JP4749866B2 - Linear motor type single axis robot - Google Patents

Description

  The present invention relates to a single-axis robot using a linear motor.

  Conventionally, as shown in, for example, Patent Document 1, a magnet shaft in which permanent magnets are arranged in the axial direction and a movable member provided with a coil surrounding the magnet shaft are provided, and energization of the coil is controlled. In general, a linear motor in which the movable member linearly moves in the direction along the axis of the magnet shaft is known. Such a linear motor is used for conveying articles in various fields, and can also be applied to a single-axis robot.

When applied to a single axis robot, the robot body is provided with the magnet shaft and linear guide, while the movable member is equipped with a coil on which the magnet shaft can be loosely fitted and is slidably supported by the linear guide. The movable block and a work member mounting table integrally connected to the movable block are provided, and various work members are detachably mounted on the table.
Japanese Patent Publication No. 5-34902

  By the way, in a single-axis robot using this type of linear motor, in order to prevent contact between the magnet shaft and the coil and ensure insulation between them, the movable member slides on the outer peripheral surface of the magnet shaft. A resin-made sliding bearing has been provided.

  However, when sliding bearings are used, periodic maintenance is required due to the structure in which the inner peripheral surface is in sliding contact with the outer peripheral surface of the magnet shaft, so a structure that does not require long-term maintenance is desired. Yes.

  In view of such circumstances, the present invention provides a linear motor type single-axis robot in which a structure for preventing contact between a magnet shaft and a coil is not required for a long period of time as compared with a case where a sliding bearing is used. With the goal.

The linear motor type single-axis robot of the present invention includes a robot body having a magnet shaft in which permanent magnets are arranged in the axial direction, and a coil in which the magnet shaft can be loosely fitted. and a movable member that is movably supported in the axial direction substantially parallel to the direction, the movable member is equivalent the co and keep the contact with the magnet shaft and the coil and the magnet shaft away A roller that rolls on the outer peripheral surface of the magnet shaft as the movable member moves, the roller having an axial direction extending in a direction substantially perpendicular to the axial direction of the magnet shaft, the roller body Is installed at a position so as to be below the magnet shaft when the magnet is installed. In contact with the shaft has a sliding member which slides on the outer peripheral surface of the magnet shaft, the sliding member, is arranged at least above and lateral direction of the magnet shaft when said robot body is installed It is what has been.

According to this configuration, since the roller that keeps the coil and the magnet shaft in contact with the magnet shaft is used , wear due to the contact with the magnet shaft can be greatly reduced as compared with the sliding bearing. In this case, as the roller, a roller whose axial center direction extends in a direction substantially orthogonal to the axial direction of the magnet shaft is used, so that the configuration is simpler and cheaper than when a sphere is used, for example. Can do.
Further, since the roller comes below the magnet shaft, even if the magnet shaft is bent by its own weight, the roller can effectively prevent the magnet shaft from contacting the coil. Further, the clearance between the outer peripheral surface of the magnet shaft and the inner peripheral surface of the coil can be secured by a roller below the magnet shaft by a roller and by a sliding member in the left and right direction of the magnet shaft. The contact between the magnet shaft and the coil can be prevented over the entire circumference of the magnet shaft at a lower cost than the arrangement in all directions.

  The outer peripheral surface of the roller is preferably made of resin. If it does in this way, it can suppress that the said roller wears the outer peripheral surface of a magnet shaft, and can roll the said roller favorably.

  The roller is supported by the movable member via a bearing and can be rotated about its axis, and the bearing is disposed at a position corresponding to the outer side in the width direction of the magnet shaft. Preferably it is.

  If it does in this way, the resistance force when a movable member moves can be made small, and motor performance can be improved. Further, since the bearing is disposed at a position corresponding to the outer side in the width direction of the magnet shaft, that is, at a position not easily influenced by the magnetic force of the magnet shaft, an inexpensive magnetic bearing can be used.

