JP6008497B2 - robot - Google Patents

Description

  The present invention includes a case member having an opening, a shutter that closes the opening of the case member, a slider that moves along the case member, and a plurality of rollers that are provided on the slider and change the interval between the shutter and the opening edge. Relates to a robot equipped with

  Conventionally, a rail member is provided on a case member having an open upper surface, and a predetermined component is conveyed by moving a slider that protrudes upward from the opening of the case member along the rail member. (For example, refer to Patent Document 1). In this robot, in order to prevent dust and foreign matter from entering the inside of the case member, and dust and foreign matter inside the case member from being scattered outside, the space between the inside and outside of the case member is shielded. A shutter is provided.

  In addition, outer rollers that press the shutter against the opening edge are provided on both sides of the slider in the moving direction, and a pair of inner rollers that move the shutter away from the opening edge between the pair of outer rollers on the upper surface of the slider. Installed at intervals. When the slider moves along the rail member, the shutter is lifted above the opening edge at the portion where the slider is located, and when the slider passes, the shutter is lowered and pressed onto the opening edge. The outer roller and the inner roller of such a conventional robot are attached to the slider via screws or a predetermined connecting member.

JP 2006-6058 A

  However, in the conventional robot, since the outer roller and the inner roller are attached to the slider by screws or connecting members, there is a problem that the work for attaching and detaching these rollers to the slider becomes complicated, and the number of parts There is a problem that the cost is increased due to the increase in the number of.

  The present invention has been made to cope with such a problem, and an object of the present invention is to provide a robot that can easily attach and detach a roller with respect to a slider and can further reduce the number of parts. 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 the case member (10) having a long opening (15) formed on the upper surface and the opening of the case member closed from the outside. The shutter (37) whose both ends are detachably fixed to both ends in the longitudinal direction of the case member, the slider (20) attached to the case member so as to be movable in the longitudinal direction of the case member, and the shutter In the robot provided with a plurality of rollers (27, 28, 49) that are rotatably provided on the slider and change the distance between the shutter and the edge of the opening, the plurality of rollers are respectively connected to the central shaft portion (27b). , 28b, 49b) and the roller body (27a, 28a, 49a), and a plurality of rollers are arranged on both sides of the slider moving direction to press the shutter against the edge of the opening. And over La, opening the shutter between the outer roller composed of an inner roller which is separated from the edge, the upper surface of the slider, the inner roller end portions of the center shaft from above the pair having a concave portion of sticking downward the bearing portion and (45a), and a portion extending from the portion that can accommodate the lower portion of the roller body portion and the inner roller to accommodate the lower portion of the roller body position and the rollers on the inside of the pair of bearing portions on both sides of the moving direction of the slider And a center shaft portion of the inner roller is supported by a pair of bearing portions, and the inner roller in the width direction perpendicular to the moving direction of the slider on the upper surface of the slider is provided. The member installation portions (44a) are provided on both sides, the predetermined member (B) is installed on the upper surface of the member installation portion, and the inner roller interferes between the center portion in the width direction on the upper surface of the slider and the predetermined member. Prevention groove It lies in the so a gap is formed which can pass between the outside of the slider in the moving direction of the slider.

  In the robot according to the present invention, when the predetermined roller is attached to the slider, it is only necessary to push both end portions of the central shaft portion of the predetermined roller into the bearing portion from the outer peripheral side. Further, when removing the predetermined roller from the slider, the predetermined roller can be removed by prying it outward with a rod-shaped member or the like. For this reason, it is very easy to attach and detach the predetermined roller to and from the slider. Further, since a screw or a connecting member for attaching the predetermined roller to the slider is not necessary, the number of parts can be reduced and the cost can be reduced. The predetermined roller may be all of the plurality of rollers or a part thereof.

Further, according to the present invention, the inner roller can be easily attached to and detached from the slider.

Further, according to the present invention, when a member such as a heavy object is installed on the upper surface of the slider, the inner roller can be attached to and detached from the slider without removing the member, so that the operation such as replacement becomes extremely easy. In addition, it is preferable that the member installation part is extended in parallel with the moving direction of a slider.

