JP2007239934A - Slider structure in robot actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lightweight and rigid slider structure in a robot actuator preventing twisting or the like. <P>SOLUTION: In the slider structure, a band like sheet is provided on an opening window formed in a fore and aft direction of a slider, the slider is attached to an opening groove through the sheet, and a body to be operated attached to the slider is reciprocated. The slider 5 is composed of a slider body 17 reciprocated by a driving mechanism, a sliding member 16 attached to the slider body 17 and having sliding parts for the band like sheet 10 in the front and rear in a moving direction and in a middle part, and a cover member 15 attached to a top face of the sliding member so as to cover the top face and a periphery of the sliding member 16. The sliding member 16 is formed by resin, the band like sheet 10 is attached by passing it through a top face of the sliding part 19c of the middle part and bottom faces of the sliding parts 19a, 19b of the front and rear, and a protruding face part 17b holding the sliding part 19c of the middle part in a bottom face side is formed on the slider body 17. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a slider structure in a robot actuator that is lightweight, improves rigidity, and prevents twisting and the like.

  In general, a single-axis robot actuator used as an industrial robot uses a servo motor or the like as a drive source, and a ball screw connected to the drive source is provided in an operation region. The ball nut is screwed in a state in which the rotation of the ball nut is restricted, and a slider is attached to the ball nut. Various devices that are operated in the operating region are mounted on the slider.

In this type of single-axis robot actuator, the ball screw is rotated in the same direction by rotating the servo motor in an appropriate direction, and the slider is moved in an appropriate direction via a ball nut that moves as the ball screw rotates. (Patent Document 1).
Japanese Utility Model Publication No. 63-120552 JP 2001-198874 A

  The slider used in the conventional robot actuator needs to provide a gap for allowing the flexible sheet to pass through the movable table, and it is difficult to manufacture the movable table. Further, when the movable table is damaged, it is necessary to replace the entire movable table.

  An object of the present invention is to provide a slider structure in a robot actuator that solves the above-described problems, is lightweight, improves rigidity, and prevents torsion and the like.

In order to solve the above-described problems, the present invention provides an opening provided on the upper surface of the housing by reciprocating the slider by a driving mechanism provided in the housing, and a belt-like sheet disposed in the moving direction of the slider. In a robot actuator that is mounted along a groove, the slider is assembled to the opening groove through the belt-like sheet through an opening window formed in the front-rear direction of the slider, and an object to be operated mounted in the slider is reciprocated. In the slider structure, the slider is reciprocally operated by the drive mechanism, and a sliding member that is mounted on the slider body and has sliding portions of the belt-like sheet at the front and rear and intermediate portions in the moving direction. And a cover member mounted on the upper surface of the sliding member so as to cover the upper surface and the periphery of the sliding member. In addition to grease molding, the belt-shaped sheet is mounted through the upper surface of the sliding portion of the intermediate portion and through the lower surface of the front and rear sliding portions, and the convex portion that holds the lower surface side of the sliding portion of the intermediate portion is mounted on the slider It is in the body.
Further, according to the present invention, the columns for mounting the object to be operated are erected at the four corners of the upper surface of the slider body, the front columns and the rear columns are connected by the connecting members, respectively. The sliding member is assembled to the slider body through the opening between the sliding parts, and an opening corresponding to the support column of the slider body is formed on the upper surface of the cover member to be assembled to the sliding member. is there.
Further, according to the present invention, a recess is formed along the width direction in the front-rear intermediate portion of the upper surface of the slider body, and the arc-shaped portion of the sliding member is formed so as to correspond to the recess. is there.
Furthermore, the present invention is that a roller having both ends supported by the sliding portion of the sliding member is used.

According to the first aspect, since the sliding member that holds the belt-like sheet is resin-molded, it is lightweight and the slider body is disposed inside the resin member, so that the rigidity can be improved.
According to the second aspect of the present invention, since the column for mounting the object to be operated standing on the upper surface of the slider body is connected by the connecting member, the rigidity of the column can be secured and the twist of the slider body can be prevented.
According to the third aspect, the sliding member can be reinforced.
According to claim 4, the movement of the slider becomes smooth.

Embodiments shown in the drawings will be described in detail below with reference to the drawings.
1 to 5 show a single-axis robot actuator, and FIG. 6 shows a movable slider. FIGS. 7A, 7B, and 8C show the slider body, and FIGS. 9A, 9B, and 10 show the sliding members.

  1 to 5 show a single-axis robot actuator, which is composed of a mechanism unit 1A and a drive unit 1B of the actuator 1. FIG.

  The mechanism portion 1A has a ball screw shaft 3 and a ball screw nut 4 built in a housing 2A, and a movable slider 5 that moves together with the ball screw nut 4 is provided on the upper surface of the housing 2A. The housing 2A includes a long linear guide rail 6 constituting the bottom surface, a pair of side covers 7 provided on both sides of the linear guide rail 6, and the linear guide rail 6 and the pair of side covers 7 in the front-rear direction. A flange 8 and a bracket 9 mounted on both sides, and a band-like shape disposed along the opening groove 2a of the housing 2A so as to close the gap between the upper surfaces of the pair of side covers 7 between the flange 8 and the bracket 9. It consists of a stainless steel sheet 10.