  The contact portion that contacts the magnet shaft on the outer peripheral surface of the roller is preferably formed in a shape along the outer peripheral surface of the magnet shaft. In this way, the contact width between the roller and the magnet shaft is increased and the contact pressure is suppressed, so that the wear of the roller can be suppressed, and further maintenance can be made unnecessary for a long period of time.

  The movable member is preferably provided with a biasing means that biases the roller and presses the roller against the magnet shaft. In this case, even if the outer peripheral surface of the roller is worn, the roller is pressed against the magnet shaft by the biasing means. Therefore, the magnet shaft and the roller are not required to adjust the mounting position of the roller according to the wear amount of the outer peripheral surface. Can be reliably brought into contact with each other.

  Further, it is preferable that at least one roller is provided at each end of the movable member. In this way, the durability of the roller and the reliability of preventing contact between the magnet shaft and the coil can be further improved.

  The roller may be provided at a position where the roller body comes below the magnet shaft and a position where the roller body comes above the magnet shaft when the robot body is installed. In this case, each of the upper and lower rollers is formed with an arc-shaped concave curved portion that extends substantially along the outer peripheral surface of the magnet shaft, and the roller is disposed within the range of the concave curved portion. It is preferable that it comes in contact with.

  According to this structure, contact between the magnet shaft and the coil can be prevented by the upper and lower rollers, and wear due to contact with the magnet shaft can be greatly reduced as compared with the sliding bearing.

According to the present invention, the roller that contacts the magnet shaft and rolls on the outer peripheral surface of the magnet shaft is provided in order to keep the coil and the magnet shaft apart from each other. It can be greatly reduced compared to the bearing, and maintenance can be made unnecessary for a long time.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings.

  As shown in FIGS. 1 to 3, a linear motor type single-axis robot according to an embodiment of the present invention includes a robot body 1 and a movable member 2 supported by the robot body 1 so as to be linearly movable in a certain direction. And.

  The robot body 1 includes a frame 11 and a pair of cover members 12, and the frame 11 and the cover member 12 are formed in a horizontally long frame shape extending in a uniaxial direction. The robot body 1 is installed with the frame 11 positioned below the cover member 12 (posture shown). In the present specification, for convenience of explanation, the uniaxial direction (the left-right direction in FIG. 1) in which the robot body 1 extends is defined as the front-rear direction, and the width direction of the robot body 1 (left-right direction in FIG. To do.

  The frame 11 includes a bottom wall portion 11a having a predetermined thickness and side wall portions 11b projecting upward from the bottom wall portion 11a on the left and right sides of the bottom wall portion 11a. It extends in the front-rear direction. The frame 11 can be made of an extruded material such as an aluminum alloy.

  Each of the pair of cover members 12 has a substantially L-shaped cross section that is a target of each other, and includes a horizontal portion 12a and a vertical portion 12b. And the lower end part of the vertical part 12b is fixed to the upper end part of the outer side surface of the side wall part 11b of the frame 11 with a bolt, and the vertical part 12b and the horizontal part 12a extend from the outside through the space above the side wall part 11b over the entire length. An opening having a constant width is formed between the horizontal portions 12a. An upper cover 13 that closes an opening formed between the horizontal portions 12a can be placed on the horizontal portions 12a.

  In the robot main body 1, a pair of left and right guide rails 3 extending in the front-rear direction are disposed on the side wall portion 11b of the frame 11, and a magnet shaft 4 extending in the front-rear direction is disposed between the side wall portions 11b. Has been.

  The magnet shaft 4 includes a plurality of permanent magnets 4a arranged in the axial direction so that the N and S magnetic poles are alternately reversed and accommodated in a sleeve made of a non-magnetic material. It is formed into a shape. The magnet shaft 4 is fixed by being sandwiched between a support member 14 having both ends fixed to both ends in the front-rear direction of the frame 11 and a fixing member 15 disposed above the support member 14. Note that both ends of the robot body 1 are covered with end covers 16.

