JP2015058514A - Desk robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a desk robot which does work by moving a tool, e.g. an electrically driven driver or drill, in the X, Y and Z axes and is provided with an electric power source in a Y or Z body and a cable for electric control in the Y body, with the wire of the cable contained in a Z body, instead of being exposed to the outside.SOLUTION: A desk robot consists of a work pedestal 1, an X body 2, a Y body A and a Z body 9 and is provided with guide means of guiding a wire 51b for controlling a Z mechanism part 91 attached fixedly to a connection part (upper connection part 72) of a Y-axis travel base 7 protruding from a slit (upper slit 44) formed in the Y body A, so that the wire 51b passes through the slit (upper slit 44).

Description

  The present invention is a robot that performs work by moving tools such as an electric screwdriver and a drill in the X, Y, and Z axis directions. A cable that performs power supply and electrical control from the Y body to the Z body is provided inside the Y body. Further, the present invention relates to a desktop robot configured to send a cable electric wire into a Z body without exposing it to the outside.

  Generally, at manufacturing sites such as factories, tools such as electric drivers, drills, and solder can be attached and moved in the X, Y, and Z axis directions to efficiently perform operations such as drilling and screw tightening. There is a desktop robot.

  This kind of object is first provided with a pedestal provided with a work table movable in the X-axis direction, and a Y provided on the pedestal via a pillar and responsible for controlling the reciprocating movement in the Y (horizontal) axis direction. A main body and a Z main body that is attached to the Y main body and controls the reciprocating movement in the Z (vertical) axial direction. There exists patent document 1 as a typical example.

JP-A-8-229860

  By the way, the movable bodies of the Y body and the Z body both reciprocate using a motor, and each requires a power cable. In addition, a control cable for controlling the movement operation in the Y-axis direction movement and the Z-axis direction movement is also necessary. In a desktop robot represented by Patent Document 1, the power source and the control cable are exposed to the outside of each casing from the Y main body toward the Z main body and connected in a bridging state.

  The power and control cables are combined into one thick cable, and when the Z body moves in the Y-axis direction with respect to the Y body, the cables reciprocate while being twisted in the left-right direction. For this reason, the cable has a length that has a margin for reciprocating movement of the Z body and is folded back into a substantially inverted U shape.

  However, the cable is exposed to the outside of the casing of each of the Y body and the Z body, so that the operator can sufficiently prevent the cable from getting in the way during the work and causing the hand or goods to be caught on the cable. is there. In such a case, the product may be dropped from the hand and damaged.

  In particular, if the product is a precision machine, the damage will be extremely large. Further, when the cable is exposed to the outside, electromagnetic waves are radiated from the cable to the outside, or noise is received from the outside, and there is a disadvantage that it adversely affects not only the main body but also external devices.

  Therefore, it has been attempted to store the cable exposed outside the casing in the casing. However, if the cable is arranged in the casing, another new problem comes out. That is, it is necessary to secure an appropriate route for sending a large number of electric wire bundles in the cable for sending power supply and control signals from the Y body to the Z body.

  Therefore, there is a slit for connecting the Z body to the casing of the Y body and reciprocating the Z body in the Y-axis direction. In the case where the wire bundle in the cable is sent to the Z body using this slit, there is a risk that when the Z body reciprocates in the Y-axis direction, the wire contacts the opening periphery of the slit and breaks. is there.

  An object (technical problem to be solved) of the present invention is that a desktop robot may cut a wire bundle of cables such as power supply and control signals from the Y body to the Z body without exposing them to the outside. This is to realize a wiring having no wiring with a very simple configuration.

  In view of the above, the inventor has intensively studied to solve the above problems, and as a result, the invention of claim 1 is changed to a work base and an X mechanism that reciprocally moves the work table provided on the work base in the X-axis direction. An X body provided with a portion, a column erected on the work base, a Y body provided with a Y mechanism portion having a Y axis traveling base provided on the column and reciprocatingly moved in the Y axis direction, and the Y axis In a tabletop robot comprising a Z body having a Z mechanism that is mounted and fixed to a connecting portion of a traveling base and reciprocally moves a tool provided at the tip in the Z-axis direction, the robot protrudes from a slit formed in the Y body. By using a tabletop robot comprising guide means for guiding the electric wire for controlling the Z mechanism portion mounted and fixed to the connecting portion of the Y-axis traveling base so as to pass through the slit, Solved the problem.