  One end of the ball screw shaft 3 is supported by the flange 8 via a rotary bearing 11, and the other end is supported by a bracket 9 via a rotary bearing 12. The other end of the ball screw shaft 3 is connected via a coupling 13 to a rotation shaft 14a of a servo motor 14 provided in the drive unit 1B.

The movable slider 5 slides along the longitudinal direction on the upper surface of the housing 2A. As shown in FIG. 6, the movable slider 5 is disposed on the upper surface of the stainless steel sheet 10 and the lower portion is opened. A box-shaped table cover 15, a sliding member 16 slidably mounted on the stainless steel sheet 10, and a slider main body that holds the sliding member 16 and supports the object to be operated through the upper surface of the table cover 15. 17. The slider body 17 is provided integrally with a linear guide block 18 slidably disposed along the linear guide rail 6, and reciprocates along the ball screw shaft 3 as the ball screw nut 4 moves. It works.
As shown in FIGS. 7 (a), (b), (c) and FIGS. 8 (a), (b), the slider body 17 has support columns 17a erected at the four corners of a substantially rectangular upper surface, and the front-rear direction of the upper surface. Is provided with a trapezoidal convex surface portion 17b. The pair of front and rear struts 17a are provided so as to sandwich both sides of the convex surface portion 17b, and the front struts 17a and the rear struts 17a are connected by connecting members 17c. A mounting portion 17d such as a screw hole for supporting the object to be operated is provided on the upper surface of the column 17a. The stainless steel sheet 10 is assembled through a gap 17f between the convex portion 17b of the slider body 17 and the connecting member 17c (see FIG. 6).

As shown in FIGS. 9A, 9B, and 10, the sliding member 16 is formed by resin molding, and the rectangular frame portion 16a and the intermediate positions of both side portions of the frame portion 16a are mutually positioned. It is comprised with the connection part 16b to connect. The front and rear frame portions 16a are provided with arc-shaped sliding portions 19a and 19b slidably contacting the upper surface of the stainless steel sheet 10, and the upper surface of the connecting portion 16b at the intermediate position is provided on the lower surface of the stainless steel sheet 10. An arcuate sliding portion 19c that is slidably contacted is provided. As shown in FIG. 6, the sliding member 16 is assembled to the slider main body 17 by aligning the column 17a and the connecting member 17c of the slider main body 17 with the opening 16c between the frame portion 16a and the connecting portion 16b. ing.
The stainless steel sheet 10 passes through the lower side of the sliding portion 19a (19b) on one side of the sliding member 16 from one side of the gap 17f between the convex surface portion 17b of the slider body 17 and the connecting member 17c, and through the upper surface of the sliding portion 19c. It is assembled through the lower surface side of the sliding portion 19b (19a) of the sliding member 16 on the other side through the gap 17f on the other side.

The lower surface side of the connecting portion 16b provided with the sliding portion 19c is formed in an arc shape, and a concave line 17e corresponding to the arc-shaped portion 19d is formed on the upper surface of the convex surface portion 17b of the slider body 17 in the width direction. Are formed along.
As shown in FIG. 6, the table cover 15 is assembled to the slider body 17 so as to cover the slide member 16. Opening holes 15a are formed at the four corners of the upper surface of the table cover 15 so as to correspond to the columns 17a of the slider body 17, and the tips of the columns 17a are assembled in the opening holes 15a. The object to be operated is assembled to the mounting portion 17d at the tip of the column 17a. Two mounting holes 15b are formed on both sides of the center portion of the upper surface of the table cover 15, and screws (not shown) are threaded into the screw holes 17g formed in the connecting member 17c of the slider body 17 through the mounting holes 15b. is doing.
The flange 8 and the bracket 9 are provided with sheet pressers 20 and 21 for pressing the front and rear ends of the stainless steel sheet 10.

The motor 14 provided in the drive unit 1B is housed in a housing 2B, and a terminal cover 23 for housing a cable connector 22 that sends electric power and drive signals to the motor 14 at the rear end of the housing 2B. It is detachably attached.
The terminal cover 23 is formed in a box shape so as to form a fixed space with the rear end of the motor 14, and a recess 23a is formed by cutting out one side of the lower side, and a cable 24 is formed on the lower surface side of the recess 23a. An insertion hole 23b is formed to pass through.

According to the above configuration, when a drive signal is sent from the drive controller via the cable 24, the drive signal is sent to the motor 14 through the cable connector 22, and the motor 14 is rotationally driven. The rotation of the motor 14 is transmitted to the ball screw shaft 3 through the coupling 13, and the ball screw nut 4 moves along the ball screw shaft 3 as the ball screw shaft 3 rotates. Then, the slider body 17 that moves integrally with the ball screw nut 4 starts moving together with the linear guide block 18 that is slidably disposed along the linear guide rail 6. In this way, the movable slider 5 moves together with the slider body 17, and the object to be operated attached to the movable slider 5 is moved. The movable slider 5 supports the stainless steel sheet 10 with the sliding member 16 inside the table cover 15, and holds the stainless steel sheet 10 by the sliding portions 19 a, 19 b, 19 c of the sliding member 16. The stainless steel sheet 10 is assembled through the lower surface side of the sliding portion 19a, the upper surface side of the sliding portion 19c, and the lower surface side of the sliding portion 19b.
Thus, the movable slider 5 is reciprocated along the ball screw shaft 3 to reciprocate the object to be operated attached to the attachment portion 17d of the movable slider 5.