  An elongated plate-like magnetic scale 17 is formed on the upper surface of one of the side wall portions 11b (right side in FIG. 2) of the frame 11 along the guide rail 3 on the outer side of the side wall portion 11b. It is provided over substantially the entire length. The magnetic scale 17 is a magnetically recorded scale so that it can be read by an MR head 25 described later.

  The movable member 2 has a slide table 21 and a movable block 22 connected to the lower surface of the slide table 21.

  The slide table 21 is formed in a shape straddling the pair of guide rails 3, and guided portions 31 that engage with the guide rails 3 are attached to the left and right ends of the lower surface of the slide table 21 at two front and rear positions, Thus, the slide table 21 is slidably supported on the guide rail 3. The movable block 22 is connected to the center of the lower surface of the slide table 21.

  The movable block 22 extends in the front-rear direction, both ends thereof are formed in a cylindrical shape that opens in the front-rear direction, and the intermediate portion is formed in a substantially U-shaped cross section that opens upward. The magnet shaft 4 can be inserted. A coil 23 constituting an armature is provided at an intermediate portion in the movable block 22, and the movable block 22 and the magnet shaft 4 are relatively disposed in the radial direction of the magnet shaft 4 at both ends. A structure 5 that prevents displacement is employed. This structure 5 will be described later.

  The coil 23 has an inner diameter in which the magnet shaft 4 can be loosely fitted, and surrounds the magnet shaft 4 from the outside in the radial direction in a state where the movable member 2 is assembled to the robot body 1. . That is, the slide table 21 is positioned by the two guide rails 3 in the Y-axis direction and the Z-axis direction (both positive and negative directions) shown in FIG. A gap is formed over the circumferential direction. The coil 23 is connected to a substrate 24 provided above the coil 23, and is electrically connected to a power source and a control circuit (not shown) via the substrate 24 and a cable W connected to the substrate 24. It has become. A flexible duct D is provided outside the robot body 1, and the cable W is accommodated in the duct D.

  An MR head 25 as a magnetic head is provided on the right side of the slide table 21. The MR head 25 is opposed to the magnetic scale 17 and detects the position of the movable member 2 by reading the magnetic scale 17 while the movable member 2 is moving.

  Further, a work member support table 27 is disposed above the slide table 21, and various work members according to the application are attached to the table 27. The table 27 is fixed to the slide table 21 together with the heat insulating plate 26 by bolts B at a plurality of positions in a state where the table 27 is placed on the upper surface of the slide table 21 via the heat insulating plate 26.

  At a plurality of positions on the upper surface of the table 27, mounting seats 27a for mounting work members by bolting or the like are provided, and the table 27 is covered with an upper cover 28 except for the mounting seats 27a.

  The table 27 is formed in a shape that allows the upper cover 13 to pass therethrough, and a roller 27b is provided at an appropriate position. The roller 27b guides the upper cover 13 so as to protrude upward in the portion where the table 27 is located, and the flexible upper cover 13 in the portion where the table 27 is not located in the horizontal direction of the cover member 12. It is located on the part 12a. As a result, the movable member 2 can be moved while the opening between the two horizontal portions 12a is closed by the upper cover 13.

  Next, the structure 5 that prevents the movable block 22 and the magnet shaft 4 employed at both ends of the movable block 22 from being relatively displaced in the radial direction of the magnet shaft 4 will be described.

