JP2012157937A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot for facilitating the replacing work of a pressing roller and a separate roller arranged in a movable part.SOLUTION: The robot A includes a case member 10 having an opening 15, a shutter 50 for blocking the opening 15, a table body 31 movably installed in the case member 10, the pressing rollers 32a for pressing the shutter 50 to an edge side of the opening 15 at both sides in the moving direction of the table body 31, and the separate rollers 32b for separating the shutter 50 from the edge of the opening 15 between the pressing rollers 32a. The pressing roller 32a and the separate roller 32b arranged at one side of the table body 31 and the pressing roller 32a and the separate roller 32b arranged at the other side of the table body 31 are supported by a pair of support members 33, and the pair of support members 33 can be attached and detached to/from the table body 31 from one side and the other side in the moving direction of the table body 31 by using screws 37, respectively.

Description

  The present invention includes a case member including a case member having an open surface along the axial direction, a shutter that closes the opening of the case member, a pressing roller that presses the shutter against the opening edge, and a separation roller that separates the shutter from the opening edge. The present invention relates to a robot having a movable part that moves along a member.

  2. Description of the Related Art Conventionally, a component conveying robot is used in which a movable portion is movably provided on a guide rail extending along an axial direction from one to the other. Among such robots, wear occurs in a portion where the guide rail side portion and the movable portion side portion are in contact with each other, and therefore, the worn portion must be replaced in a predetermined period (for example, Patent Document 1). This robot (driving device) includes a stator and a mover having a first member and a second member, and the second member is a U-shaped cross section covering both front and rear side portions of the first member. And is fixed to the first member with screws so as to be in contact with the stator. In this robot, the hardness of the second member is made higher than the hardness of the first member, so that damage due to wear of the second member is reduced. Replacement of the member is necessary.

  In addition, in the robot, in order to prevent dust and foreign matter from entering the case member provided with the guide rail, and dust and foreign matter inside the case member to be scattered outside, the case member Some have a shutter that shields between the inside and the outside. In this robot, the movable portion includes a pair of pressing rollers that press the shutter toward the edge of the opening of the case member, and a separation roller that separates the shutter from the edge of the opening of the case member between the pair of pressing rollers. Yes. When the movable portion moves along the guide rail, the shutter is lifted upward at the portion where the movable portion is located, and when the movable portion passes, the portion lifted by the movable portion of the shutter is the upper surface of the lower opening edge portion. To descend. In this robot, since the pressing roller and the separation roller are consumed, they are replaced in a predetermined period.

JP 2003-244925 A

  However, in this robot, various devices and members for gripping the parts to be conveyed are installed on the upper part of the movable part. When exchanging the pressing roller and the separation roller, these robots are installed on the upper part of the movable part. Since the replacement operation of the pressing roller and the separation roller is performed after removing the devices and members, there is a problem that the replacement operation is troublesome.

  The present invention has been made to cope with such problems, and an object of the present invention is to provide a robot that makes it easy to replace the pressing roller and the separation roller provided in the movable portion. In the description of each constituent element of the present invention below, the reference numerals of corresponding portions of the embodiment are shown in parentheses in order to facilitate understanding of the present invention. The present invention should not be construed as being limited to the configurations of the corresponding portions indicated by the reference numerals of the forms.

  In order to achieve the above-described object, the structural feature of the robot according to the present invention is that a case member (10) extending in the axial direction from one side to the other and having an open surface along the axial direction, and the opening of the case member externally A belt-like shutter (50) whose both ends are fixed to both ends in the axial direction of the case member in a closed state, and a movable part main body (31) attached to the case member in a state movable in the axial direction of the case member A pressing roller (32a, 62a) that presses the shutter toward the edge of the opening on both sides in the moving direction of the movable body, and a separation roller (32b, 62b) that separates the shutter from the edge of the opening between the pressing rollers And a robot (A) comprising a pair of support members (31, 61) that are detachably attached to one side and the other side of the movable part main body while supporting the pressing roller and the separation roller. A pair of support members, a first support member that supports a pressing roller and a separation roller installed on one side of the movable unit main body, and a pressure roller and a separation roller installed on the other side of the movable unit main body. The movable part main body is constituted by a second supporting member that supports the movable part main body from one side and the other side in the moving direction of the movable part main body using the fixing member (37). It is in that it can be attached to and detached from.

  In the robot according to the present invention, the first support member and the second support member can be attached to and detached from the movable portion main body from one side or the other side in the moving direction of the movable portion main body. For this reason, even if an apparatus or a member for gripping a component to be conveyed is installed on the upper part of the movable part main body, the first roller and the separation roller are not removed from the movable part main body. The support member and the second support member can be exchanged together. This eliminates the need to attach or detach a device or member for gripping the parts to be transported from the movable portion main body, so that the pressing roller, the separation roller, and the first support member and the second support member that support them can be used. Replacement work becomes easy.

  In the advancing direction of the movable part main body in the case member, there is no space for devices or members to be moved, so a space is formed. Various devices and members are installed on the upper part of the movable part main body. The For this reason, when the pressure roller, the separation roller, and the support member are attached to and detached from the movable portion main body from above, it is necessary to remove the device and the member from the movable portion main body, but the operation is omitted according to the present invention. be able to. In addition, as the fixing member in the present invention, a screw, an adhesive, or the like can be used.