  As described above, the movable slider 5 is assembled integrally with the slider body 17 by assembling the sliding member 16 and covering the sliding member 16 with the table cover 15. Further, since the sliding member 16 can be formed of a resin material, the sliding member 16 is lightweight and slippery with the stainless steel sheet 10 is good. In addition, since the contact with the stainless steel sheet 10 is smooth, it is possible to improve the durability of the stainless steel sheet 10 without applying an unnecessary load to the stainless steel sheet 10.

Furthermore, since the table cover 15 is put on the sliding member 16 and integrally assembled, the internal slider body 17 and the like can not be seen, and the appearance can be improved. Further, since the operated body can be attached to the movable slider 5 by attaching the operated body to the mounting portion 17d, the operated body can be firmly fixed. Since the movable slider 5 can be made compact, the overall length of the actuator 1 can be shortened and the size can be reduced.
Further, since the front struts 17a and the rear struts 17a are connected to each other by the connecting members 17c, the rigidity of the thin portion where stress is concentrated or the mounting portion of the operated object is secured. Can do.

    The present invention is not limited to the above embodiment. For example, the stainless sheet 10 can be moved by assembling a separate roller to the sliding portions 19a, 19b, and 19c of the sliding member 16. Smooth. In this embodiment, the arcuate portion 19d of the sliding member 16 is not in contact with the recess 17e of the slider body 17, but the arcuate portion 19d is brought into contact with the recess 17e of the slider body 17. In this case, the sliding member 16 can be prevented from being deformed and twisted by supporting the arcuate portion 19d by the concave line 17e.

It is a top view which shows the slider structure in the robot actuator by embodiment of this invention. It is a front view which shows the slider structure in the robot actuator by embodiment of this invention. It is the sectional view on the AA line of FIG. FIG. 3 is a sectional view taken along line BB in FIG. 2. It is CC sectional view taken on the line of FIG. It is a perspective view which shows the movable slider of FIG. The slider main body is shown, (a) is a plan view, (b) is a front view, and (c) is a right side view. (A) is the DD sectional view taken on the line of FIG.7 (b), (b) is the EE sectional view taken on the line of Fig.7 (a). A sliding member is shown, (a) is a top view, (b) is a bottom view. It is the FF sectional view taken on the line of Fig.9 (a).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Actuator 1A Mechanism part 1B Drive part 2A, 2B Housing 3 Ball screw shaft 4 Ball screw nut 5 Movable slider 6 Linear guide rail 7 Side cover 8 Flange 9 Bracket 10 Stainless steel sheet 11, 12 Rotary bearing 13 Coupling 14 Servo motor (motor)
DESCRIPTION OF SYMBOLS 15 Table cover 16 Sliding member 16a Frame part 16b Connection part 17 Slider main body 17a Support | pillar 17b Convex part 17c Connection member 17d Mounting part 17e Recess 18 Linear guide block 19a, 19b, 19c Slide part 20, 21 Sheet presser 22 Cable connector 23 Terminal cover 23a Recess 23b Insertion hole 24 Cable

Claims (4)

  The slider is reciprocated by a drive mechanism provided in the housing, and a belt-like sheet disposed in the moving direction of the slider is mounted along the opening groove provided in the upper surface of the housing. In a slider structure in a robot actuator in which the slider is assembled into the opening groove through the belt-like sheet through an opening window formed in a direction, and an object to be operated mounted on the slider is reciprocated, the slider is connected to the drive mechanism. A slider body that is reciprocated by the slider body, a sliding member that is attached to the slider body and has sliding portions of the belt-like sheet in the front and rear and intermediate portions in the moving direction, and the sliding member on the upper surface of the sliding member. And a cover member mounted so as to cover the upper surface and the periphery of the moving member. The slider main body is mounted through the upper surface of the sliding portion of the intermediate portion and the lower surface of the sliding portion of the front and rear, and a convex surface portion that holds the lower surface side of the sliding portion of the intermediate portion is formed on the slider body. Slider structure in a robot actuator.   Columns for mounting the object to be operated are erected at the four corners of the upper surface of the slider body, the front columns and the rear columns are connected by connecting members, and the columns are connected between the sliding units. 2. The sliding member is assembled to the slider body through the opening, and an opening corresponding to a support column of the slider body is formed on the upper surface of the cover member assembled to the sliding member. The slider structure in the robot actuator described in 1.   2. A ridge is formed along a width direction in an intermediate portion in the front-rear direction of the upper surface of the slider body, and an arc-shaped portion of the sliding member is formed so as to correspond to the ridge. Or the slider structure in the robot actuator of 2.   4. A slider structure in a robot actuator according to claim 1, wherein a roller having both ends supported by the sliding portion of the sliding member is used.

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