  At both ends of the movable block 22, a roller 53 that contacts the magnet shaft 4 and rolls on the outer peripheral surface of the magnet shaft 4, and an outer surface of the magnet shaft 4 that contacts the magnet shaft 4 is provided. And a sliding bearing 52 that slides on the shaft. The roller 53 and the sliding bearing 52 are in contact with the magnet shaft 4 to prevent relative displacement between the magnet shaft 4 and the movable block 22 in the radial direction of the magnet shaft 4. The insulated coil 23 and the magnet shaft 4 are kept in a separated state to ensure insulation between them. That is, the slide table 21 is positioned by the two guide rails 3 in the Y-axis direction and the Z-axis direction (both positive and negative directions) of the coordinate system in the linear motor type single-axis robot shown in FIG. (Positive direction) or in the case of taking the posture of the robot body 1 so that the direction displaced in the Y-axis direction is the direction of gravity, even if the magnet shaft 4 tries to bend in the gravity direction by its own weight, the roller 53 or the sliding bearing 52 Supports the magnet shaft 4 and prevents bending. Alternatively, even when the rigidity of the magnet shaft 4 is sufficient, there is a difference in the positioning properties of the slide table 21 by the two guide rails 3, for example, even if the Z-axis positive direction can be firmly positioned, the Z-axis negative If the frame 11 is installed on the ceiling, the slide table 21 moves in the negative direction of the Z axis, and there is no gap between the loosely fitting portions of the magnet shaft 4 and the coil 23. I will try to become. Even in this case, the roller 53 and the sliding bearing 52 abut on the magnet shaft 4 and support the slide table 21.

  The sliding bearing 52 is made of synthetic resin or the like, and is formed in a substantially C-shaped cross section so as to open the lower part of the magnet shaft 4 and cover the other part. The inner peripheral surface of the sliding bearing 52 is in contact with the outer peripheral surface of the magnet shaft 4 over the approximately 180 ° in the circumferential direction above the magnet shaft 4.

  The sliding bearing 52 is fitted into an end member 51 that is fitted and fixed to the cylindrical portions at both ends of the movable block 22, and is held down by the fixed plate 56 from the outside in the front-rear direction in this state. It is fixed.

  The roller 53 is disposed at a position facing the sliding bearing 52 below the magnet shaft 4 with the axial direction facing the left-right direction. The roller 53 has a length dimension larger than the outer diameter dimension of the magnet shaft 4, and is a hollow cylindrical sleeve 53b which is a rigid body, and a resin layer 53a provided on the outer peripheral surface of the sleeve 53b. It consists of and.

  A contact portion 53c that is recessed in an arc shape along the outer peripheral surface of the magnet shaft 4 is formed at the central portion of the resin layer 53a so as to be in line contact with the magnet shaft 4.

  Bearings 55, which are ball bearings, are provided at both ends of the roller 53, and the roller 53 is rotatably supported by a shaft 54 inserted through the sleeve 53b via the bearing 55.

  The shaft 54 is inserted and fixed in a concave groove 22 a provided in the movable block 22. The concave groove 22a is formed in a shape in which the shaft 54 can be fitted and opened to the outside in the front-rear direction of the movable block 22, and the shaft 54 can be inserted from the outside. The shaft 54 inserted into the concave groove 22 a is pressed and fixed by a fixing plate 56 that presses the sliding bearing 52.

  According to the linear motor type single-axis robot having the above configuration, the thrust generated by the interaction between the current and the magnetic field generated by the permanent magnet 4a of the magnet shaft 4 by controlling the current flowing through the coil 23 of the movable member 2. As a result, the movable member 2 moves in the axial direction of the magnet shaft 4. As the movable member 2 moves, the rollers 53 provided at both ends of the movable block 22 roll on the outer peripheral surface of the magnet shaft 4 and the sliding bearing 52 slides on the outer peripheral surface of the magnet shaft 4. As a result, relative displacement between the magnet shaft 4 and the movable block 22 in the radial direction of the magnet shaft 4 is suppressed, and contact between the coil 23 and the magnet shaft 4 is prevented.