  Further, another structural feature of the robot according to the present invention is that a bearing mounting recess is formed in the slider, and the bearing is made of an elastic member made of a resin material installed in the bearing mounting recess. It is in. According to the present invention, when a strong impact is applied from the shutter to the roller, the impact can be absorbed by the bearing portion. Further, in the present invention, the width of the opening on the inlet side when the central shaft portion of the roller in the concave portion of the bearing portion is pushed is made shorter than the diameter of the central shaft portion, and the back side portion that supports the central shaft portion of the roller Is preferably larger than the width of the opening on the inlet side. According to this, it can prevent that the center axis | shaft part of a roller remove | deviates from a bearing part unexpectedly.

1 is a perspective view showing a robot according to a first embodiment of the present invention. It is the perspective view which showed the principal part of the robot shown in FIG. It is sectional drawing which showed the principal part of the robot. It is sectional drawing which showed the part in which the outer roller of a robot is located. It is sectional drawing which showed the part in which the inner roller of a robot is located. It is the perspective view which showed the table part to which the inner roller was attached. It is the perspective view which showed the state which attaches the roller support part to which the outer roller was attached to the table part. It is the perspective view which showed the state which attaches a protective cover to a table part. It is the perspective view which showed the state which mounted the adsorption | suction apparatus in the table part. It is the perspective view which showed the state which removed the protective cover from the table part in which the adsorption | suction apparatus was mounted, and also removed the roller support part to which the outer roller was attached. It is the perspective view which showed the state which removed the roller support part from the table part in which the adsorption | suction apparatus was mounted. It is the perspective view which showed the state which removed the inner roller from the table part in which the adsorption | suction apparatus was mounted. It is the perspective view which showed the inner roller with which the robot which concerns on a modification is provided. It is the perspective view which showed the table part with which the robot which concerns on another modification is provided.

(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 robot A according to the embodiment. 2 shows a main part of the robot A shown in FIG. 1, and FIG. 3 shows a longitudinal section along the longitudinal direction of the main part. The robot A includes a case member 10 extending in the X-axis direction (the longitudinal direction in FIG. 1 and hereinafter referred to as the front-rear direction), a slider 20 movably attached to the case member 10, and a slider 20 A drive device 35 (see FIGS. 4 and 5) for moving the case member 10 in the X-axis direction and a shutter 37 installed on the upper surface of the case member 10 are provided. Is installed. Here, the direction orthogonal to the X-axis direction on the horizontal plane is defined as the Y-axis direction (the width direction of the case member 10 in FIG. 1, and this direction is hereinafter referred to as the left-right direction).

  The case member 10 is formed in an elongated rectangular box shape with an open top surface, and is opposed to the bottom surface portion 11 located at the bottom and the left and right side surfaces of the bottom surface portion 11 as shown in FIGS. 4 and 5. And a pair of cover members 12 and 13 extending upward, and an end surface portion 14 (only the front end surface portion 14 is shown) positioned at the front and rear. The bottom surface portion 11 is formed of a long thick plate body in which a concave portion 11a that is lower than both side portions is formed at the center in the width direction on the top surface. The bottom surface portion 11 is formed by processing an extruded material made of an aluminum alloy, and the cross-sectional shape thereof is the same from the front end to the rear end.

  Each of the cover members 12 and 13 is formed of a long plate-like member having a cross-sectional shape that is L-shaped and disposed symmetrically. The cover member 12 includes an upper surface portion 12a disposed substantially horizontally and a side surface portion 12b extending downward from an outer edge portion of the upper surface portion 12a. The cover member 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. And the cover members 12 and 13 are being fixed to the side surface of the bottom face part 11 in the state which separated only the set length the inner edge parts which the upper surface parts 12a and 13a mutually oppose. End face portions 14 are attached to both front and rear ends of the cover members 12 and 13, respectively. Therefore, an opening 15 extending in the X-axis direction is formed in the portion surrounded by the upper end portions of the front and rear end surface portions 14 and the upper surface portions 12a and 13a while maintaining a certain length in the Y-axis direction. The opening 15 is closed by a shutter 37 described later.