  The desktop robot according to claim 1, wherein the guide means is a covering cover that forms a gap portion in which the electric wire is arranged together with a connecting portion of the Y-axis traveling base that passes through the slit. As a result, the above problems were solved. According to a third aspect of the present invention, the guide means is a pressing member, and the electric wire arranged at the connecting portion of the Y-axis traveling base is fixed by the pressing member in the vicinity of the slit so as to pass the slit. The above-described problem has been solved by using the desktop robot according to claim 1.

  According to a fourth aspect of the present invention, the guide means includes a guide groove and a pressing member formed in the vicinity of the slit of the connecting portion of the Y-axis traveling base, and the electric wire is disposed in the guide groove, and the slit The said subject was solved by having set it as the desktop robot of Claim 1 formed by fixing the said electric wire of the said guide groove with the said pressing member in the vicinity.

  According to the first aspect of the present invention, the guide for guiding the electric wire for controlling the Z mechanism portion mounted and fixed to the connecting portion of the Y-axis traveling base protruding from the slit formed in the Y main body so as to pass through the slit. Means. The electric wire sent from the Y main body to the Z mechanism portion of the Z main body is protected from the periphery and the vicinity of the slit by the guide means, and can reciprocate together with the Y-axis traveling base without contacting the opening periphery of the slit. Thus, the electric wire and cable are not exposed to the outside of the Y main body and the Z main body, and there is no fear of disconnection, and can be realized with an extremely simple configuration.

  According to a second aspect of the present invention, the guide means is a covering cover that forms a gap portion in which the electric wire is arranged together with the connecting portion of the Y-axis traveling base that passes through the slit, so that the electric wire is arranged in the gap portion. Since a relatively wide space is secured, the electric wires do not gather close together, so that a good electric signal can be sent to the Z main body without being influenced by each other electromagnetically. And an electric wire is protected from the opening periphery of a slit, and the vicinity by a Y-axis running base and a covering cover.

  In the invention of claim 3, the guide means is a pressing member, and the electric wire arranged at the connecting portion of the Y-axis traveling base is fixed by the pressing member in the vicinity of the slit so as to pass the slit. The electric wire can be protected from the opening periphery and the vicinity of the slit with an extremely simple configuration.

  According to a fourth aspect of the present invention, the guide means comprises a guide groove and a pressing member formed in the vicinity of the slit of the connecting portion of the Y-axis traveling base, and the electric wire is disposed in the guide groove, and the guide groove The electric wire is fixed with a pressing member. In this way, the guide means has an extremely simple structure without causing the electric wire to protrude from the surface of the connecting portion when the electric wire is accommodated in the guide groove and is held by the holding member, and the opening edge of the slit is formed. And protection from the vicinity. In addition, the present invention can be applied to a slit having a relatively small groove width.

(A) is a front view of the present invention, (B) is an enlarged sectional view taken along the line Y1-Y1 in (A), and (C) is an enlarged view of the (Q1) portion of (B). (A) is a perspective view of a Y main body portion in the present invention, (B) is a cross-sectional view taken along arrow X1-X1 in (A), and (C) is an enlarged view of (Q2) part in FIG. 1 (C). (A) is an exploded perspective view showing the connection state of the Y-axis travel base and the robot cable using the first embodiment of the guide means in the present invention, and (B) shows the connection state of the Y-axis travel base and the robot cable. It is a perspective view shown. (A) is a perspective view showing a second embodiment of the guide means in the present invention, (B) is a cross-sectional view taken along the line X 2 -X 2 of (A), and (C) is a main part showing a third embodiment of the guide means. Sectional drawing and (D) are principal part sectional drawings which show the modification in 3rd Embodiment of a guidance means.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, the present invention includes a work base 1, an X main body 2 provided on the work base 1 and having an X mechanism portion 21 that reciprocates in the X-axis direction, and stands on the work base 1. A pillar 11 provided, a Y main body A provided with the Y mechanism portion 3 provided on the pillar 11 and reciprocating in the Y-axis direction, and a Z body mounted and fixed on the Y mechanism portion 3 and reciprocatingly moved in the Z-axis direction It is composed of a Z main body 9 that houses a mechanism portion 91. The X-axis direction and the Y-axis direction are both directions orthogonal to each other in the horizontal direction, and the Z-axis direction is a vertical direction.