  In the present embodiment, when the linear motor type single-axis robot is operated in a posture in which the frame 11 is on the lower side, a roller 53 is disposed below the magnet shaft 4, and the roller 53 is disposed below the magnet shaft 4. Since the contact between the coil 23 and the magnet shaft 4 is prevented, the wear due to the contact between them can be greatly reduced as compared with the case where a sliding bearing is disposed below the magnet shaft 4, and maintenance is not required for a long time. be able to. That is, since the magnet shaft 4 may bend downward due to its own weight, when sliding bearings are arranged below the magnet shaft 4, their contact pressure is large and wear of the sliding bearings progresses rapidly. When the roller 53 is arranged as in the embodiment, wear of the sliding bearing can be prevented. Furthermore, even if the contact pressure between the magnet shaft 4 and the roller 53 is large, the roller 53 rolls on the outer peripheral surface of the magnet shaft 4, so that wear of the roller 53 can be suppressed. Similarly, when the linear motor type single-axis robot is operated with the frame 11 facing upward and the slide table 21 can be displaced in the Z-axis negative direction beyond the elastic displacement of the magnet shaft 4, the sliding bearing 52 Wear can be prevented, and further, wear of the roller 53 can be suppressed. In particular, when the sliding portion between the slide table 21 and the guide rail 3 is worn, the slide table 21 is displaced in the negative direction of the Z-axis by its own weight. And the wear of the roller 53 can be suppressed.

  Further, since a sliding bearing 52 that contacts the outer peripheral surface of the magnet shaft 4 is disposed over the magnet shaft 4 over approximately 180 ° in the circumferential direction, the outer peripheral surface of the magnet shaft 4 and the inner peripheral surface of the coil 23 are arranged. The clearance can be secured between the roller shaft 53 below the magnet shaft 4 and the sliding bearing 52 above the magnet shaft 4 and in the left-right direction. Even when vibration is applied in any direction, the contact between the magnet shaft 4 and the coil 23 can be prevented over the entire circumference of the magnet shaft 4.

  Furthermore, since the outer peripheral surface of the roller 53 is composed of the resin layer 53a, it is possible to prevent the roller 53 from wearing the outer peripheral surface of the magnet shaft 4 and to roll the roller 53 well. Can do.

  Further, since the roller 53 is supported via the bearing 55, the resistance force when the movable member 2 moves can be made smaller than when the sliding bearing is disposed below the magnet shaft 4, and the motor performance is improved. Can be made.

  Furthermore, since the bearing 55 is provided at both ends of the roller 53 having a length dimension larger than the outer dimension of the magnet shaft 4, the bearing 55 is located at a position corresponding to the outer side in the width direction of the magnet shaft 4, that is, Since the bearing 55 is disposed at a position that is not easily affected by the magnetic force of the magnet shaft 4, an inexpensive magnetic material can be used as the bearing 55.

  Further, since the contact portion 53c of the roller 53 has a shape along the outer peripheral surface of the magnet shaft 4, the contact width between the roller 53 and the magnet shaft 4 is increased and the contact pressure is suppressed, so that the wear of the roller 53 is increased. Can be suppressed, and maintenance can be made unnecessary for a long period of time.

  The specific structure of the linear motor type single-axis robot of the present invention is not limited to the above-described embodiment, and various modifications can be made.

  For example, as in the second embodiment shown in FIGS. 4 and 5, the roller 53 is not arranged in the movable block 22, but is arranged at a position slightly away from the end of the movable block 22, and the urging means 6. May be pressed against the magnet shaft 4.

  The urging means 6 includes a bracket 61 having a substantially U-shaped cross section attached to the end of the movable block 22, a shaft 63 that penetrates both side walls of the bracket 61, a shaft 54 that penetrates the roller 53, and the above A link member 64 that links the shaft 63 and a torsion spring 62 that is inserted through the shaft 63 and biases the shaft 54 upward. The roller 53 is biased to the magnet shaft 4 via the shaft 54. To do.

  According to this configuration, even if the outer peripheral surface of the roller 53 is worn, the roller 53 is pressed against the magnet shaft 4 by the biasing means 6, so that the mounting position of the roller 53 is adjusted according to the wear amount of the outer peripheral surface. Even if not, the magnet shaft 4 and the roller 53 can be reliably brought into contact with each other.

  The sliding bearing 52 may be annular as shown in FIG. In this way, even when the roller 53 is damaged, the sliding bearing 52 can prevent the magnet shaft 4 and the coil 23 from contacting below the magnet shaft 4, and the reliability thereof can be improved. Further, as long as the roller 53 is not damaged, contact pressure with the magnet shaft 4 is applied to the roller 53, so that the sliding bearing 52 is configured to contact the entire circumference of the magnet shaft 4, thereby suppressing wear of the sliding bearing 52. can do.