  In addition, another structural feature of the robot according to the present invention is a detachable screw that extends inward from the surface of the movable part main body along the moving direction to both side portions on one side and the other side of the movable part main body. A mounting piece (36a, 36b, 63b, 63c) provided with a hole (31b) and a detachable insertion hole penetrating the first and second support members in the moving direction so as to face the detachable screw hole. ), And the fixing member is constituted by an attaching / detaching screw (37) that can be inserted into the attaching / detaching insertion hole and screwed into the attaching / detaching screw hole. According to this, the 1st and 2nd supporting member can be reliably attached or detached with respect to a movable part main body by simple operation.

  Still another structural feature of the robot according to the present invention is that the first and second support members (61) are divided into an upper support member (63) and a separation roller (62b) for supporting the pressing roller (62a), respectively. ), And the upper support member and the lower support member are assembled in a separable manner on the front surface side and the back surface side of the shutter. In this case, the insertion holes (66a, 66b) or the connection screw holes extending in the direction orthogonal to the movement direction are provided on both side portions in the width direction orthogonal to the movement direction in the upper support member, and the lower support member is provided with A connecting screw hole (68a, 68b) or a connecting insertion hole is formed in each of the upper support members so as to overlap both side portions in the width direction orthogonal to the moving direction and facing the connecting insertion hole or the connecting screw hole. It is preferable to assemble the upper support member and the lower support member by providing the provided connecting pieces (67a, 67b) and inserting the connecting screws through the connecting holes and screwing them into the connecting screw holes.

  According to this, since the upper support member that supports the pressing roller and the lower support member that supports the separation roller can be separated into the front surface side and the back surface side of the shutter, without removing the shutter from the case member, The pressing roller and the separation roller can be attached to and detached from the movable portion main body together with the first and second support members. For this reason, the replacement | exchange operation | work with a press roller, a separation roller, and a 1st and 2nd support member becomes still easier.

  Still another structural feature of the robot according to the present invention is that the lower support member is composed of two members (67a, 67b) connected to both sides in the axial direction of the separation roller, and the two members The portion connected to the separation roller is made displaceable with respect to the separation roller.

  In this case, a central shaft can be provided on the separation roller, and two members can be assembled on both sides of the separation roller so as to be rotatable around the shaft. In addition, shaft holes are provided on both sides of the separation roller, and shaft portions that can be inserted into the shaft holes are provided in the two members, and the shaft portions are inserted into the shaft holes with a margin, thereby allowing the two members to be inserted. It can also be made to be able to rotate around the axis, or to be inclined with respect to the axial direction. According to this, since the shape of the lower support member located on the back side of the shutter can be changed, the operation for taking out the separation roller and the lower support member from the inside of the case member below the shutter to the outside is easy. Become.

1 is a plan view showing a robot according to a first embodiment of the present invention. It is 2-2 sectional drawing of FIG. FIG. 3 is a 3-3 cross-sectional view of FIG. 1. It is the perspective view which showed the table part and the shutter. It is the perspective view which showed the state which removed one support member from the table part, and extracted the shutter. It is the perspective view which showed the table main body. It is the perspective view which showed the state which removed one cover member from the table part of FIG. It is the perspective view which showed the state which removes one support member from the table part of FIG. 7, and extracts a shutter. It is the perspective view which showed the state which removed one cover member and the supporting member from the table part with which the robot which concerns on 2nd Embodiment of this invention is provided. The positional relationship between the lower support member and the shutter after the upper support member is removed is shown, (a) is a plan view, and (b) is a side view. The state which rotated one bending piece of the lower support member of FIG. 10 upward is shown, (a) is a top view, (b) is a side view. The state which rotated the lower support member of FIG. 11 on the horizontal surface is shown, (a) is a top view, (b) is a side view.

(First embodiment)
Hereinafter, a robot according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a plane of the robot A according to the embodiment. 2 shows the main part of the 2-2 cross section of FIG. 1, and FIG. 3 shows the main part of the 3-3 cross section of FIG. The robot A includes a case member 10 extending in the X-axis direction (the front-rear direction in FIG. 1) as an axial direction of the present invention, a movable portion 20 movably attached to the case member 10, and the movable portion 20 as a case member. 10, a driving device 40 that moves in the X-axis direction, and a shutter 50 installed on the upper surface of the case member 10. Here, a direction (width direction of the case member 10 in FIG. 1) orthogonal to the X-axis direction on the horizontal plane is defined as a Y-axis direction, and a vertical direction is defined as a Z-axis direction.

  The case member 10 includes a bottom frame 11 positioned at a lower portion, and a pair of upper covers 12 and 13 respectively disposed on the left and right upper portions of the bottom frame 11. The bottom frame 11 includes a thick plate-like bottom surface portion 11a having a step portion whose widthwise center portion on the upper surface is lower than both side portions, and a side wall portion 11b protruding upward from the left and right side portions of the bottom surface portion 11a. , 11c, and is formed of a long frame-like body having a substantially U-shaped cross section with an opening located above. The bottom frame 11 is formed by processing an extruded material made of an aluminum alloy, and the cross-sectional shape thereof is the same from one end to the other end in the X-axis direction.

