timing belt 56 located between the guide rollers 18a and 50a and the length of the timing belt 56 located between the guide rollers 18c and 50b become long, while the length of the timing belt 56 and the guide roller 18b become idle. Both the length of the timing belt 56 between the pulleys 54a and the length of the timing belt 56 between the guide roller 18d and the idle pulley 54b become shorter. In this manner, the upper and lower idle pulleys 54a and 54b are not rotated, and the pair of horizontal slide shafts 40a and 40b are pushed out from the rotary block 14 to the left in the drawing, as shown in FIG. , Guide block 42
Moves to the left in the figure, and accordingly, the hand mechanism 62 also moves to the left in the figure.

On the other hand, the control unit 26 has a hand mechanism 6
When 2 is moved in the direction opposite to the direction indicated by the arrow A and in the right direction in the figure as indicated by the arrow B, the upper drive motor 22a is rotationally driven in the clockwise direction in the figure, and , The lower drive motor 22b is driven to rotate counterclockwise in the figure at the same rotation speed. As a result, the upper drive pulley 20a rotates in the clockwise direction and the lower drive pulley 20b rotates in the counterclockwise direction, and the timing belt 56, as shown by the arrow B, in both the upper side and the lower side thereof. , Will be sent to the right in the figure.

As a result, the length of the timing belt 56 located between the guide rollers 18a and 50a and the length of the timing belt 56 located between the guide rollers 18c and 50b are both shortened, while the guide roller 18b and the idle roller are idle. The length of the timing belt 56 between the pulleys 54a and the length of the timing belt 56 between the guide roller 18d and the idle pulley 54b are both long. In this way, the upper and lower idle pulleys 54a and 54b are not rotated, and the pair of horizontal slide shafts 40a and 40b are pushed out from the rotary block 14 to the right in the figure, as shown in FIG. , Guide block 42
Moves to the right in the figure, and accordingly, the hand mechanism 62 also moves to the right in the figure.

As described above, when the hand mechanism 62 is moved in the horizontal direction in the direction indicated by the arrow A or the arrow B, the two drive motors 22a and 22b are rotationally driven in the opposite directions. At that time, the hand mechanism 62 can be driven to move while the driving forces (driving torques) of the two driving motors 22a and 22b are added together.

The control unit 26 has a hand mechanism 6
When 2 is moved upward, that is, raised as shown by arrow C, both upper and lower drive motors 22a and 22b are rotationally driven counterclockwise in the figure at the same rotational speed. As a result, the upper and lower drive pulleys 20a and 20b both rotate counterclockwise, and the timing belt 56 has its upper portion on the left side in the figure as indicated by arrow A, and its lower portion on arrow B. As shown in, it will be sent to the right in the figure.

Accordingly, the upper idle pulley 54a rotates counterclockwise so as to increase the length of the timing belt 56 between the idle pulley 54a and the guide block 42, and the lower idle pulley 54b. Also rotates counterclockwise and shortens the length of the timing belt between the idle pulley 54b and the guide block 42. In this way, as shown in FIG. 7, the vertical slide shaft 48 is pushed upward from the guide block 42 in the figure, and accordingly, the hand mechanism 62 also moves upward in the figure.

Further, the control unit 26 has a hand mechanism 6
When 2 is moved downward in the figure, that is, lowered, as indicated by arrow D, the upper and lower drive motors 22a and 22b are both driven to rotate clockwise in the figure at the same rotational speed.
As a result, the upper and lower drive pulleys 20a and 20b both rotate clockwise, and the timing belt 56 has its upper portion on the right side in the drawing as indicated by arrow B, and its lower portion on arrow A. As shown, it will be sent to the left in the figure.

Accordingly, the upper idle pulley 54a rotates clockwise so that the length of the timing belt 56 between the idle pulley 54a and the guide block 42 is shortened, and the lower idle pulley 54b is also changed. By rotating in the clockwise direction, the length of the timing belt between the idle pulley 54b and the guide block 42 is lengthened. In this way, as shown in FIG. 8, the vertical slide shaft 48 is pushed downward from the guide block 42 in the figure, and accordingly, the hand mechanism 62 also moves downward in the figure.