  The work base 1 is provided with an operation unit for operating the desktop robot of the present invention on the front side, and its top is formed in a square shape such as a substantially square or rectangle. And the X main body 2 is provided in the top part of the work base 1 (refer FIG. 1 (A)). The X mechanism portion 21 of the X main body 2 includes a substantially rectangular work table 21a and a work table 21b that reciprocates on the work table 21a in the X-axis direction by a motor.

  A column 11 is provided on the top of the pedestal 1, and the Y body A is mounted on the top of the column 11. The Y main body A is composed of a Y mechanism portion 3, a Y main body housing 4, and a Y-axis travel base 7 (see FIGS. 1B and 1C). Further, a base bracket 33, a bracket cover 35, and the like for connecting the Y-axis traveling base 7, the robot cable 5 and the reinforcing member 6 are provided.

  The base bracket 33 serves as a mounting base for fixing the robot cable 5 to the Y-axis traveling base 7 and is a flat member. A bracket cover 35 and a cover cover 8A, which will be described later, are fixed on the base bracket 33 to protect the bundle of electric wires 51b, 51b,... Exposed from the robot cable 5.

  The Y main body base portion 31 has a cable base 31b protruding upward from the base bottom portion 31a (see FIGS. 1B and 1C). The top surface of the cable base 31b is formed as a flat surface and is a portion on which a robot cable 5 described later is placed. A partition wall portion 31c that is perpendicular to the top surface of the cable base 31b is formed. The cable base 31b and the partition wall 31c are formed so as to extend in the Y-axis direction.

  The Y-axis travel base 7 is connected to the partition wall 31c via a slide rail 36 so that the Y-axis travel base 7 can reciprocate in the Y-axis direction (see FIG. 1). . The reciprocating movement of the Y-axis traveling base 7 is performed by the belt driving unit 37. The belt drive unit 37 is driven by a belt and a pulley (not shown) and a motor. A Z main body 9 is connected to the Y-axis travel base 7, and the Z main body can reciprocate in the Y-axis direction (see FIGS. 1A, 2A, etc.).

  The Y-axis travel base 7 has an upper connecting portion 72 formed from the upper end of the main plate portion 71 and a lower connecting portion 73 formed from the lower end (see FIGS. 1B and 1C). The main plate portion 71 is formed as a rectangular or square plate portion. The upper connecting portion 72 is formed with an inclined connecting piece 72a inclined upward from the upper end of the main plate portion 71, a horizontal piece 72b is formed from the outer end of the inclined connecting piece 72a, and the horizontal piece 72b A vertical piece 72c is formed from the outer end.

  The lower connecting portion 73 is formed with an inclined connecting piece 73a inclined downward from the lower end of the main plate portion 71, and a horizontal piece 73b is formed from the outer end of the inclined connecting piece 73a. A vertical piece 73c is formed from the outer end of 73b. The inclined connecting piece 72a, horizontal piece 72b and vertical piece 72c of the upper connecting portion 72, and the inclined connecting piece 731a, horizontal piece 73b and vertical piece 73c of the lower connecting portion 73 are formed substantially symmetrically in the vertical direction. [See FIG. 1 (C)].

  The Y body housing 4 includes a base cover 41, a front cover 42, and a side cover 43. The base cover 41 includes an upper surface cover portion 41 a that covers the upper surface of the Y mechanism portion 3 and a back surface cover portion 41 b that covers the back surface of the Y mechanism portion 3. The front cover 42 is a rectangle whose longitudinal direction is the Y-axis direction. Further, the side cover 43 has a substantially square shape (including a rectangle).