  A plate member 41 and a plurality of permanent magnets 42 constituting a part of the driving device 40 are installed in a portion which is a concave portion at the center in the width direction on the upper surface of the bottom surface portion 11a. The plate member 41 is installed on the upper surface of the bottom surface portion 11a along the front-rear direction, and the plurality of permanent magnets 42 are disposed on the upper surface of the plate member 41 so that the north and south poles are alternately positioned. Are arranged and attached. A pair of guide rails 14a and 14b extending in the X-axis direction in parallel with the plate member 41 and the plurality of permanent magnets 42 are provided on the upper portion of the upper surface of the bottom surface portion 11a near the concave portion on both sides in the width direction. Is fixed with bolts. The guide rails 14a and 14b are formed of elongated rods, and a trapezoidal portion whose upper side is wider than the lower side is formed at the upper part in the cross section.

  The widths of the both sides of the upper surface of the bottom surface portion 11a are larger at the portion where the guide rail 14b is installed (the right portion in FIG. 3) than at the portion where the guide rail 14a is installed (the left portion in FIG. 3). An elongated plate-like magnetic scale 43 is provided along the X-axis direction on the outer portion (side wall portion 11c side) having the larger width. Each of the upper covers 12 and 13 is formed of a long cover member having a cross-sectional shape formed in an L shape and arranged symmetrically. The upper cover 12 includes an upper surface portion 12a disposed substantially horizontally and a side surface portion 12b extending downward from an outer edge of the upper surface portion 12a. The upper cover 13 includes an upper surface portion 13a disposed substantially horizontally. The side surface portion 13b extends downward from the outer edge of the upper surface portion 13a.

  The upper covers 12 and 13 are connected and fixed to the upper part of the bottom frame 11 with the inner edges of the upper surface parts 12a and 13a facing each other separated by a set length. For this reason, an opening 15 extending in the X-axis direction is formed between the opposing inner edges of the upper surface portions 12a, 13a while maintaining a certain length in the Y-axis direction. Further, wall portions 16 (see FIG. 2) are provided at the front and rear ends of the case member 10, respectively, and the upper surface of the wall portion 16 is provided with fixing members 16a and 16b as shown in FIG. The both ends of the shutter 50 are fixed. The lower surface of the left and right end portions of the shutter 50 is in contact with the upper surfaces of the inner portions of the upper surface portions 12a and 13a, and the opening 15 is closed by the shutter 50.

  Further, a two-stepped portion 17a that is lower than the upper surface of the outer portion of the upper surface portion 12a is formed on the upper surface of the inner portion of the upper surface portion 12a, and the upper surface portion is formed on the upper surface of the inner portion of the upper surface portion 13a. A two-stepped portion 17b is formed which is lower than the upper surface of the outer portion of 13a. And magnet sheet 18a, 18b is each installed in the lower step located in the side (inner side) which step parts 17a, 17b oppose. The left and right side portions of the shutter 50 are installed on the upper surfaces of the magnet sheets 18a and 18b, and between the outer portion of the upper surface portions 12a and 13a and the higher step located outside the step portions 17a and 17b. The lateral displacement of the shutter 50 is restricted by the step portion formed in the step.

  The movable portion 20 is movably attached to the pair of guide rails 14a and 14b, and includes a slide table 21 and guided portions 22a and 22b provided on both sides of the lower surface of the slide table 21. The slide table 21 includes a base portion 21a located inside the case member 10 and a table portion 30 located above the case member 10. Guided portions 22a are provided on the left and right sides of the lower surface of the base portion 21a. , 22b are detachably fixed by bolts (not shown).

  Groove portions extending in the front-rear direction are formed on the lower surfaces of the guided portions 22a and 22b, and seal portions 23a and 23b made of rubber are formed on the peripheral surfaces of the groove portions. The cross-sectional shape of the edge part of the groove part formed in the to-be-guided parts 22a and 22b becomes a shape where the upper part side was wider than the lower part side, and the lower part opened. The cross-sectional shapes of the seal portions 23a and 23b are such that the upper side is wider than the lower side and the lower side is open, and the guide rails 14a and 14b are aligned along the groove portions of the guided portions 22a and 22b. The cross-sectional shape formed in the upper part of 14b is formed in the shape which can be externally fitted to the trapezoidal part.

  By engaging the groove portions of the guided portions 22a and 22b with the upper portions of the guide rails 14a and 14b via the seal portions 23a and 23b, the movable portion 20 can be moved without being detached from the guide rails 14a and 14b. It can be slid in the X-axis direction extending by 14b. A plurality of grease supply passages 24a and 24b for supplying grease between the guided portions 22a and 22b and the seal portions 23a and 23b are provided at the center in the left-right direction at the upper portions of the guided portions 22a and 22b. The guide portions 22a and 22b are provided at predetermined intervals in the front-rear direction.

  The table unit 30 is installed with various devices and members according to the application of the robot A, and is connected to the base unit 21a by a plurality of bolts (not shown). The external appearance of the table unit 30 is configured as shown in FIG. As shown in FIG. 5, the table section 30 includes a support member 33 that supports a pressing roller 32a and a separation roller 32b having the same structure before and after the table body 31 constituting the movable body according to the present invention. The upper surface, the side surface, and the front and back surfaces are covered with a pair of cover members 34a and 34b having the same configuration. In FIG. 5, the pressing roller 32a, the separation roller 32b, and the support member 33 located at the rear (upper right direction in FIG. 5) are located below the cover member 34b.