Thus, when the hand mechanism 62 is moved along the vertical direction in the direction indicated by the arrow C or the arrow D, the two drive motors 22a and 22b can be rotationally driven along the same direction. In this case, the driving force (driving torque) of both driving motors 22a and 22b can be moved and driven in a state of being added together.

Here, as shown in FIG. 9, one of the pair of idle pulleys 52a, 52b rotatably attached to the fixed block 44 as the third block is provided with the present invention. A brake device 66, which constitutes the characteristic of the above, is attached. Specifically, the idle pulley 52a is coaxially and integrally attached to one end of the pulley shaft 67, and the pulley shaft 67 is
It is inserted through a through hole 44 a formed in the fixed block 44 so as to penetrate in the thickness direction, and is rotatably supported by the fixed block 44 via a bearing 68. here,
The other end of the pulley shaft 67 projects to the back side of the fixed block 44.

On the other hand, on the back surface of the fixed block 44,
A brake device 66 is attached via an attachment stay 69, and the other end of the pulley shaft 66 described above is connected to the brake device 66. The brake device 66 is connected to the above-mentioned control unit 26,
Under this control, the rotation of the pulley shaft 66 can be regulated, in other words, the rotation of the idle pulley 52a can be braked. Here, when the power is turned on and the servo of the motor is turned on, the control unit 26 outputs an off signal for inactivating the brake to the brake device 66 to the brake drive unit 26f, and the power is supplied. Is closed, the ON signal for activating the brake is output to the brake device 66.

In this way, the rotation of the idle pulley 52a is braked by the brake device 66 when the power is off, so that the first and second drive motors 22a, 22a,
When the power to 22b is turned off, only the movement (vertical movement) of the vertical slide shaft 48 with respect to the guide block 42 is restricted, and the movement (horizontal movement) of the horizontal slide shafts 40a and 40b with respect to the rotation block 14 is permitted. Become. In this way, the hand mechanism 62 attached to the lower end of the vertical slide shaft 48 is prohibited from moving up and down in the directions indicated by arrows C and D as shown in FIGS. 7 and 8.
Only horizontal movement in the directions shown by arrows A and B as shown in FIGS. 5 and 6 is allowed, and the teaching operation by hand can be performed on the hand mechanism 62. The teaching work will be described later in detail.

When the vertical two-axis moving mechanism 10 thus constructed is actually mounted on the robot and used, the work mechanism mounted on the mounting portion is grasped by the hand mechanism 62. With this gripped state, the hand mechanism 62 is temporarily raised, and then the hand mechanism 62 is moved in the horizontal direction to a position just above the place where the work is to be assembled. The mechanism 62 is lowered to release the grip of the work, the work is transferred to the assembling part, and the work is moved up again, horizontally moved to a position just above the work to be gripped next, and lowered again, A series of so-called gate type movement patterns of gripping this work are adopted. In executing such a so-called gate type movement pattern, by adopting the vertical biaxial movement mechanism 10 of this embodiment, two drive motors 22 are provided.
The work can be moved with the driving forces of a and 22b always being summed. As a result, even if the outputs of the two drive motors 22a and 22b are set to be small, the work can be moved at high speed and a robot capable of carrying a heavy work can be achieved.

Further, in this embodiment, since the direct object rotatably driven by the rotative drive mechanism 16 is the rotative block 14, for example, with the hand mechanism 62 gripping a heavy work, Even when this is rotationally driven, the rotating block 14 exhibits sufficient rigidity against the twist generated during this rotational driving, and there is no problem. In addition, below, this orthogonal 2
A manual teaching operation in a robot equipped with the shaft moving mechanism 10 will be described in detail with reference to a block diagram shown in FIG. 4 and a flow chart chart shown in FIG.

First, the teaching work in this robot is basically, first, all the motors 22a, 22b,
With the power supply to 30 being turned off, the hand mechanism 62 is moved to the target teaching point by the operator's hand to roughly set the teaching point, and then the energization of all the motors 22a, 22b, 30 is restarted. In this state, all the motors 2
2a, 22b, 30 are appropriately driven to gradually move the hand mechanism 62 to a target teaching point,
This is executed by storing this stop position in the RAM 26b as teaching point data when the hand mechanism 62 has accurately reached the target position.
Here, for example, when a slight change occurs in the teaching content, instead of newly calculating the teaching point to be changed and inputting it again via the keyboard 26h, the power to all the motors 22a, 22b, 30 is turned on. In the dropped state, the hand mechanism 62 is moved by the operator's hand, and the stop position is rewritten with the teaching point already stored in the RAM 26b, thereby updating the teaching point data.

