JP2008229736A - Crossing robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crossing robot having high efficiency of maintenance work. <P>SOLUTION: This orthogonal robot 1 includes an X-axis robot 3 having a frame 10 extending in the X-axis direction and a slider 11 moving along it, and a Y-axis robot 4 having a frame 30 fixed to the slider 11 and extending in the Y-axis direction and a slider 31 moving along it. The Y-axis robot 4 is fixed to the X-axis robot 3 through a bracket 22 fixed to a fitting part 20 of the slider 11. The bracket 22 is fixed to the slider 11 b a bolt B. The slider 11 is provided with a bulged part 20a bulged to the side of the frame 10, and the bracket 22 is fixed to the bulged part 20a from below the slider 11 by a bolt B with a part thereof lapped on the bulged part 20a. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a crossed robot comprising first and second robots having sliders movable in a uniaxial direction, wherein the second robot is assembled to the slider of the first robot in a state of crossing the first robot. It is.

  Conventionally, an orthogonal robot is widely known as one of the above-described crossed robots (for example, Patent Document 1). FIG. 9 schematically shows such an orthogonal robot.

  As shown in the figure, the orthogonal robot 50 has a configuration in which a Y-axis robot 52 is orthogonal to an X-axis robot 51. That is, the X-axis robot 51 is provided with a slider 54 that can move in the X-axis direction, and a Y-axis robot 52 that includes a slider 56 that can move in the Y-axis direction is assembled to the slider 54. The sliders 54 and 56 are individually driven to move the work unit or the like fixed to the slider 56 of the Y-axis robot 52 to an arbitrary position on the XY plane.

The assembly of the Y-axis robot 52 to each slider 54 is performed by fixing an assembly bracket 58 on the slider 54 and fixing the Y-axis robot 52 to the bracket 58. The bracket 58 itself is fastened to the slider 54 by a bolt 59 from the Y-axis robot 52 side. In general, the bolt fastening position and the Y-axis robot 52 are offset as shown in FIG. Thus, the prospect of the bolt 59 from the Y-axis robot 52 side is secured. That is, at the time of maintenance, the Y-axis robot 52 and the bracket 58 can be integrally attached to and detached from the slider 54 by operating the bolt 59.
Japanese Patent Publication No. 2004-188512

  In the orthogonal robot 50 as described above, the layout configuration may be limited in order to make the entire robot more compact and simple, or to improve functionality.

  For example, when the X-axis robot 51 uses a hollow motor as a drive source, the slider 54 can be moved to the end in the X-axis direction, so that the space at the end can be used effectively. In order to achieve this, the Y-axis robot 52 is assembled by moving closer to the end of the slider 54 (bracket 58). In some cases, the slider 54 and the bracket 58 may be designed to have a necessary minimum size. In such a case, it is difficult to offset the fastening position of the bolt 59 and the fixing position of the Y-axis robot 52, and the Y-axis robot 52 covers the fastening position of the bolt 59, thereby impairing maintainability. The problem arises.

  That is, when the X-axis robot 51 is to be maintained, it is necessary to remove the Y-axis robot 52 from the bracket 58 to expose the bolt 59 and then to turn the bolt 59 to remove the bracket 58. Becomes complicated. The same problem occurs when adjusting the crossing angle between the X-axis robot 51 and the Y-axis robot 52. Accordingly, it is necessary to ensure maintainability while making the orthogonal robot more compact and simple.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a cross-type robot having good maintenance workability.

  In order to solve the above problems, the present invention is fixed to a first robot having a first frame extending in a specific direction and a first slider moving along the frame, and the first slider of the first robot, A cross type robot comprising: a second frame extending in a direction crossing the specific direction; and a second robot having a second slider moving along the frame. A bracket is assembled to the first slider. The second robot is fixed to the first slider through the bracket, and the bracket is attached to the first slider by a screw member that is tightened from the opposite side of the second robot with the first slider in between. It is fixed (Claim 1).