  As shown in FIG. 6, the table main body 31 is formed symmetrically in the front-rear and left-right directions, and a two-step concave portion 31 a having a narrower back side is formed in the center portion in the width direction in the front-rear direction. The planar view is constituted by a substantially H-shaped plate member. In addition, on the end surfaces of the protruding portions on both sides in the width direction on the front and rear sides of the table body 31, detachable screw holes 31b extending in the front-rear direction are formed, respectively. A plurality of screw holes 31c for installing devices and members are formed at intervals. Further, the portion of the upper surface of the table main body 31 excluding the front end and the rear end on both right and left sides is higher than the other portions of the upper surface of the table main body 31, thereby A step is formed.

  The support member 33 includes a plate-like flat surface portion 33 a that is longer in the left and right directions than the front and rear sides and has rectangular cutout portions formed on both the left and right sides of the portion facing the table body 31. A support piece 35 is formed on one of the front and rear sides of the flat portion 33a, attachment pieces 33b and 33c are formed on both sides of the flat portion 33a, and a support piece 36 is formed on the other front and rear of the attachment pieces 33b and 33c. Yes. The support piece 35 is composed of a pair of L-shaped pieces 35a and 35b formed at a distance from each other on the left and right sides. The L-shaped pieces 35a and 35b are respectively a horizontal portion extending horizontally from the flat portion 33a and both horizontal portions. The front view which consists of the perpendicular | vertical part which opposes from the inner edge part of a part and extends below is comprised by the L-shaped piece. Support holes are formed in both vertical portions of the support piece 35, and the pressing roller 32a is rotatably supported by the support piece 35 in a state where both sides of the central shaft portion are inserted into the support holes.

  The attachment pieces 33b and 33c are formed in a square plate shape that is longer in the front-rear direction than in the up-down direction, and is constituted by a vertical piece that extends downward from the both sides of the flat portion 33a with a width that protrudes forward and backward. A pair of screw holes 33d are formed in the attachment pieces 33b and 33c so as to be spaced from each other in the front-rear direction. The support piece 36 is composed of a pair of bent pieces 36a and 36b formed at the left and right intervals at the end of the attachment pieces 33b and 33c on the table body 31 side. Each of the bent pieces 36a and 36b extends along the wall surface of the recess 31a. The bent pieces 36a and 36b extend from the end portions of the attachment pieces 33b and 33c so as to approach each other, and then extend in the plan view body 31 side in a plan view. And an L-shaped inner vertical portion extending in the direction of approaching each other from the inner front edge of both outer vertical portions and extending toward the table body 31.

  A support hole is formed at the tip of both inner vertical portions, and the separation roller 32b is rotatably supported by the support piece 36 in a state where both sides of the central shaft portion are inserted into the support hole. The support piece 36 on which the separation roller 32b is supported can be accommodated in the recess 31a. At this time, the protruding portions on the left and right sides of the table body 31 are fitted into the outer vertical portions. The pressing roller 32a and the separation roller 32b are attached to the support member 33 so as to be positioned at substantially the same height. The pressing roller 32a and the separation roller 32b are assembled to the support member 33 by being prevented from coming off by inserting both sides of the central axis into corresponding support holes.

  In addition, although not shown, a detachable insertion hole is formed in a portion of the outer vertical portion of the bent pieces 36a, 36b facing the protruding portions on the left and right sides of the table body 31, and the detachable insertion hole has The support member 33 is attached to the table main body 31 by passing the screw 37 (see FIG. 8) and screwing it into the attachment / detachment screw hole 31b. In this case, the pair of support members 33 are moved in the horizontal direction from the front or rear of the table main body 31, respectively, and are moved closer to the table main body 31 by inserting the separation roller 32b into the recess 31a. Fix it. In addition, the attachment piece which concerns on this invention is comprised by the outer side perpendicular | vertical part of bending piece 36a, 36b, and the screw for attachment / detachment which concerns on this invention is comprised by the screw 37. FIG.

  The cover members 34a and 34b are substantially T-shaped in which the width in the left-right direction of the portion located on the end side in the front-rear direction of the table portion 30 is wider than the width of the portion located in the center side in the front-rear direction of the table portion 30. And three side portions extending downward from three outer edge portions of the wide portion of the ceiling portion. A pair of insertion holes 34c are formed on the left and right sides, respectively, at the same interval as the pair of screw holes 33d of the attachment pieces 33b and 33c. The wide portions of the cover members 34a and 34b can cover the pressing roller 32a, the support piece 35 and the flat portion 33a of the support member 33, and the narrow portions of the cover members 34a and 34b support the separation roller 32b and It is possible to cover the portion 36 and the low stepped portion excluding the left and right side portions on the upper surface of the table body 31.

  For this reason, first, the cover members 34a and 34b cover the portions excluding the support member 33 that supports the pressing roller 32a and the separation roller 32b and the left and right side portions on the upper surface of the table body 31, respectively, and the cover members 34a and 34b. Match the ends of the narrow part. In this state, the cover members 34 a and 34 b can be attached to the table main body 31 via the pair of support members 33 by passing the screws 38 through the respective insertion holes 34 c and screwing them into the screw holes 33 d. At this time, a slight gap is formed between the upper surface of the table body 31 and the ceiling portions of the cover members 34a and 34b. As a result, as shown in FIG. 4, the table portion 30 is formed in a box shape having few steps and a low height. In this case, the cover members 34a and 34b are respectively moved in the horizontal direction from the front or rear of the table main body 31 and brought close to the table main body 31, and then fixed by the screws 38.