More specifically, as shown in FIG. 10, first, at step S10, all the motors 22a, 22a are
The power supplies of b and 30 are turned off, and in step S12, the hand mechanism 62 is manually moved to the teaching point to be changed. In response to the movement of the hand mechanism 62, in step S14, all the motors 22a,
22b, 30 encoders 24a, 24b, 36 respectively
Outputs a pulse signal to the counter section 26d. Then, in step S16, the CPU 26a calculates the moving position of the hand mechanism 62 based on the counted number of pulses, and in step S18 the RAM 2
The calculation result is temporarily stored in 6b. After that, in step S20, the teaching point to be updated is called from the RAM 26b via the keyboard 26g, and in step S22, the RAM 26b is stored on the keyboard 26g.
The stop position of the hand mechanism 62 temporarily stored in 26b is called, and in step S24, the stop position temporarily stored in the teaching point to be registered is rewritten. In this way, this teaching point data is updated.

As described above in detail, in the robot equipped with the orthogonal biaxial movement mechanism 10, the two motors 22a and 22b are used for executing the teaching work.
The hand mechanism 62 is allowed to move only in a horizontal plane in the state where the power is turned off, and as a result, the teaching operation can be easily performed by the operator's hand.

Needless to say, the present invention is not limited to the configuration of the above-described embodiment, and can be variously modified without departing from the scope of the present invention. For example, in the above-described embodiment, in order to move the hand mechanism 62 up and down, the hand mechanism 62 is attached to the lower end of the vertical slide shaft 48, and the vertical slide shaft 48 is driven to project vertically from the guide block 42. Although described, the present invention is not limited to such a configuration, and may be configured as shown as another embodiment in FIGS. 11 to 16, for example.

The configuration of another embodiment of the orthogonal biaxial moving device according to the present invention will be described below with reference to FIGS. 11 to 16. In the following description, the same parts as those in the above-described embodiment are designated by the same reference numerals, and the description thereof will be omitted. The orthogonal biaxial moving device 70 in the other embodiment is
As shown in FIG. 11, both horizontal slide shafts 40a, 40
There is an attachment block 72 attached to one end of 0b, that is, the left end in the figure. This mounting block 72
A slide guide block 74 extending in the vertical direction is fixed to the left side surface in the figure. A slide member 76 is slidably attached to the slide guide block 74 along the vertical direction.

On the other hand, at the upper and lower ends of the slide guide block 74, a pair of idle pulleys 54a and 54b are rotatably pivotally supported, as in the above-described embodiment. In this embodiment, one end of the timing belt 56 is fixed to the upper part of the left side surface of the slide member 76 in the figure, and the other end is fixed to the lower part thereof. Also,
The mounting plate 64 for mounting the hand mechanism 62 is shown in FIG.
As shown in FIG. 1, it is fixed to this slide member 76.

The movement operation of the hand mechanism 62 of the orthogonal biaxial movement device 70 in the other embodiment configured as described above will be described.
This will be described with reference to FIGS. 13 to 16. First, as shown by arrow A in FIG. 11, when the hand mechanism 62 is moved only to the left in the figure, the control unit 26 rotationally drives the upper drive motor 22a in the counterclockwise direction in FIG. , The lower drive motor 22b is rotated clockwise at the same rotation speed in the figure. As a result, the upper drive pulley 2
0a is rotated counterclockwise and the lower drive pulley 20b is rotated clockwise, so that the timing belt 56 is fed to the left side in the figure as shown by arrow A, both the upper portion and the lower portion thereof. Will be done.

As a result, the length of the timing belt 56 located between the guide rollers 18a and 50a and the length of the timing belt 56 located between the guide rollers 18c and 50b are both long, while the length of the guide belt 18b and the idler belt are idle. Both the length of the timing belt 56 between the pulleys 54a and the length of the timing belt 56 between the guide roller 18d and the idle pulley 54b become shorter. In this way, the upper and lower idle pulleys 54a and 54b are not rotated together, and the pair of horizontal slide shafts 40a and 40b are pushed out from the rotary block 14 to the left in the figure, as shown in FIG. , Mounting lock 72
Moves to the left in the figure, and accordingly, the hand mechanism 62 attached to the attachment block 72 via the slide member 76 also moves to the left in the figure.