  According to this configuration, since the bracket can be removed by operating the screw member from the back side of the first slider, that is, the side opposite to the second robot side, the second robot may interfere with the operation of the screw member. Disappear. Therefore, regardless of the arrangement of the second robot, the bracket can always be attached to and detached from the first slider while the second robot is attached. Further, by operating the screw member, it is possible to adjust the crossing angle between the first robot and the second robot without removing the second robot.

  In this case, it is preferable that the first slider has a bulging portion that bulges to the side of the first frame, and the bracket is fastened to the bulging portion by the screw member. (Claim 2).

  According to this configuration, the screw member can be easily operated and the workability is improved as much as the fastening portion of the screw member is shifted to the side of the first frame.

  The bracket is fixed to the first slider by a screw member tightened from the second robot side, separately from the screw member, and the tightening position of the screw member and the second robot are It may be offset (Claim 3).

  According to this configuration, a part of the screw member for fixing the bracket can be operated from the second robot side, so that the bracket can be easily detached and attached.

  In the above-described crossed robot, a pair of the first sliders may be provided in the first robot, and the second robot may be fixed to each first slider. Item 3).

  According to such a configuration, it is possible to ensure high maintainability in a so-called double carrier type crossed robot.

  The cross-type robot according to the present invention has a configuration in which the second robot is assembled to the first slider via a bracket, and the bracket is tightened from the opposite side of the second robot with the first slider interposed therebetween. Since the member is fixed to the first slider, the screw member can be directly operated regardless of the arrangement of the second robot. Therefore, the bracket can always be attached to and detached from the first slider while the second robot is attached, and the intersection angle between the first robot and the second robot without removing the second robot. Adjustments can be made. Therefore, maintenance workability is improved.

  A preferred embodiment of the present invention will be described with reference to the drawings.

  1 and 2 show a cross type robot according to the present invention. FIG. 1 is a plan view and FIG. 2 is a side view showing the cross type robot.

  As shown in these drawings, the cross robot 1 includes a single-axis robot 3 (Y-axis robot 4) for moving in the Y-axis direction and a single-axis robot 3 for moving in the X-axis direction (referred to as X-axis robot 3). A work unit 5 (shown in phantom lines in the figure) that is attached to the Y-axis robot 4 according to the operation of the robots 3 and 4 is an attached orthogonal robot (hereinafter referred to as an orthogonal robot 1). , It is configured to move to an arbitrary position on the XY coordinate plane.

  FIG. 3 is a cross-sectional view showing a specific configuration of the X-axis robot 3 and the Y-axis robot 4 (the Y-axis robot 4 is illustrated with a cover member 33 described later removed).

  As shown in the figure, an X-axis robot 3 (corresponding to the first robot according to the present invention) includes a frame 10 (corresponding to the first frame according to the present invention) extending in the X-axis direction, And a slider 11 (corresponding to a first slider according to the present invention) supported so as to be slidable along. The frame 10 includes a base member 12 having a concave cross section that opens upward, and a cover member 13 that covers an upper end opening of the base member 12, and the slider 11 includes the cover member 13, the base member 12, and the base member 12. The frame 10 is slidably supported with a portion interposed therebetween.

  A pair of guide rails 15, 15 extending along the X-axis direction are provided inside the frame 10, and the slider 11 is slidably mounted on the guide rails 15. A ball screw shaft 16 extending in parallel with the rails 15 and 15 is disposed between the guide rails 15 and 15. The ball screw shaft 16 is rotatably supported by the frame 10 via bearings or the like provided at both ends of the base member 12.

  On the lower surface of the slider 11, a nut member 18 that is screwed onto the ball screw shaft 16 and a hollow motor 17 as a drive source that rotationally drives the nut member 18 are assembled. The nut member 18 is assembled to the slider 11 via a bearing or the like so as to be relatively rotatable, and is connected to the hollow motor 17 via a coupling or the like. That is, when the nut member 18 is driven forward or reversely around the ball screw shaft 16 by the hollow motor 17, the slider 11 moves along the guide rails 15 in the X-axis direction. Yes.

  The slider 11 is exposed above the frame 10 through a pair of slit-like openings formed between the upper end of the side wall of the base member 12 and the cover member 13, and this exposed portion has an X-axis direction. A pair of attachment portions 20, 20 extending in the direction is formed.