  Then, a base cover 41 is mounted so as to cover the upper and rear surfaces of the Y main body base portion 31, and side covers 43, 43 are mounted on both sides of the base cover 41 [FIG. 1 (A), FIG. See A)]. The state in which the Y main body housing 4 is covered with the Y mechanism portion 3 constitutes a substantially rectangular parallelepiped having the Y axis direction as the longitudinal direction.

  A rectangular opening is formed in the front (front) surface of the base cover 41 of the Y main body A, and the front cover 42 is attached to the opening. Further, side covers 43 are attached to both sides thereof. Slits are formed at both upper and lower ends of the front cover 42. A slit formed between the upper end of the front cover 42 and the upper surface cover portion 41 a of the base cover 41 is referred to as an upper slit 44. A slit formed between the lower end of the front cover 42 and the base bottom 31a of the Y main body base 31 is referred to as a lower slit 45 (see FIGS. 1A and 2A).

  Each of the upper slit 44 and the lower slit 45 extends in the Y-axis direction and serves as a through hole that communicates the inside and the outside of the Y main body A. The upper connecting portion 72 of the Y-axis travel base 7 protrudes outward from the upper slit 44, and the lower connecting portion 73 protrudes outward from the lower slit 45.

  Specifically, the horizontal piece 72 b of the upper connecting portion 72 passes through the upper slit 44, and the horizontal piece 73 b of the lower connecting portion 73 passes through the lower slit 45. Then, the Z body 9 is fixed to the vertical piece 72c of the upper connecting portion 72 and the vertical piece 73c of the lower connecting portion 73 (see FIG. 1).

  The robot cable 5 is composed of a plurality of unit cables 51, 51,..., All of which are approximately the same length, arranged in parallel, and adjacent to the unit cables 51, 51,. They are fixed to each other, and the whole becomes a substantially flat or flat shape (see FIG. 1C, FIG. 3, etc.). As described above, a structure in which a plurality of cables are arranged side by side to form an integral structure may be referred to as a ribbon cable.

  Each unit cable 51 has a large number of thin electric wires 51b, 51b,... Housed in a cable tube 51a. Each unit cable 51 has functions such as power supply to the Z body 9 and transmission of operation control signals. I am doing.

  The reinforcing member 6 is fixed to at least one of the side portions in the width direction of the robot cable 5. The reinforcing member 6 is in the form of a cable made of synthetic resin or the like. By fixing the reinforcing member 6 to the robot cable 5 and making the reinforcing member 6 a part of the robot cable 5, the robot cable 5 Stable reciprocation can be performed inside the main body A.

  The robot cable 5 is placed together with the reinforcing member 6 on the cable base 31b of the Y main body A, and one end in the longitudinal direction thereof is fixed to the cable base 31b by the fixed side fixture 38, and the other end side is the Y side. The movable bracket 39 is fixed to the base bracket 33 fixed to the shaft traveling base 7 (see FIG. 3).

  The movable side fixture 39 reciprocates in the Y axis direction together with the Y axis traveling base 7 and the base bracket 33, and the robot cable 5 and the reinforcing member 6 are disposed between the fixed side fixture 38 and the movable side fixture 39. Thus, it is arranged on the cable base 31b while constituting a roll-shaped folded portion having a substantially C shape or a substantially arc shape (see FIG. 3).

  In the present invention, a bundle of electric wires 51b, 51b,... Of the robot cable 5 for controlling the Z mechanism 91 is sent from the Y body A to the Z mechanism 91 of the Z body 9. The upper connecting portion 72 is configured to pass through the slit (upper slit 44) [see FIGS. 1B, 1C, and 2]. In the present invention, the slit through which the bundle of the electric wires 51b, 51b,. The connecting portion of the Y-axis traveling base 7 that passes through the upper slit 44 is an upper connecting portion 72.