On the other hand, the control unit 26 includes the hand mechanism 6
When 2 is moved in the direction opposite to the direction indicated by the arrow A and in the right direction in the figure as indicated by the arrow B, the upper drive motor 22a is rotationally driven in the clockwise direction in the figure, and , The lower drive motor 22b is driven to rotate counterclockwise in the figure at the same rotation speed. As a result, the upper drive pulley 20a rotates in the clockwise direction and the lower drive pulley 20b rotates in the counterclockwise direction, and the timing belt 56, as shown by the arrow B, in both the upper side and the lower side thereof. , Will be sent to the right in the figure.

As a result, the length of the timing belt 56 located between the guide rollers 18a and 50a and the length of the timing belt 56 located between the guide rollers 18c and 50b are both shortened, while the guide roller 18b and the idle belt are idle. The length of the timing belt 56 between the pulleys 54a and the length of the timing belt 56 between the guide roller 18d and the idle pulley 54b are both long. In this way, the upper and lower idle pulleys 54a and 54b are not rotated, and the pair of horizontal slide shafts 40a and 40b are pushed out from the rotary block 14 to the right in the drawing, as shown in FIG. , Mounting lock 72
Moves to the right in the figure, and accordingly, the hand mechanism 62 also moves to the right in the figure.

As described above, when the hand mechanism 62 is moved in the direction shown by the arrow A or the arrow B along the horizontal direction, the two drive motors 22a and 22b are used as in the case of the above-described embodiment. It is only necessary to rotate the hand mechanisms 62 in opposite directions. At that time, the hand mechanism 62 can be moved and driven while the driving forces (driving torques) of the two driving motors 22a and 22b are added together. become.

The control unit 26 has a hand mechanism 6
When 2 is moved upward, that is, raised as shown by arrow C, both upper and lower drive motors 22a and 22b are rotationally driven counterclockwise in the figure at the same rotational speed. As a result, the upper and lower drive pulleys 20a and 20b both rotate counterclockwise, and the timing belt 56 has its upper portion on the left side in the figure as indicated by arrow A, and its lower portion on arrow B. As shown in, it will be sent to the right in the figure.

Accordingly, the upper idle pulley 54a rotates counterclockwise so as to increase the length of the timing belt 56 between the idle pulley 54a and the slide member 76, and the lower idle pulley 54b. Also rotates counterclockwise and shortens the length of the timing belt between the idle pulley 54b and the slide member 76. In this way, as shown in FIG. 15, the slide member 76 is pushed upward in the figure, and accordingly, the hand mechanism 62 fixed to this also moves upward in the figure.

Further, the control unit 26 includes the hand mechanism 6
When 2 is moved downward in the figure, that is, lowered, as indicated by arrow D, the upper and lower drive motors 22a and 22b are both driven to rotate clockwise in the figure at the same rotational speed.
As a result, the upper and lower drive pulleys 20a and 20b both rotate clockwise, and the timing belt 56 has its upper portion on the right side in the drawing as indicated by arrow B, and its lower portion on arrow A. As shown, it will be sent to the left in the figure.

Accordingly, the upper idle pulley 54a rotates clockwise to shorten the length of the timing belt 56 between the idle pulley 54a and the slide member 76, and the lower idle pulley 54b also. The idle pulley 54b and the slide member 7 are rotated clockwise.
The length of the timing belt between 6 and 6 is increased. In this way, as shown in FIG. 16, the slide member 76 is pushed downward in the figure, and accordingly, the hand mechanism 6
2 also moves downward in the figure.

In this way, even when the hand mechanism 62 is moved in the direction shown by the arrow C or the arrow D along the vertical direction, the two drive motors 22a, 22b are also used as in the case of the above-described embodiment. Need only be driven to rotate along the same direction as each other. At that time, both drive motors 22a, 2
The driving force (driving torque) of 2b can be moved and driven in a state where they are added together.