  A bracket 22 is fixed to the upper surfaces of the mounting portions 20, 20, and the Y-axis robot 4 is assembled to the slider 11 via the bracket 22.

  As shown in FIGS. 1 and 3, the bracket 22 is viewed from the front (Y-axis direction view) in which a fixed wall 22b is erected on one end (left end in FIG. 1) of a flat base portion 22a having a slight thickness. It is a member formed in an L shape and is fixed to the slider 11 by a bolt B such as a hexagon socket head bolt. Specifically, as shown in FIG. 4, a pair of screw holes 24 are provided at predetermined intervals in the X-axis direction in the attachment portion 20 on one side (left side in FIG. 4) of the attachment portions 20, 20 of the slider 11. Are formed with a gap. The mounting portion 20 on the other side is provided with a bulging portion 20a that bulges laterally (Y-axis direction) from the frame 10, and a pair of through holes 25 penetrating in the vertical direction is formed in the bulging portion 20a. It is formed at predetermined intervals in the axial direction. On the other hand, in the bracket 22, a vertical through hole 26 is formed at a location corresponding to the screw hole 24 in the base portion 22 a, and a screw hole 27 is formed at a location corresponding to the through hole 25. Has been. Then, as shown in the figure, a bolt B is inserted into the through hole 26 from above the base portion 22a, and this bolt B is screwed into the screw hole 24 of the mounting portion 20 on the one side, while the other A bolt B is inserted into the through hole 25 from below the side mounting portion 20, and this bolt B is screwed into the screw hole 27 of the base portion 22a. As a result, the bracket 22 is fastened to the slider 11 (mounting portion 20) by the bolt B.

  The Y-axis robot 4 is fixed to the wall surface of the fixed wall 22b of the bracket 22 configured as described above with a bolt or the like. In order to secure the support rigidity of the Y-axis robot 4, the bracket 22 has one end side of the base portion 22a including the fixed wall 22b on one side (upper side in FIG. 1) of the frame 10, as shown in FIG. The shape is an L-shape that is greatly projecting in plan view. Further, on the side of the base portion 22a of the bracket 22 opposite to the fixed wall 22b across the Y-axis robot 4, there is provided a space for attaching parts such as various tools and equipment used for the work of the work unit 5. ing. In this space, a T-shaped groove 23 as shown in FIG. 5 extending in the Y-axis direction is formed. By using the T-shaped groove 23, various parts can be easily fixed to the bracket 22. It has become.

  As shown in FIGS. 1 to 3, the Y-axis robot 4 includes a frame 30 (corresponding to a second frame according to the present invention) extending in the Y-axis direction, and a slider that is slidably supported along the frame 30. 31 (corresponding to the second slider according to the present invention). The frame 30 includes a base member 32 having a concave cross section and a cover member 33 that covers an opening of the base member 32. The base member 32 is fixed to the fixed wall 22b, so that the bracket 22 is fixed. The Y-axis robot 4 is assembled to the slider 11. As shown in FIG. 1, the Y-axis robot 4 is fixed at a position slightly shifted to the rear side in the Y-axis direction from the front end (lower end in FIG. 1) of the bracket 22, thereby fixing the bracket 22. A line of sight of the bolt B that is tightened from the Y axis robot 4 side (line of sight from the Y axis robot 4 side) is secured.

  Inside the frame 30, as shown in FIG. 3, a pair of guide rails 35, 35 extending along the Y-axis direction, a ball screw shaft 36 provided in parallel to both the guide rails 35, 35, A servo motor 37 as a drive source for rotationally driving the ball screw shaft 36 is provided. The slider 31 is slidably mounted on the guide rails 35, 35, and a nut member 31 a integrated with the slider 31 is screwed onto the ball screw shaft 36. That is, when the ball screw shaft 36 is driven forward or reversely by the servo motor 37, the slider 11 moves in the Y-axis direction along the guide rails 35, 35.

  Although not shown in detail, the slider 31 is located above the frame 10 through a pair of slit-shaped openings formed between the base member 32 and the cover member 33, as in the X-axis robot 3. The exposed portion is formed with a pair of attachment portions 40, 40 extending in the Y-axis direction. A plurality of screw holes 40 a are formed in the attachment portions 40, 40, and the work unit 5 is assembled to the slider 31 using these screw holes 40 a.