  A rail member 16 extending along the longitudinal direction of the bottom surface portion 11 and having a width longer than the height is fixed to the recess 11 a of the bottom surface portion 11 with the upper portion protruding from the top surface of the bottom surface portion 11. In the upper part of the left and right side surfaces of the rail member 16, guide grooves 16a that are recessed in a semicircular cross section are formed. Further, a bar-shaped ball screw 17 extending in the front-rear direction in parallel with the rail member 16 is provided above the rail member 16. The front end of the ball screw 17 is rotatably supported by the front end surface portion 14, and the rear end passes through the rear end surface portion 14 and is connected to the motor M.

  A slider 20 is attached so as to be movable with respect to the rail member 16 and the ball screw 17. The slider 20 includes a slide member 21, a slider main body 22 provided on the upper surface of the slide member 21, and a table portion 23 provided on the upper portion of the slider main body 22. The slide member 21 is formed of a member in which a slide groove 21a that can be slidably fitted to the upper portion of the rail member 16 is formed at the center in the width direction on the lower surface, and the guide grooves 16a on both side surfaces of the slide groove 21a. A guide projection 21b having a semicircular cross-sectional shape is provided at a portion facing the. The slide member 21 is assembled to the rail member 16 by sliding from the end of the rail member 16 with the slide groove 21 a aligned with the upper portion of the rail member 16.

  The slider body 22 is fixed to the slide member 21, and is movable with respect to the rail member 16 and the ball screw 17 together with the slide member 21 inside the case member 10. A cylindrical nut 22a penetrating the slider body 22 back and forth is provided inside the slider body 22, and the ball screw 17 passes through the nut 22a. A screw that is screwed into the ball screw 17 is formed on the inner surface of the nut 22 a, and the nut 22 a moves along the longitudinal direction of the ball screw 17 by the rotation of the ball screw 17. In addition, the left and right widths of the upper end portion of the slider main body 22 are narrower than other portions, and the narrowed portion protrudes to the height of the upper surface of the case member 10 through the inside of the opening 15.

  The table unit 23 is provided with various devices and members according to the application of the robot A. The table unit 23 is fixed to the upper surface of the slider body 22 via a bolt and is positioned above the case member 10. As shown in FIG. 3, the table portion 23 includes a table body 24, roller support members 25 and 26 attached to the front and rear of the table body 24, and outer rollers attached to the roller support members 25 and 26, respectively. 27, 28, an inner roller 29 attached to the upper surface of the table body 24, and a pair of protective covers 31a, 31b.

  The table main body 24 is composed of plate-like members having different levels in which front and rear and left and right are symmetrical. As shown in FIG. 6, the table main body 24 includes a member installation portion 24a located on the left and right sides, a roller support portion 24b located on the left and right sides between the both member installation portions 24a, and the roller support portions 24b. It is comprised with the center part 24c located. The upper surface of the member installation portion 24a is configured by a horizontal plane that is higher than the upper surfaces of the other portions, and a plurality of screw holes 24d are formed in the horizontal plane at intervals. The screw holes 24d are used when various devices and members are installed on the upper portion of the table portion 23. Moreover, the groove part 24e penetrated in the front-back direction is formed in parallel on the inner surface which both member installation parts 24a oppose.

  The front end side portion and the rear end side portion on the upper surfaces of the roller support portion 24b and the center portion 24c are configured by inclined surfaces that are inclined downward from the center side in the front-rear direction toward the front and rear end portions. Further, the center side portion in the front-rear direction on the upper surface of the roller support portion 24b is higher than the center side portion in the front-rear direction on the upper surface of the center portion 24c. The center side portion in the front-rear direction on the upper surfaces of the two roller support portions 24b has the above-described inclined surfaces extended in the front-rear direction, and the portion between the inclined surfaces is constituted by a horizontal plane. The center side portion in the front-rear direction on the upper surface of the center portion 24c is entirely composed of a horizontal plane. As a result, inclined surfaces are formed on the upper surfaces of the roller support portion 24b and the central portion 24c such that the front and rear central portions bulge upward from the front end portion and the rear end portion. Is formed with steps that are gradually higher on the left and right side portions than on the left and right center portions.