  Further, a magnetic head 44 is provided on the side of the base portion 21a of the slide table 21 (the right side in FIG. 3). The magnetic head 44 is disposed opposite to the magnetic scale 43 provided on the upper surface of the bottom surface portion 11a, and detects the position of the movable portion 20 by reading the magnetic scale 43 when the movable portion 20 moves. A movable block 45 that moves together with the movable portion 20 is attached to the center of the lower surface of the base portion 21 a in the movable portion 20. The movable block 45 is formed in a rectangular shape whose width in the left-right direction is slightly larger than the height and whose length in the front-rear direction is longer than the width in the left-right direction, and a plurality of permanent blocks attached to the upper surface of the plate member 41. It is arranged opposite to the magnet 42.

  A plurality of coils 45a and a substrate (not shown) are housed inside the movable block 45, and one end of a cable (not shown) is connected to the coil 45a and the substrate. This cable is introduced into a chain type cable holding member (not shown) via a cable introduction part 46 installed on the side surface of the movable part 20. The cable introducing portion 46 is connected to the table portion 30 of the movable portion 20 by a connecting portion 46b, and is movable in the direction in which the guide rails 14a and 14b extend integrally with the movable portion 20. Further, the other end of the cable passing through the inside of the chain type cable holding member is connected to a power source via a control device such as a CPU or a storage device.

  The drive device 40 is configured by the plate member 41, the plurality of permanent magnets 42, the movable block 45, the control device, and the like. The driving device 40 includes a magnetic field (N pole, S pole) generated by passing a current through the coil 45a, and a force attracting the N pole and the S pole between the N pole and the S pole of the permanent magnet 42, A linear motor that generates a propulsive force by the repulsive force between the N poles and the S poles is included. For this reason, when the power is turned on and the control device is turned on to pass a current through the coil 45a, the movable unit 20 moves along the guide rails 14a and 14b together with the movable block 45 and the cable introduction unit 46. At that time, the chain-type cable holding member causes the portion connected to the cable introduction portion 46 to follow the movement of the cable introduction portion 46 while changing the position of the bent portion.

  The shutter 50 is made of a thin plate made of stainless steel, the length in the front-rear direction is slightly shorter than the length in the front-rear direction of the upper covers 12, 13, and the width in the left-right direction is the upper surface portion of the upper covers 12, 13. It is slightly longer than the length between the outer edges of the magnet sheets 18a, 18b installed on the step portions 17a, 17b of 12a, 13a. The shutter 50 is fixed at both ends in the longitudinal direction to the upper surface of the wall surface portion 16 via fixing members 16a and 16b and a plurality of screws 51, and closes the opening 15 of the case member 10 from above.

  Further, as shown in FIG. 2, the portion of the shutter 50 located at the movable portion 20 passes through the upper portion of the separation roller 32b from the lower portion of the pressing roller 32a located on one side and the separation roller 32b located on the other side. It is stretched from the upper part to the lower part of the pressing roller 32a. That is, the shutter 50 passes through the gap between the table main body 31 of the table portion 30 and the ceiling portions of the cover members 34a and 34b. The shutter 50 is pushed upward by the pair of separation rollers 32b on the center side in the front-rear direction in the table portion 30, and both the left-right direction by the pair of pressing rollers 32a on both sides in the front-rear direction in the table portion 30. The lower surface of the edge portion is biased toward the upper surface side of the magnet sheets 18a and 18b.

  As described above, when the upper surface of the shutter 50 is in contact with the pressing roller 32a and the lower surface of the shutter 50 is in contact with the separation roller 32b, the frictional resistance received from the shutter 50 when the movable unit 20 moves is reduced. Further, since both ends of the shutter 50 are fixed to the wall surface portion 16 and the portions are lifted upward by passing through the table portion 30, an appropriate tension is applied to the shutter 50. Is maintained in an unbent state. It should be noted that an oblong screw insertion hole 52 that is longer in the front-rear direction than in the left-right direction is formed at both ends of the shutter 50, and the screw 51 is inserted through the screw insertion hole 52. For this reason, after loosening the screw 51 and changing the position of the screw insertion hole 52 with respect to the screw 51, the tension of the shutter 50 can be adjusted by tightening the screw 51 again.

  For example, when electronic components are sequentially supplied to a predetermined place using the robot A configured as described above, a suction device for sucking the electronic components is attached to the table unit 30. Then, the robot A is turned on to turn on the control device. As a result, a current flows through the coil 45 a in the movable block 45, and the movable portion 20 moves along the guide rails 14 a and 14 b together with the movable block 45 and the cable introduction portion 46. At this time, at the front and rear in the moving direction of the movable portion 20, the shutter 50 is brought into close contact with the upper surfaces of the upper surface portions 12a and 13a by the attractive force of the magnet sheets 18a and 18b, thereby opening the opening 15 of the case member 10. Block it. This prevents dust and foreign matter from entering the inside of the case member 10.