In this other embodiment, as in the above-described embodiment, one idle pulley 52a is set to be braked by the brake device 66. It is possible to obtain the same effect as that of the above embodiment. Here, in the two embodiments described above, the fixed block 4
Although it has been described that the two idle pulleys 52a and 52b are attached to the No. 4, the present invention is not limited to such a configuration, and the same operation can be performed with one idle pulley 52 as long as its diameter is sufficiently large. Is what you do. In this case, the brake device 6 is attached to the large-diameter idle pulley 52.
6 will be connected.

Further, in the above-described second embodiment, the description has been made such that the brake device 66 is connected to one idle pulley 52a, but the present invention is not limited to such a configuration, and the other It goes without saying that the brake device 66 may be connected to the idle pulley 52b. Further, in the above-described embodiment, each drive pulley 2
In order to increase the winding amount of the timing belt 56 around 0a, 20b, it has been described that two guide rollers 18a, 18b; 18c, 18d are provided for each drive pulley 20a, 20b. Is not limited to such a configuration. For example, when the transmission force is small, these guide rollers 18a, 18b; 18c, 18d are not necessary, and even when the transmission force is large, the timing belt is not necessary. The contact belt 56 for forcibly engaging the drive pulleys 20a and 20b with the timing belt 56
The same effect can be obtained by arranging the timing belt 56 on the side opposite to the corresponding drive pulleys 20a and 20b and biasing the timing belt 56 to the corresponding drive pulleys 20a and 20b. ..

In the above-described embodiment, the orthogonal biaxial moving device is mounted on the rotary drive unit and used as a cylindrical robot, that is, a robot having three degrees of freedom. However, the present invention is applied to such a case. The present invention is not limited to the above, and may be used as an independent orthogonal two-axis moving device in any way. Also, even if the orthogonal two-axis moving device is not used in a vertically standing state, it may be used in a horizontally lying state. Is also possible.

As described above, in the orthogonal biaxial moving device of this embodiment, the slide shafts 48a and 40b which are movable in the horizontal direction are provided with the slide shaft 48 which is movable in the vertical direction at the tips of the slide shafts 40a and 40b. Alternatively, by disposing the slide member 76 (another embodiment) and applying the belt in a T-shape, it is possible to perform horizontal / vertical movement without placing the two drive motors 22a and 22b on the horizontal movement portion and the vertical movement portion.
It is possible to move in any direction. In this way, the overall weight of the moving part is reduced, and it becomes possible to move at high speed with a small motor.

Further, in this embodiment, since one timing belt 56 can provide two degrees of freedom in movement, a biaxial moving device can be realized at a low cost.
Further, in the above-described embodiment, the hand mechanism 62 as the end effector and the vertical slide shaft 48 are used.
Since only the (slide member 76) moves up and down, it is possible to place objects around without taking into consideration the movement of the slide member in the horizontal direction. Further, since the mass that moves up and down in the direction of gravity is only the hand mechanism 62 as the end effector and the vertical slide shaft 48 (slide member 76), it is possible to move at high speed with a small force. Further, for example, when it is desired to move the end effector only up and down, since the two drive motors 22a and 22b are simultaneously rotated in the same direction, the sum of the torques of the two motors can be used. It is possible to achieve the effect of reducing the output. Similarly, when it is desired to move only in the horizontal direction, the sum of the outputs of the two drive motors 22a and 22b is used.

Further, since the drive motor 30 can be arranged at the center of rotation in the base 12, the inertia required to rotate the drive motor 30 can be suppressed. By making a cylindrical robot using the above-described orthogonal two-axis moving device, it is possible to provide a robot that can move at high speed at low cost.

Further, in the conventional case, the rotation drive mechanism 16
When the rotation block 14 stops rotating due to, vibration may remain in the end effector at the tip end, and the assembly work may not be performed, and the robot may not function as a robot. However, in this embodiment, a mechanism that moves vertically is used. Since it is not different from the conventional one, it is easy to increase the rigidity, and it is possible to easily vibrate the end effector without significantly increasing the weight.