  Further, an interference prevention groove 24f extending in the left-right direction is formed in the center portion in the front-rear direction on the upper surface of the center portion 24c. The interference prevention groove 24f is formed to have a size capable of accommodating substantially half of the inner roller 29, which will be described later, along the axial direction of a roller body 29a. A pair of bearing portions 32a and 32b are formed at the center in the front-rear direction of both roller support portions 24b so as to face each other. The bearing portions 32a and 32b are formed by recesses whose upper portions and opposite portions are open. By embedding an elastic MC nylon member in the bearing portion mounting recess formed in the roller support portion 24b. Is formed.

  The concave portions of the bearing portions 32a and 32b extend in the same shape in the left-right direction, and the cross section of the inner peripheral surface thereof is substantially circular. The width of the opening at the upper end of the recess is slightly shorter than the diameter of the cross section of the inner peripheral surface, and the right end of the recess of the bearing portion 32a and the left end of the recess of the bearing portion 32b face each other. Open. In addition, the length between the upper surface of the center part 24c and the upper surface of the member installation part 24a is set to the length which can arrange | position the inner roller 29 with a margin.

  The roller support members 25 and 26 are both made of the same member that is longer left and right than front and rear. The roller support member 25 is assembled from the front side to the front end of the table body 24, and the roller support member 26 is attached to the table body 24. The rear end is assembled from the rear side. The roller support member 25 includes a plate-like flat portion 25a in which a square cutout is formed at the center of the front end, and a pair of support pieces 25b are formed on both sides of the cutout in the flat portion 25a. Yes. Each of the pair of support pieces 25b is configured by an L-shaped piece including a horizontal portion located on both the left and right sides of the flat portion 25a and a vertical portion extending downwardly facing the inner edge of both horizontal portions. A support hole is formed in each vertical portion of the pair of support pieces 25b.

  The outer roller 27 is rotatably supported in a state where both sides of the central shaft portion 27b are inserted into the support holes of the pair of support pieces 25b. A pair of attachment pieces 25c extending downward is formed at the front ends of the horizontal portions of the pair of support pieces 25b, and insertion holes are formed in the pair of attachment pieces 25c. As shown in FIG. 7, the roller support member 25 is assembled to the table body 24 by sliding both side portions on the rear side of the flat portion 25a into the groove portion 24e from the front, and the insertion hole and screw 33 of the mounting piece 25c are assembled. (See FIG. 4), the table body 24 is detachably attached to the front end. Therefore, a step in which the roller support member 25 is slightly lower is formed between the upper surface of the roller support member 25 and the upper surface of the member installation portion 24a of the table body 24.

  The roller support member 26 is disposed symmetrically with the roller support member 25 in the front-rear direction, and includes a plate-like flat portion 26 a having a square notch formed at the center of the rear end. A pair of support pieces 26b and a pair of attachment pieces 26c are formed at the rear portion of the flat portion 26a. The outer roller 28 is rotatably supported in a state where both sides of the central shaft portion 28b are inserted into the support holes of the pair of support pieces 26b. The roller support member 26 is assembled to the table body 24 by sliding both side portions on the front side of the flat portion 26a into the groove portion 24e from the rear, and the insertion holes and screws 33 provided in the pair of attachment pieces 26c are assembled. And is detachably attached to the rear end of the table main body 24. Between the upper surface of the roller support member 26 and the upper surface of the member installation portion 24a of the table body 24, a step is formed in which the roller support member 26 is slightly lower.

  The outer roller 27 includes a cylindrical roller body 27a formed by forming a surface layer portion made of urethane resin on the surface of an aluminum pipe, a central shaft portion 27b penetrating the roller body 27a, and a roller body 27a. It is constituted by a pair of bearings 27c provided between the roller main body 27a and the central shaft portion 27b at both ends. Then, both end portions of the central shaft portion 27b inserted through the support holes of the pair of support pieces 25b are fixed to the pair of support pieces 25b by fixing members such as pins 34, and the roller body 27a is centered via the pair of bearings 27c. It is rotatable with respect to the shaft portion 27b.