  As described above, the orthogonal robot 1 has a structure in which the bracket 22 is fixed to the slider 11 of the X-axis robot 3 and the Y-axis robot 4 is fixed to the bracket 22. Since a part of the bolt fastening portion is structured to be fastened by the bolt B from the opposite side to the Y-axis robot 4 with respect to the slider 11 (mounting portion 20), an effect that maintenance workability is good is achieved. is there.

  That is, in the orthogonal robot 1, the Y-axis robot 4 is located at a part of the bolt tightening portion of the bracket 22 with respect to the slider 11 (upper left bolt tightening portion in FIG. 1) in relation to the position of the Y-axis robot 4. Put on. Therefore, if all the bolts B are tightened from the Y-axis robot 4 side, when the X-axis robot 3 is maintained, the Y-axis robot 4 is first removed to expose the bolts B, and then the bracket 22 is removed. As a result, the Y-axis robot 4 and the bracket 22 are always required to be individually attached and detached as a result, resulting in complicated operations. However, according to the orthogonal robot 1 described above, the portion of the bolt tightening portion of the bracket 22 that the Y axis robot 4 covers (the bolt fastening position on the upper left in FIG. 1) is the lower side of the slider 11 as described above. Since the bracket 22 is fixed by tightening the bolt B, the bolt B can be operated without removing the Y-axis robot 4. Further, the portion of the bracket 22 where the T-shaped groove 23 is formed, that is, a part of the bolt fastening portion in the mounting space for various parts (the bolt fastening portion on the upper right in FIG. 1) is also below the slider 11. Therefore, even when a part to be assembled in the space covers the bolt fastening portion, the bolt B can be operated without removing the part. And since the prospect from the Y-axis robot 4 side is secured about the other bolt fastening location of the bracket 22 as described above, the bolt B can be operated without difficulty.

  Therefore, all the bolts B that fix the bracket 22 can be attached and detached without removing the Y-axis robot 4 and the like. Therefore, during the maintenance of the X-axis robot 3, the Y-axis robot 4 and the bracket 22 can be always attached to and detached from the slider 11 without removing the Y-axis robot 4 and the like. As a result, the maintenance work can proceed smoothly and efficiently. Further, the crossing angle adjustment between the X-axis robot 3 and the Y-axis robot 4 can be carried out without difficulty only by loosening the bolt B without removing the Y-axis robot 4 or the like. Therefore, the maintenance workability is very good.

  In the present embodiment, there are two bolt tightening locations in the part mounting space of the bracket 22, and one of them (the lower right bolt tightening location in FIG. 1) is tightened with the bolt B from above. This is because the fastening portion is located on the end side of the Y-axis robot 4 in the bracket 22 and the bolt B is less likely to be covered with parts.

  By the way, the orthogonal robot 1 described above is an example of a preferred embodiment of the cross robot according to the present invention, and its specific configuration can be appropriately changed without departing from the gist of the present invention. .

  For example, in the above embodiment, the bracket 22 is fixed to the slider 11 (the pair of attachment portions 20). With respect to the attachment portion 20 on one side (the lower side in FIG. 1), the bracket 22 is moved from the Y-axis robot 4 side. For the mounting portion 20 on the other side (upper side in FIG. 1), the bracket 22 is configured to be fastened with the bolt B from the lower side of the slider 11, but any structure is used. Whether or not to do so may be determined as appropriate in consideration of the relationship between the arrangement of the Y-axis robot 4 and various tools mounted on the bracket 22 and the bolt fastening position of the bracket 22. For example, as shown in FIGS. 6 and 7, an orthogonal robot 1 of a type in which the bracket 22 is configured in a T shape in plan view and the Y-axis robot 4 is assembled so as to cross the X-axis robot 3. As shown in the figure, the Y-axis robot 4 covers a pair of bolt fastening locations (left fastening location in FIG. 6) arranged in the Y-axis direction, and the remaining bolt fastening locations are also various. There is a high possibility that parts will be covered. Therefore, regarding the orthogonal robot 1 having such a configuration, all the brackets 22 may be fastened with bolts B from below the slider 11 as shown in FIG.