  Further, the portion of the shutter 50 positioned on the moving direction side of the movable portion 20 is moved from the state pressed against the upper surface side of the upper surface portions 12a and 13a by the pressing roller 32a positioned on the front portion in the moving direction, and the upper surface by the separation roller 32b. It is lifted upward from the upper surface of the parts 12a, 13a. Behind the moving direction of the movable portion 20, the shutter 50 is maintained in the state of being guided in the horizontal direction and lifted upward by the separation roller 32b positioned at the rear, and further, by the pressing roller 32a positioned at the rear. The upper surface portions 12a and 13a are pressed against the upper surface side. Thus, the movable portion 20 reciprocates while pressing the shutter 50 against the upper surface portions 12a and 13a by the front and rear pressing rollers 32a and lifting the shutter 50 upward by the separation roller 32b located between the pressing rollers 32a. Go.

  When the pressure roller 32a and the separation roller 32b are worn due to long-time use, an operation of replacing the pressure roller 32a and the separation roller 32b with unused ones together with the support member 33 is performed. This replacement operation will be described with reference to FIGS. 4, 7, 8 and 5. Although not shown in these drawings, the table unit 30 is installed in the case member 10 through the guide rails 14a and 14b together with the base unit 21a, and an adsorption device is provided on the upper surface of the table unit 30. It is in the installed state.

  In this case, first, from the state of FIG. 4, after removing the four screws 38 that fix the cover member 34b to the support member 33 on the front side, the cover member 34b is moved to the near side along the X-axis direction. 7 to remove the support member 33 from the front side and bring it to the state shown in FIG. In this case, since the suction device is fixed to both sides of the table body 31, the cover member 34b can be easily removed. Next, the screw 37 that fixes the front support member 33 to the table body 31 is removed, and the front support member 33 is moved forward together with the pressing roller 32a and the separation roller 32b. At this time, the pressing roller 32 a is located on the front surface side of the shutter 50, and the separation roller 32 b is located on the back surface side of the shutter 50.

  Next, the four screws 38 that fix the cover member 34a to the rear support member 33 are removed, and the screws 51 that fix the rear end portion of the shutter 50 to the wall surface portion 16 through the fixing member 16b. Is removed to obtain the state shown in FIG. Then, the shutter 50 is pulled to the front and removed from the table unit 30 to obtain the state shown in FIG. As a result, the front-side support member 33 and the pressure roller 32a and the separation roller 32b supported by the support member 33 can be removed from the robot A.

  When removing the rear support member 33 and the pressing roller 32a and the separation roller 32b supported by the rear support member 33, after moving the table body 31 and the like slightly forward from the state shown in FIG. It pulls back along the direction and removes it from the support member 33 on the rear side. Then, the screw 37 that fixes the rear support member 33 to the table body 31 is removed, and the rear support member 33 is moved rearward together with the pressing roller 32a and the separation roller 32b. As a result, the rear support member 33 and the pressure roller 32a and the separation roller 32b supported by the support member 33 can be removed from the robot A.

  Then, the support member 33 to which the new pressing roller 32 a and the separation roller 32 b are attached is brought close to the table body 31 from the front side and the rear side of the table body 31, and is screwed to the front and rear portions of the table body 31. Secure with 37. Next, the end side removed from the wall surface portion 16 of the shutter 50 is moved from the lower part of the front pressing roller 32a to the upper part of the front separating roller 32b, the upper part of the rear separating roller 32b, and the lower part of the rear pressing roller 32a. The end portions are sequentially passed, and the end portions are fixed to the wall surface portion 16 by the fixing member 16 b and the screw 51.

  Then, the cover member 34a is slid in the horizontal direction from the front to the rear, and installed on the upper surface of the table main body 31 from above the front support member 33, and the front support member 33 is secured with four screws 38. Fix it. Similarly, the cover member 34b is slid in the horizontal direction from the rear to the front, and is installed on the upper surface of the table body 31 from above the rear support member 33, and four screws 38 are attached to the rear support member 33. Secure with. Thereby, the replacement work of the pair of support members 33 and the pressure roller 32a and the separation roller 32b supported by the pair of support members 33 is completed.

  As described above, in the robot A according to the present embodiment, the pair of support members 33 can be attached to and detached from the table main body 31 from the front and rear in the moving direction of the movable unit 20. Further, the cover members 34a and 34b can be attached to and detached from the pair of support members 33 from the front and rear in the moving direction of the movable portion 20, respectively. For this reason, without removing the suction device installed on the upper part of the table body 31 from the table body 31, the support member 33 and the pressure roller 32a and the separation roller 32b supported by the support member 33 can be exchanged. The replacement work of the support member 33 and the like is easy and simple.

(Second Embodiment)
FIG. 9 shows a state in which a part of the table unit 60 provided in the robot according to the second embodiment of the present invention is disassembled. In the table portion 60, the pair of support members 61 includes an upper support member 63 that supports the pressing roller 62a and a lower support member 64 that supports the separation roller 62b. The upper support member 63 has a configuration in which a support piece 65 is formed on one of the front and back sides of the plane portion 63a having the same shape as the plane portion 33a of the support member 33 described above, and mounting pieces 63b and 63c are formed on both sides of the plane portion 63a. is doing. The support piece 65 is composed of a pair of pieces formed on the left and right sides, and the pair of pieces is formed on the outer edge of the L-shaped pieces 65a and 65b having the same shape as the L-shaped pieces 35a and 35b described above. The projections 65c and 65d are L-shaped in side view, respectively.