  And the guide means 8 is comprised in order to let the upper slit 44 pass the bundle | flux of electric wire 51b, 51b, .... The guide means 8 serves to hold the electric wires 51b, 51b,... So that they are not in contact with the opening peripheral edge 44a of the upper slit 44 at the location where the upper slit 44 passes.

  The guiding means 8 has a plurality of embodiments, and the first embodiment is a covering cover 8A. The covering cover 8 </ b> A constitutes a tubular portion having a gap S in a substantially flat shape that can pass through the upper slit 44 together with the upper connecting portion 72 of the Y-axis traveling base 7.

  The covering cover 8 </ b> A includes a horizontal covering portion 81, a vertical covering portion 82, and an inclined covering portion 83 formed at a corner portion of the vertical covering portion 82 and the vertical covering portion 82. The horizontal covering portion 81 and the vertical covering portion 82 are formed with a fixing piece 81a and a fixing piece 82a for fixing to the Y-axis traveling base 7 and the base bracket 33 fixed to the Y-axis traveling base 7. Then, it can be fixed to the Y-axis running base 7 with a fixing tool such as a screw (see FIG. 3).

  A cross section having a gap S by the inclined connecting piece 72a, the horizontal piece 72b, the vertical piece 72c of the Y-axis traveling base 7, and the horizontal covering portion 81, the inclined covering portion 83, and the vertical covering portion 82 of the covering cover 8A. A rectangular tubular passage is constructed. In this tubular passage, a bundle of electric wires 51b, 51b,... Is located in the Z main body 9 and an opening on the outer side with respect to the Y main body A in the tubular passage is present, and a bundle of electric wires 51b, 51b,. Sent in.

  In particular, the vertical covering portion 82 of the covering cover 8A and the vertical piece 71c of the Y-axis traveling base 7 constitute a flat tubular portion having a substantially rectangular cross section having a gap S [FIG. 2 (B), See FIG. 3B]. The flat tubular portion constituted by the covering cover 8A and the Y-axis traveling base 7 passes through the upper slit 44, and the electric wires 51b, 51b,... Do not contact the opening periphery 44a of the upper slit 44 and its vicinity. Thus, the electric wires 51b, 51b,... Are protected (see FIG. 2).

  Further, a folded portion 82b is formed at the edge portion of the upper end of the vertical covering portion 82 of the covering cover 8A [see FIG. 2 (C)]. The folded portion 82b has a smooth shape at the upper end of the vertical covering portion 82, so that the bundle of the electric wires 51b, 51b,... Can be prevented from being caught or disconnected.

  The second embodiment of the guide means 8 is composed of a pressing member 84 and a guide groove 85 formed in the upper connecting portion 72 of the Y-axis travel base 7 [FIG. 2 (A), (See (B)). The guide groove 85 is a groove having a substantially concave cross section formed across the inclined connecting piece 72a, the horizontal piece 72b, and the vertical piece 72c of the Y-axis running base 7. In the guide groove 85, a bundle of electric wires 51b, 51b,.

  Then, a thin plate-like pressing member 84 is fixed so as to cover the bundle of electric wires 51b, 51b,... Stored in the guide groove 85 so as to have a substantially bridge shape on both sides in the width direction of the guide groove 85. In particular, the holding member 84 is fixed to the guide groove 85 portion positioned at a position where the upper connecting portion 72 of the Y-axis traveling base 7 passes through the upper slit 44, and the bundle of the electric wires 51b, 51b,. Avoid contact with the vicinity. Further, the pressing member 84 may be fixed to 85 guide grooves formed in the inclined connecting piece 72a.

  In the third embodiment of the guide means 8, the guide groove 85 is not provided, and only the pressing member 84 is used (see FIGS. 8C and 8D). The holding member 84 includes a substantially gate-shaped holding portion 84a and a fixing piece 84b. The holding piece 84b is screwed to the upper connecting portion 72 while holding the electric wires 51b, 51b,. It is fixed with a fixing tool such as. Furthermore, as a modification of the third embodiment, the holding member 84 is formed with the holding portion 84a in a hairpin curve shape, and may house a bundle of electric wires 51b, 51b,.