  In the above embodiment, the example in which the present invention is applied to the so-called single carrier type orthogonal robot 1 in which one Y axis robot 4 is assembled to the X axis robot 3 has been described. Of course, the present invention is also applicable to a type robot. FIG. 8 shows an example. In the orthogonal type robot 1 shown in this figure, a pair of sliders 11 and 11 are provided on the X-axis robot 3, and the Y-axis robots 4A and 4B face each other via brackets 22 (X The configuration is mounted (facing in the axial direction). The sliders 11 and 11 of the X-axis robot 3 and the sliders 31 of the Y-axis robots 4A and 4B are individually driven, so that each work unit 5 is individually moved on the XY coordinate plane. It has a configuration. The assembly structure of the Y-axis robots 4A and 4B with respect to the X-axis robot 3 is the same as that in the above embodiment.

  In such a double carrier type orthogonal robot 1, the Y-axis robots 4 </ b> B and 4 </ b> B are brought close to the end of the bracket 22 (end in the X-axis direction) in order to ensure the wide movable area of the work unit 5 in the X-axis direction. The placement of the Y-axis robots 4A and 4B may be restricted, such as by fixing them, and as a result, the bolt fastening position of the bracket 22 and the Y-axis robots 4A and 4B must be overlapped in the layout. There is. Therefore, as described above, the bracket 22 is fastened with the bolt B from below the slider 11 as necessary so that the Y-axis robots 4A and 4B can be attached to and detached from the slider 11 integrally with the bracket 22. This is effective in ensuring good maintenance workability.

  In the above embodiment, the application example of the present invention has been described for the orthogonal robot 1 in which the single-axis robots 3 and 4 are assembled in a state of being orthogonal to each other as an example of the intersecting robot according to the present invention. The present invention can also be applied to the case where the single-axis robot 4 on the other side is assembled with the single-axis robot 3 on the other side having an angle other than orthogonal.

It is a top view which shows the orthogonal type robot which is an example of the cross type robot which concerns on this invention. It is a side view which shows an orthogonal type robot (it is II arrow view of FIG. 1). FIG. 3 is a cross-sectional view taken along the line III-III of FIG. 1 showing the orthogonal type robot (with the cover member of the Y-axis robot removed). It is a principal part side view (partial sectional view) of an orthogonal type robot showing an assembly structure of a bracket to a slider (attachment part). It is sectional drawing (VV sectional drawing of FIG. 4) of the base part in a bracket. It is a top view which shows another example of an orthogonal robot. FIG. 7 is a side view of the orthogonal robot shown in FIG. 6 (a view taken along arrow VII in FIG. 7). It is a top view which shows another example (double carrier type orthogonal robot) of an orthogonal robot. It is a top view which shows the conventional orthogonal robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Orthogonal robot 3 X-axis robot 4 Y-axis robot 11 Slider 20 Mounting part 20a Expansion part 22 Bracket 22a Base part 22b Fixed wall

Claims (4)

A first robot having a first frame extending in a specific direction and a first slider moving along the frame, and a second frame fixed to the first slider of the first robot and extending in a direction crossing the specific direction And a cross robot comprising a second robot having a second slider that moves along the frame,
A bracket is assembled to the first slider, and the second robot is fixed to the first slider via the bracket. The bracket is opposite to the second robot with the first slider in between. A cross type robot that is fixed to the first slider by a screw member that is tightened from the side. The crossed robot according to claim 1,
The first slider has a bulging portion that bulges to the side of the first frame, and the bracket is fastened to the bulging portion by the screw member. Type robot. The cross robot according to claim 1 or 2,
The bracket is fixed to the first slider by a screw member tightened from the second robot side separately from the screw member, and the tightening position of the screw member and the second robot are offset. A cross-type robot characterized by The cross robot according to claim 1 or 2,
A cross-type robot, wherein the first robot is provided with a pair of the first sliders, and the second robot is fixed to each first slider.

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