[0063]

As described in detail above, the orthogonal biaxial moving device according to the present invention extends along one direction with the first block, and is movable along this one direction. A first slide member attached to the block, a second block fixed to one end of the first slide member, and a third block fixed to the other end of the first slide member, A second slide member attached to the second block and rotatably attached to the first block, extending along the other direction orthogonal to the one direction and movable along the other direction. Axially supported first and second drive rotating bodies, first and second drive motors respectively connected to the first and second drive rotating bodies, and rotationally driving the first and second drive rotating bodies in a reversible manner, respectively. The second slide member is rotatably attached to both ends of the second slide member. And a second idle rotor, a third idle rotor rotatably attached to the third block, one end and the other end fixed to the second block, and the middle part 1 idle rotating body, 1st drive rotating body, 3rd idle rotating body, 2nd drive rotating body,
The first and second drive units are provided with one belt that is sequentially engaged with the second drive rotor and braking means that can arbitrarily stop the rotation of the third idle rotor. By setting the rotation drive direction of the motor to a predetermined direction,
It is characterized in that the second slide member is moved along the one direction and the other direction.

The orthogonal two-axis moving device according to the present invention is attached to the first block so as to extend along the first block in one direction and be movable in the one direction. A first slide member, a second block fixed to one end of the first slide member, a third block fixed to the other end of the first slide member, and a second block. , Two slide members movably mounted along the other direction orthogonal to the one direction, and first and second rotatably supported by the first block.
Drive rotors, first and second drive motors respectively connected to the first and second drive rotors, and rotationally driving the first and second drive rotors in a reversible manner, and along the other direction of the second block. First and second idle rotors rotatably attached to both ends, a third idle rotor rotatably attached to the third block, and one end and the other end,
The first idle rotor, the first drive rotor, the third idle rotor, the second drive rotor, and the second drive rotor, which are fixed to the second slide member and have intermediate portions, are sequentially arranged. It is provided with one engaged belt and a braking means capable of arbitrarily stopping the rotation of the third idle rotating body, and the rotation driving direction of the first and second drive motors is set to a predetermined direction. Is set to move the second slide member along the one direction and the other direction.

Also, the orthogonal biaxial moving device according to the present invention extends along one direction with the first block and is attached to the first block so as to be movable along this one direction. One slide member, a second block fixed to one end of the first slide member, a third block fixed to the other end of the first slide member, and another orthogonal to the one direction. A second slide member which extends along a direction and is movable along the other direction, is attached to the second block, and is attached to a gripping means for holding an article, and is rotated to the first block. First and second drive rotating bodies that are freely pivotally supported, and the first and second drive rotating bodies.
First and second drive motors, which are respectively connected to the driving rotary bodies of FIG. 1 and rotationally drive them so as to be reversible, and first and second rotatably attached to both ends of the second slide member.
Idle rotor, a third idle rotor rotatably attached to the third block, one end and the other end fixed to the second block, and an intermediate portion of the first idle rotor. A rotating body, a first drive rotating body, a third idle rotating body, a second driving rotating body, one belt sequentially engaged with the second driving rotating body, and a teaching point of the gripping means are stored. Storage means, braking means capable of arbitrarily stopping the rotation of the third idle rotating body, detecting means for detecting the respective rotation amounts of the first and second drive motors, and this detecting means. Calculating means for calculating the moving position of the gripping means from the respective rotation amounts of the first and second drive motors detected by the means, and updating the teaching point of the gripping means in the storage means, The first And the power supply to the second drive motor are cut off, the gripping means is manually moved to a new teaching point, and the teaching point in the storage means is rewritten according to the calculation result of the moving position by the calculating means. Is characterized by.

The orthogonal biaxial moving device according to the present invention extends along the first block along one direction and is attached to the first block so as to be movable along the one direction. One slide member, a second block fixed to one end of the first slide member, a third block fixed to the other end of the first slide member, and a second block, Two slide members movably attached along the other direction orthogonal to the one direction, to which a gripping means for gripping an article is attached, and a first slide member pivotally supported by the first block. And a second drive rotor, first and second drive motors respectively connected to the first and second drive rotors, and rotationally driving the first and second drive rotors in a reversible manner, and the other of the second block. Rotatable on both ends along the direction First and second idle rotation body kicked, and the third idle rotary member rotatably mounted to said third block, the one end and the other end, the second
Fixed to the slide member of the first idle rotor, the first drive rotor, the third idle rotor, the second drive rotor, and the second drive rotor are sequentially engaged. 1
A belt and a braking means capable of arbitrarily stopping the rotation of the third idle rotating body, and detecting means for detecting the respective rotation amounts of the first and second drive motors; And a computing means for computing the moving position of the gripping means from the respective rotation amounts of the first and second drive motors detected by the detecting means, when updating the teaching point of the gripping means in the storage means. While the power supply to the first and second drive motors is cut off, the gripping means is manually moved to a new teaching point, and the teaching in the storage means is performed according to the calculation result of the movement position by the calculation means. It is characterized by rewriting points.