  Further, the sliding bearing 52 may be formed in a fan shape so as to be in contact with the upper side of the magnet shaft 4 within a range of 90 ° in the circumferential direction. Even in this way, it is possible to dispose the sliding bearing 52 on the magnet shaft 4 in the upper and left and right directions, and thereby the relative displacement between the magnet shaft 4 and the movable block 22 in the upper and left and right directions of the magnet shaft 4 can be reduced. Thus, contact with the coil 23 can be prevented.

  Alternatively, the sliding bearing 52 may be constituted by a plurality of independent blocks, and these may be arranged above the magnet shaft 4 or in the left-right direction.

  Further, for example, the rollers 53 may be arranged on both upper and lower sides of the magnet shaft 4 without arranging the sliding bearings 52. However, if the sliding bearings 52 are used together as in the above embodiment, the magnet shaft 4 can be manufactured at low cost. The contact between the magnet shaft 4 and the coil 23 can be prevented over the entire circumference.

  As the guide rail 3, only one guide rail 3 may be disposed below the magnet shaft 1 as shown in FIGS. 4 and 5. In this case, the slide table 21 can be omitted.

  Furthermore, two rollers 53 may be provided at both ends of the movable member 2 as in the third embodiment shown in FIG. According to this, the durability of the roller 53 and the reliability of preventing contact between the magnet shaft 4 and the coil 23 can be improved.

  In this case, if the pitch P between the rollers 53 arranged on one side is not an integral multiple of the magnetic pole pitch of the permanent magnet 4a but 0.5 times or 0.25 times, the magnet shaft 4 and the magnetic attraction force between the bearings 55 can be dispersed, and the movable block 22 can be moved smoothly. If the coil 23 at the center of the arranged coils 23 is eliminated without arranging the coil 23 over the entire length in the X-axis direction, and one roller 53 is arranged at this abandoned position, FIG. Even if the rollers 53 shown at both ends are eliminated, the sliding bearings 52 on both sides can be prevented from being worn to some extent. Of course, three rollers 53 may be used instead of eliminating the rollers 53 at both ends.

  In each of the above embodiments, the roller 53 is disposed on the lower side of the magnet shaft 4 and the sliding bearing 52 is disposed on the upper side of the magnet shaft 4, but the fourth embodiment shown in FIGS. 9 and 10, rollers may be arranged on both the lower side and the upper side of the magnet shaft 4 as in the fifth embodiment.

  That is, in the fourth embodiment shown in FIGS. 7 and 8, the same roller 53 as in the first embodiment is disposed at a position below the magnet shaft 4, while at the position above the magnet shaft 4. Instead of the sliding bearing 52 of the first embodiment, a roller 70 is arranged. These rollers 53 and 70 are arranged in parallel to each other at positions opposite to each other across the magnet shaft 4 with the shaft center orthogonal to the shaft center of the magnet shaft 4, and the shaft or the like is disposed at the end of the movable block 22. It is attached to be rotatable.

  Arc-shaped concave curved portions 53c and 70c that are substantially along the outer peripheral surface of the magnet shaft 4 are formed in the central portions of the rollers 53 and 70 over the entire circumference. Each of the concave curved portions 53c and 70c is formed so that the radius of curvature of the arc is slightly larger than the radius of curvature of the outer peripheral surface of the magnet shaft 4, so that the central portions (points a and b) of the concave curved portions 53c and 70c are formed. Is in contact with the outer peripheral surface of the magnet shaft 4. That is, in the cross-sectional front view of FIG. 7, the magnet shaft 4 is supported by the upper and lower rollers 53 and 70 at two upper and lower points.