  The Z main body 9 includes a Z mechanism portion 91 and a housing 92 (see FIG. 2A). The Z mechanism portion 91 includes a mounted portion 91a and a work tool portion 91b. The mounted portion 91a is fixed to the upper connecting portion 32b and the lower connecting portion 32c of the Y-axis traveling base 32, and bolts, screws, and the like. The Z body 9 is reciprocated in the Y axis direction by the Y axis traveling base 7 of the Y body A.

  The work tool portion 91b performs a work by reciprocating in the Z-axis direction, that is, in the vertical direction by driving a motor (not shown). Various tools such as a driver, a drill or a soldering device can be attached to the tip of the work tool portion 91b.

  As described above, according to the present invention, a bundle of a large number of electric wires 51b, 51b,... Of the robot cable 5 is passed through the upper slit 44 formed in the Y main body A, so Are prevented from being exposed, and the electric wires 51b, 51b,... Are prevented from coming into contact with the opening peripheral edge 44a of the upper slit 44, so that disconnection or the like does not occur.

For this purpose, the guide means 8 by the covering cover 8A or the like is attached to the Y-axis traveling base 7, and a bundle of a plurality of electric wires 51b, 51b,... The bundle of electric wires 51b, 51b,... Is held in the Z body 9 so as to be in non-contact with the opening peripheral edge 44a of the upper slit 44.

  In the present invention, the guide means 8 has been described as a configuration in which the electric wires 51b, 51b,... Pass through the upper slit 44, but is not necessarily limited to the upper slit 44 side, and the electric wires 51b, 51b,. May be configured to pass through the lower slit 45.

  In this case, although not particularly illustrated, the Y-axis travel base 7 is installed so as to be opposite in the vertical direction, and the guide means 8 is provided on the lower slit 45 side. Thus, the configuration in which the guide means 8 is provided on the lower slit 45 side can be substantially the same as the configuration in which the guide means 8 is provided in the upper slit 44.

DESCRIPTION OF SYMBOLS 1 ... Work base, 11 ... Pillar, 2 ... X main body, 21 ... X mechanism part, A ... Y main body, 3 ... Y mechanism part,
39 ... Moving side fixture, 39b ... Presser piece, 44 ... Upper slit, 44a ... Opening edge,
84 ... Presser member, 85 ... Guide groove, 5 ... Robot cable, 51b ... Electric wire, 6 ... Reinforcing member,
7 ... Y-axis traveling base, 8 ... guide means, 8A ... covering cover, 82b ... folded portion,
9 ... Z body, 91 ... Z mechanism part.

Claims (4)

An X body provided with a work base, an X mechanism provided on the work base and reciprocatingly moving a work table in the X-axis direction, a column erected on the work base, and a column provided on the column and reciprocating in the Y-axis direction A Y main body having a Y mechanism section having a moving Y-axis traveling base, and a Z mechanism section that reciprocates in the Z-axis direction a tool or the like that is mounted and fixed to the connecting portion of the Y-axis traveling base and provided at the tip. In a desktop robot consisting of a Z body with
Guide means for guiding an electric wire for controlling the Z mechanism portion mounted and fixed to the connecting portion of the Y-axis traveling base projecting from a slit formed in the Y body so as to pass through the slit. A desktop robot characterized by   The desktop robot according to claim 1, wherein the guide means is a covering cover that constitutes a gap portion in which the electric wire is arranged together with a connecting portion of the Y-axis traveling base that passes through the slit.   The guide means is a pressing member, and the electric wire arranged at the connecting portion of the Y-axis traveling base is fixed by the pressing member in the vicinity of the slit so as to pass through the slit. The desktop robot according to claim 1.   The guide means includes a guide groove and a pressing member formed in the vicinity of the slit of the connecting portion of the Y-axis traveling base, and the electric wire is disposed in the guide groove, and the guide groove is disposed in the vicinity of the slit. The desktop robot according to claim 1, wherein an electric wire is fixed by the pressing member.

Images