  The protrusion 65c extends downward from the outer edge of the L-shaped piece 65a and then bends and extends downward from the plane part 63a. The protrusion 65d extends downward from the outer edge of the L-shaped piece 65b. It bends and extends to the lower side of the flat portion 63a. The mounting pieces 63b and 63c have a shape that includes the outer vertical portions of the bent pieces 36a and 36b in the mounting pieces 33b and 33c described above, and are provided with a pair of screw holes 63d that are spaced from each other in the front-rear direction. Although not shown in the drawing, a detachable insertion hole is formed in a portion corresponding to the outer vertical portion of the attachment pieces 63b and 63c. Further, a connecting insertion hole 66a is formed in the vicinity of the protrusion 65c in the flat surface portion 63a, and a connecting insertion hole 66b is formed in the vicinity of the protrusion 65d in the flat surface portion 63a. In the present embodiment, the attachment piece according to the present invention is configured by a portion corresponding to the outer vertical portion of the attachment pieces 63b and 63c.

  The lower support member 64 includes a pair of bent pieces 67a and 67b attached to both sides of the central shaft portion of the separation roller 62b so as to be rotatable with respect to the central shaft portion. Each of the bent pieces 67a and 67b has a support hole through which the central shaft portion of the separation roller 62b is inserted, and extends outward so as to be separated from the opposing pieces facing each other with the separation roller 62b interposed therebetween and the edge portions of the respective opposing pieces. After that, an L-shaped piece extending toward the upper support member 63 and a quadrangular connecting piece extending from the upper end of the tip of the L-shaped piece so as to narrow each other's distance. A large-diameter portion 62c (see FIGS. 10 to 12) that prevents the central shaft portion from coming out of the support hole is formed at both ends of the central shaft portion of the separation roller 62b, whereby the separation roller 62b. Is assembled to the lower support member 64 without detachment.

  Both connecting pieces are formed with connecting screw holes 68a, 68b at the same intervals as the connecting insertion holes 66a, 66b. The lower support member 64 has both connecting pieces positioned on the lower surface of the flat portion 63a, and two screws 69 are passed through the connecting insertion holes 66a and 66b and screwed into the connecting screw holes 68a and 68b. The support member 63 is connected. At this time, the leading end portions of both connecting pieces are positioned in the recesses of the protrusions 65c and 65d to prevent lateral displacement. The screw 69 constitutes a connecting screw according to the present invention. About the structure of the other part of the robot provided with this table part 60, it is the same as the robot A mentioned above. Accordingly, the same parts are denoted by the same reference numerals and the description thereof is omitted.

  In this configuration, when the robot provided with the table unit 60 is used, it can be used in the same manner as the robot A described above. When the pressure roller 62a and the separation roller 62b are worn and replaced with unused ones, the cover member 34b is first fixed to the front support member 61 as in the case of the robot A described above. After removing the four screws 38, the cover member 34b is pulled forward along the X-axis direction to be removed from the support member 33 on the front side. Next, the two screws 37 fixing the front side support member 61 to the table main body 31 are removed, and the front side support member 61 is moved forward.

  Next, the screw 69 is removed to separate the upper support member 63 that supports the pressing roller 62a and the lower support member 64 that supports the separation roller 62b, and the cover member 34a is fixed to the support member 61 on the rear side. The four screws 38 are removed to obtain the state shown in FIG. Accordingly, the upper support member 63 that supports the pressing roller 62a is positioned on the front surface side of the shutter 50 and can be removed, and the lower support member 64 that supports the separation roller 62b is positioned on the rear surface side of the shutter 50. Thus, the state shown in FIG. 10 is obtained. In this state, the lower support member 64 is blocked by the shutter 50 and cannot be removed from the case member 10.

  For this reason, in order to take out the lower support member 64 from the case member 10, one of the pair of bent pieces 67a and 67b, for example, the bent piece 67a is rotated upward from the state shown in FIG. Put it in a state. Next, the separation roller 62b is rotated on the horizontal plane so that both the connecting pieces of the bent pieces 67a and 67b are positioned outside the width direction of the shutter 50, and the state shown in FIG. 12 is obtained. Then, with the shutter 50 floating from the opening 15, the bent piece 67 b is put on the back side of the shutter 50, the bent piece 67 a is pulled, and the separation roller 62 b is separated from the gap between the opening edge of the case member 10 and the shutter 50. The bent pieces 67b are sequentially taken out. In this case, the shutter 51 may be bent by loosening the screw 51. The rear support member 61 and the pressure roller 62a and the separation roller 62b supported by the rear support member 61 are removed from the case member 10 in the same manner.

  Then, the support members 61 to which the new pressing roller 62a and the separation roller 62b are attached are attached to the front portion and the rear portion of the table main body 31, respectively. In this case, first, the lower support member 64 that supports the separation roller 62b is disposed on the rear surface side of the shutter 50 by an operation reverse to the removal operation described with reference to FIGS. Next, the upper support member 63 that supports the pressing roller 62 a is positioned on the front surface side of the shutter 50, and the upper support member 63 and the lower support member 64 are fixed with screws 69. Then, by the same operation as in the case of the robot A described above, the support member 61 is attached to the front part and the rear part of the table main body 31, respectively, and the cover members 34a and 34b are also attached. As a result, the replacement work between the pair of support members 61 and the pressure roller 62a and the separation roller 62b supported by the pair of support members 61 is completed.