Therefore, according to the present invention, it is possible to provide the orthogonal biaxial moving device which can be moved only by the external force in the horizontal direction and can regulate the movement in the vertical direction. Also,
According to the present invention, there is provided an orthogonal two-axis moving device that can easily perform a teaching operation by hand.

[Brief description of drawings]

FIG. 1 is a front view showing the configuration of an embodiment of an orthogonal two-axis moving device according to the present invention.

FIG. 2 shows an orthogonal biaxial moving device according to an embodiment in FIG.
It is a longitudinal cross-sectional view shown in a state of being cut along the line II-II.

FIG. 3 is a side view showing a left side surface shape of the orthogonal biaxial movement device in FIG.

4 is a block diagram showing a configuration of a control system of the orthogonal two-axis moving device in FIG.

[FIG. 5]

FIG.

[FIG. 7]

FIG. 8 is a front view sequentially showing a movement control state in the orthogonal biaxial movement device of one embodiment.

FIG. 9 is a cross-sectional view showing a connected state of the brake device to the idle pulley.

FIG. 10 is a flow chart showing a work procedure in a teaching work.

FIG. 11 is a front view showing the configuration of another embodiment of the orthogonal two-axis moving device according to the present invention.

FIG. 12 is a vertical cross-sectional view showing the orthogonal biaxial movement device of another embodiment in a state cut along the line VII-VII in FIG. 11.

FIG. 13

FIG. 14

FIG. 15:

FIG. 16 is a front view sequentially showing movement control states in an orthogonal biaxial movement device of another embodiment.

FIG. 17:

18A and 18B are a perspective view and a front view for explaining the configuration according to the prior application of the apparatus with the orthogonal two-axis shift according to the present invention.

[Explanation of symbols]

 10 orthogonal two-axis moving device, 12 base, 14 rotation block, 14a joining shaft, 16 rotation drive mechanism, 18a; 18b; 18c; 18d guide roller, 20a; 20b drive pulley, 22a; 22b drive motor, 24a; 24b Rotary encoder, 26 control unit, 26a CPU, 26b RAM, 26c ROM, 26d counter, 26e motor drive section, 26f brake drive section, 26g CRT, 26h keyboard, 28 bearing, 30 drive motor, 32 speed reduction mechanism, 32a drive shaft, 34 coupling member, 36 rotary encoder, 38a; 38b horizontal slide guide member, 40a; 40b horizontal slide shaft, 42 guide block, 44 fixed block, 44a through hole, 46 vertical slide guide member, 48 vertical Direct slide shaft, 50a; 50b idle roller, 52a; 52b; 54a; 54b idle pulley, 56 timing belt, 58 fixing plate, 60 mounting bolt, 62 hand mechanism, 64 mounting plate, 66 braking device, 67 pulley shaft, 68 bearing, 69 mounting stay, 70 orthogonal two-axis moving device (other embodiment), 72 mounting block, 74 slide guide block, 76 slide member.

Claims (4)