  This structure also prevents contact between the coil 23 of the movable block 22 and the magnet shaft 4. In particular, the upper and lower rollers 53, 70 have arc-shaped concave curved portions 53c, 70c that substantially follow the outer peripheral surface of the magnet shaft 4, and are in contact with the magnet shaft 4 within the range of the concave curved portions 53c, 70c. Thus, the relative displacement between the magnet shaft 4 and the movable block 22 in the radial direction of the magnet shaft 4 is suppressed, and contact between the magnet shaft 4 and the coil 23 is prevented over the entire circumference of the magnet shaft 4. This function can be achieved by the upper and lower rollers 53 and 70 alone. In addition, since the rollers 53 and 70 are in contact with the magnet shaft 4, wear due to contact with the magnet shaft can be greatly reduced as compared with the sliding bearing.

  Also in the fifth embodiment shown in FIGS. 9 and 10, rollers 53 and 71 are arranged on both upper and lower sides of the magnet shaft 4 as in the fourth embodiment. An arc-shaped concave curved portion 53c that substantially follows the outer peripheral surface of the magnet shaft 4 is formed at the central portion of the lower roller 53, and the central portion (point a) of the concave curved portion 53c is the magnet shaft. The point which touches the outer peripheral surface of 4 is the same as that of 4th Embodiment. On the other hand, an arc-shaped concave curved portion 71c is also formed on the upper roller 71 over the entire circumference, but this concave curved portion 71c is formed over a wider range than the concave curved portion 70c of the roller 70 of the fourth embodiment. In addition, since the radius of curvature of the arc is slightly smaller than the radius of curvature of the outer peripheral surface of the magnet shaft 4, two points b1 and b2 in the vicinity of both ends of the concave curved portion 71c are formed on the outer peripheral surface of the magnet shaft 4. Touching. That is, in the cross-sectional front view of FIG. 9, the magnet shaft 4 is supported at the three points of the lower one point a and the upper two points b1 and b2.

  In the examples shown in FIGS. 9 and 10, two rollers 53 and 53 ′ arranged in parallel are provided as lower rollers arranged below the magnet shaft 4 at the end of the movable block 22. In addition, biasing means including a coil spring 80 for pressing the roller 53 against the magnet shaft 4 is provided. More specifically, a side end portion of a lower portion of the L-shaped bracket 81 is attached to an end portion of the movable block 22 through a fulcrum shaft 82 in a side view, and the fulcrum shaft is attached to the bracket 81. A roller 53 ′ rotatable around an axis concentric with 82 and a roller 53 rotatable around the axis at a predetermined distance from the fulcrum shaft 82 are attached, and a spring accommodating portion 83 formed on the upper portion of the bracket 81. The coil spring 80 is housed, and a spring pressing pin 84 that compresses the coil spring 80 passes through the upper portion of the bracket 81 and is fixed to the movable block 22.

  The bracket 81 is urged by the coil spring 80 in the clockwise direction (arrow) in FIG. 10 about the fulcrum shaft 82, thereby pressing the roller 53 against the magnet shaft 4.

  When the robot main body 1 of each of the above embodiments is installed in a state where the robot body 1 rolls over by 90 ° around the X axis, the roller 53 is disposed between the magnet shaft 4 and the wall to be positioned below the magnet shaft 4. Then, when the robot body 1 is installed, the roller 53 can be positioned below the magnet shaft 4, and even if the magnet shaft 4 is bent by its own weight, the magnet shaft 4 contacts the coil 23 by the roller 53. This can be effectively prevented.

  Further, instead of the roller 53, it is possible to adopt a sphere as rolling on the outer peripheral surface of the magnet shaft 4, but if the roller 53 is employed as in the above embodiment, the sphere is adopted. A simpler and cheaper configuration can be obtained.

  In addition, the guide rail 3 for positioning the slide table 21 in the Y-axis direction and the Z-axis direction (both positive and negative directions) may be one. When the linear motor type single-axis robot is operated with the frame 11 facing upward, the center portion of the slide table 21 tends to be displaced in the positive direction of the Z axis, but the roller 53 is disposed on the table 27 side of the magnet shaft 4. By supporting the rotation support shaft 54 of the roller 53 on the slide table 21, wear of the slide bearing can be prevented, and further, wear of the roller 53 can be suppressed.