  Thus, in the robot according to the present embodiment, the upper support member 63 that supports the pressing roller 62a and the lower support member 64 that supports the separation roller 62b are separated into the front surface side and the back surface side of the shutter 50. In addition, the bent pieces 67a and 67b constituting the lower support member 64 are rotatable about the axis with respect to the central shaft portion of the separation roller 62b. Therefore, the pressing roller 62 a and the separation roller 62 b can be attached to and detached from the table body 31 together with the support member 61 without removing the shutter 50 from the case member 10. For this reason, the replacement | exchange operation | work with the press roller 62a, the separation roller 62b, and the support member 61 becomes still easier. Other functions and effects of this robot are the same as those of the robot A described above.

  Further, the robot according to the present invention is not limited to the above-described embodiments, and can be implemented with appropriate modifications. For example, in the above-described embodiment, the fixing member for fixing the support members 33 and 61 to the table body 31 is constituted by the screw 37, but an adhesive may be used as the fixing member. In this case, for example, a recess and a projection that can be fitted to each other are provided between the support members 33 and 61 and the table body 31, and the contact surface between the recess and the projection can be fixed with an adhesive.

  In the second embodiment, the connecting piece of the lower support member 64 is positioned on the lower surface of the flat portion 63a. The connecting piece extends from the outer side of the upper support member 63 to the upper surface of the flat portion 63a. It may be formed. In this case, a connecting insertion hole is provided in the connecting piece, and a connecting screw hole is provided in the upper support member 63. Further, in the second embodiment, the bent pieces 67a and 67b are rotatable in the direction around the central axis of the separation roller 62b. However, the bent pieces 67a and 67b are not only in the direction around the axis. You may make it displaceable also in the direction which inclines with respect to a central axis. Further, in each of the above-described embodiments, the robot A or the like is provided with one movable unit 20, but each robot may be provided with a plurality of movable units 20. Furthermore, the configuration of other parts of the robot according to the present invention can be changed as appropriate within the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 10 ... Case member, 15 ... Opening, 16 ... Wall surface part, 20 ... Movable part, 31 ... Table main body, 31b ... Screw hole for attachment / detachment, 32a, 62a ... Press roller, 32b, 62b ... Separation roller, 33, 61 ... Support Member, 35, 36, 65 ... support piece, 36a, 36b, 67a, 67b ... bent piece, 37, 69 ... screw, 50 ... shutter, 63 ... upper support member, 64 ... lower support member, 66a, 66b ... for connection Insertion hole, 68a, 68b ... screw hole for connection, A ... robot.

Claims (5)

A case member extending in the axial direction from one side to the other and having an open surface along the axial direction;
A belt-like shutter in which both ends are fixed to both ends in the axial direction of the case member in a state in which the opening of the case member is closed from the outside,
A movable part main body attached to the case member in a state movable in the axial direction of the case member;
A pressing roller that presses the shutter toward the edge of the opening on both sides in the moving direction of the movable portion main body, and a separation roller that separates the shutter from the edge of the opening between the pressing rollers;
In a robot provided with a pair of support members that are detachable on one side and the other side of the movable part main body while supporting the pressing roller and the separation roller,
The pair of support members includes a first support member that supports a pressing roller and a separation roller installed on one side of the movable portion main body, and a pressure roller and a separation roller installed on the other side of the movable portion main body. And a second support member that supports the first support member and the second support member from the one side and the other side in the moving direction of the movable part main body using a fixing member, respectively. A robot characterized by being detachable from the movable body.   Removable screw holes extending inward from the surface of the movable portion main body along the moving direction are provided on both side portions on one side and the other side of the movable portion main body, and are opposed to the removable screw holes. Thus, the first and second support members are each provided with an attachment piece having an insertion hole for attachment / detachment that penetrates in the moving direction, and the fixing member is inserted into the attachment / detachment insertion hole and the attachment / detachment screw is inserted. The robot according to claim 1, comprising a detachable screw that can be screwed into the hole.   Each of the first and second support members includes an upper support member that supports a pressing roller and a lower support member that supports a separation roller, and the upper support member and the lower support member are arranged on the surface side of the shutter. The robot according to claim 1, wherein the robot is separably assembled to the rear surface side.   The upper support member is provided with a connecting insertion hole or a connecting screw hole extending in a direction orthogonal to the moving direction on both side portions in the width direction orthogonal to the moving direction of the upper support member, and the upper support member is provided in the lower support member. A connecting piece that extends so as to overlap both side portions in the width direction perpendicular to the moving direction and is provided with a connecting screw hole or a connecting insertion hole in a portion facing the connecting through hole or the connecting screw hole, respectively. The robot according to claim 3, wherein the upper support member and the lower support member are assembled by inserting a connection screw through the connection hole and screwing the connection screw into the connection screw hole.   The lower support member is composed of two members connected to both sides in the axial direction of the separation roller, and a portion of the two members connected to the separation roller is displaceable with respect to the separation roller. The robot according to claim 3 or 4.

Images