[Claims] Claim: What is claimed is: 1. A first block, a first slide member which extends along one direction and is movably mounted along the one direction, the first slide member being attached to the first block, and the first slide member. A second block fixed to one end of the member, a third block fixed to the other end of the first slide member, extending along the other direction orthogonal to the one direction, and in the other direction A second slide member attached to the second block so as to be movable along the first block; first and second drive rotating bodies pivotally supported by the first block; And first and second drive motors, which are respectively connected to the second drive rotator and rotatably drive the respective rotators, and first and second rotatably attached to both ends of the second slide member. 2 idle rotor and the 3rd block A third idle rotary member mounted for the one end and the other end is fixed to the second block, the middle portion, the first idle rotating body, a first drive rotor, third
Idle rotating body, a second driving rotating body, one belt sequentially engaged with the second driving rotating body, and a braking means capable of arbitrarily stopping the rotation of the third idle rotating body. And the second slide member is moved along the one direction and the other direction by setting the rotational drive directions of the first and second drive motors to a predetermined direction. Orthogonal two-axis moving device. 2. A first block, a first slide member that extends along one direction and is movably mounted along the one direction, and attached to the first block, and the first slide member. A second block fixed to one end of the member, a third block fixed to the other end of the first slide member, and a second block along the other direction orthogonal to the one direction. Two movably mounted slide members, first and second drive rotors rotatably supported by the first block, and connected to these first and second drive rotors, respectively. And first and second drive motors for rotatably rotatably driving each of them, and first and second idle rotors rotatably attached to both ends of the second block along the other direction. , Rotatably attached to the third block A third idle rotation bodies, the one end and the other end is fixed to the second slide member,
The middle part is the first idle rotor, the first drive rotor,
A third idle rotating body, a second drive rotating body, one belt sequentially engaged with the second drive rotating body, and a brake capable of arbitrarily stopping the rotation of the third idle rotating body. Means for moving the second slide member along the one direction and the other direction by setting the rotational drive directions of the first and second drive motors to a predetermined direction. Characteristic orthogonal two-axis moving device. 3. A first block, a first slide member that extends along one direction, and is attached to the first block so as to be movable along this one direction, and the first slide. A second block fixed to one end of the member, a third block fixed to the other end of the first slide member, extending along the other direction orthogonal to the one direction, and in the other direction A second slide member movably mounted along the second block, to which gripping means for gripping an article is mounted; and first and second pivotally rotatably supported by the first block. Drive rotors, first and second drive motors that are respectively connected to the first and second drive rotors, and rotate and drive the respective rotors in a reversible manner, and rotate at both ends of the second slide member. Freely attached first and second eyes A dollar rotary body, a third idle rotary body rotatably attached to the third block, one end and the other end fixed to the second block, and a midway portion of the third idle rotary body Body, first drive rotor, third
Idle rotating body, second driving rotating body, one belt sequentially engaged with the second driving rotating body, storage means for storing the teaching point of the gripping means, and the third idle Brake means capable of arbitrarily stopping the rotation of the rotating body, detection means for detecting the respective rotation amounts of the first and second drive motors, and first and second drive means detected by the detection means. And a computing unit that computes a moving position of the gripping unit from each rotation amount of the motor, and when updating the teaching point of the gripping unit in the storage unit, a power supply to the first and second drive motors. In the state in which the holding means is shut off, the gripping means is manually moved to a new teaching point, and the tasting in the storage means is performed according to the calculation result of the moving position by the computing means. Orthogonal two-axis moving apparatus characterized by rewriting the ring points. 4. A first block, a first slide member that extends along one direction, and is movably mounted along the one direction. The first slide member is attached to the first block, and the first slide. A second block fixed to one end of the member, a third block fixed to the other end of the first slide member, and a second block along the other direction orthogonal to the one direction. Two slide members movably attached to which a gripping means for gripping an article is attached; first and second drive rotators rotatably supported by the first block; First and second drive motors, which are respectively connected to the first and second drive rotating bodies and rotate and drive them in a reversible manner, and rotatably attached to both ends of the second block along the other direction. The first and second idle rotors A third idle rotor rotatably attached to the third block, one end and the other end fixed to the second slide member,
The middle part is the first idle rotor, the first drive rotor,
A third idle rotating body, a second drive rotating body, one belt sequentially engaged with the second drive rotating body, and a brake capable of arbitrarily stopping the rotation of the third idle rotating body. Means for detecting the respective rotation amounts of the first and second drive motors, and the gripping means based on the respective rotation amounts of the first and second drive motors detected by the detection means. When the teaching point of the gripping means in the storage means is updated, the gripping is manually performed with the power supply to the first and second drive motors cut off. Orthogonal two-axis, wherein the means is moved to a new teaching point, and the teaching point in the storage means is rewritten according to the calculation result of the moving position by the calculation means. Mobile device.