  Furthermore, when operating with the X-axis direction of the linear motor type single-axis robot mounting portion as the vertical direction, depending on the direction of vibration acceleration of the linear motor type single-axis robot mounting portion, for example, the case is swung in the Z-axis direction. For this purpose, the roller 53 may be arranged at the position shown in FIG. 3 or, depending on the case, arranged on the table 27 side of the magnet shaft 4.

It is a vertical side view of the linear motor type single axis robot concerning one embodiment of the present invention. It is the II-II sectional view taken on the line in FIG. It is the III-III sectional view taken on the line in FIG. It is a cross-sectional front view of the single-axis robot which concerns on 2nd Embodiment. It is a vertical side view of the single-axis robot which concerns on 2nd Embodiment. It is a vertical side view of the single-axis robot which concerns on 3rd Embodiment. It is a cross-sectional front view (the VII-VII line sectional view in Drawing 8) of the single axis robot concerning a 4th embodiment. It is a vertical side view of the single-axis robot which concerns on 4th Embodiment. It is a cross-sectional front view (IX-IX sectional view taken on the line in FIG. 10) of the single axis robot which concerns on 5th Embodiment. It is a vertical side view of the single-axis robot which concerns on 5th Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot main body 11 Frame 12 Cover member 2 Movable member 21 Slide table 22 Movable block 23 Coil 3 Guide rail 4 Magnet shaft 4a Permanent magnet 5 Position shift prevention structure 52 Sliding bearing 53 Roller 53a Resin 53b Sleeve 54 Shaft 55 Bearing 56 Fixed plate 6 Biasing means 61 Bracket 62 Torsion spring

Claims (8)

A robot body having a magnet shaft in which permanent magnets are arranged in the axial direction and a coil in which the magnet shaft can be loosely fitted so that the robot body can move in a direction substantially parallel to the axial direction of the magnet shaft. A movable member supported,
The movable member is a a roller rolling on the outer peripheral surface of the magnet shaft with the together with the keep the contact with the magnet shaft and the coil and the magnet shaft spaced movement of those movable member A roller extending in a direction substantially perpendicular to the axial direction of the magnet shaft, and the roller is provided at a position so as to be below the magnet shaft when the robot body is installed. And
The movable member has a sliding member that contacts the magnet shaft and slides on the outer peripheral surface of the magnet shaft, and the sliding member is at least of the magnet shaft when the robot body is installed. A linear motor type single-axis robot, which is arranged in an upper direction and a left-right direction . The linear motor type single-axis robot according to claim 1, wherein an outer peripheral surface of the roller is made of resin . The roller is supported by the movable member via a bearing and is rotatable about its axis, and the bearing is disposed at a position corresponding to the outer side in the width direction of the magnet shaft . The linear motor type single-axis robot according to claim 1 or 2. Contact portion contacting with the magnet shaft in the outer peripheral surface of the roller is linear according to any one of claims 1 to 3, characterized in that it is formed in a shape along the outer circumferential surface of the magnet shaft Motor type single axis robot. The aforementioned movable member, a linear according to any one of claims 1-4, characterized in that the roller urges the roller urging means for pressing the said magnet shaft are al provided Motor type single axis robot. The roller is a linear motor type uniaxial robot according to any one of claims 1-5, characterized in that that by at least one provided et al are at opposite ends of the movable member. The roller is claim 1, characterized in that are provided at the position that comes to the upper position and the magnet shaft as come below the magnet shaft when said robot body is installed - 3 linear motor type uniaxial robot according to any one of. Each of the upper and lower rollers is formed with an arc-shaped concave curved portion that extends substantially along the outer peripheral surface of the magnet shaft, and the roller contacts the outer peripheral surface of the magnet shaft within the range of the concave curved portion. 7. Symbol mounting of the linear motor type single-axis robot, characterized in that it in the.

Images