  Similarly to the outer roller 27, the outer roller 28 includes a cylindrical roller body 28a, a central shaft portion 28b, and a pair of bearings (not shown). Then, both end portions of the central shaft portion 28b passing through the support holes of the pair of support pieces 26b are fixed to the pair of support pieces 26b by fixing members such as pins 34, and the roller body 28a is connected to the central shaft via the pair of bearings. It is rotatable with respect to the portion 28b.

  Further, like the outer rollers 27 and 28, the inner roller 29 also includes a cylindrical roller body 29a, a central shaft portion 29b, and a pair of bearings 29c. The inner roller 29 is attached to the upper surface of the table main body 24 by pushing both end portions of the central shaft portion 29b into the bearing portions 32a and 32b from above, and both end portions of the central shaft portion 29b. Are fixed to the bearing portions 32a and 32b in a detachable state.

  The diameter of the central shaft portion 29b is set to be longer than the width of the upper end opening of the bearing portions 32a and 32b, so that the central shaft portion 29b that enters the bearing portions 32a and 32b is unexpectedly It is prevented from coming off from the parts 32a and 32b. Further, the roller body 29a has a lower portion positioned in the interference prevention groove 24f and is rotatable with respect to the central shaft portion 29b via a pair of bearings 29c. Further, the upper end of the roller body 29a when both ends of the central shaft portion 29b are disengaged from the bearing portions 32a and 32b and are positioned on the upper surface of the roller support portion 24b is lower than the height of the upper surface of the member installation portion 24a. Is set to Further, the inner roller 29 is disposed at a position slightly higher than the outer rollers 27 and 28.

  The protective cover 31a is configured by a member that can cover the front half of the upper surface of the table main body 24 excluding the member installation portion 24a and the upper surface, front surface, and both side surfaces of the roller support member 25, as shown in FIG. As shown, both sides on the rear side are slid from the front into the groove 24e and assembled to the table body 24. The protective cover 31b is composed of a member that can cover the rear half of the upper surface of the table main body 24 excluding the member installation portion 24a and the upper surface, rear surface, and both side surfaces of the roller support member 26, Both side portions on the side are slid from the rear side into the groove portion 24e and assembled to the table body 24.

  Screw insertion holes are formed in the front side portions of the protective cover 31a and the rear side portions of the protective cover 31b. The protective cover 31a is fixed to the front end portion of the table body 24 together with the roller support member 25 by screws 33 at the front side, and the protective cover 31b is fixed to the front end portion of the table body 24 along with the roller support member 26 by screws 33. The table body 24 is fixed to the rear part. Further, only a slight gap is formed between the lower surfaces of the protective covers 31 a and 31 b and the upper end of the inner roller 29, and the protective covers 31 a and 31 b are disposed in the immediate vicinity of the inner roller 29. Yes. Furthermore, the upper surfaces of the protective covers 31a and 31b are slightly lower than the upper surface of the member installation portion 24a.

  Further, the robot A is provided with a control device composed of a CPU, a storage device, and the like, a substrate, and a cable for connecting each device. These devices, the ball screw 17, the nut 22a, and the motor M described above constitute a drive device 35. The driving device 35 generates a propulsive force on the nut 22a when the ball screw 17 is rotated by driving the motor M. For this reason, the slider 20 moves along the rail member 16 when the power is turned on and the control device is turned on to pass a current through the motor M.

  The shutter 37 is made of a thin plate made of stainless steel, and the length in the front-rear direction is slightly shorter than the length in the front-rear direction of the case member 10, and the width in the left-right direction is the upper surface portion 12 a of the cover members 12, 13. It is slightly longer than the length between the opposite edges of 13a. Further, two screw insertion holes are formed at the front and rear end portions of the shutter 37 along the edge portions. The shutter 37 is fixed at both ends in the longitudinal direction to the upper surface of the end surface portion 14 via fixing members 38a and 38b and four screws 39, and closes the opening 15 of the case member 10 from above.

  The fixing members 38a and 38b are each formed with two screw insertion holes, and the upper surface of the end surface portion 14 is formed with two screw holes. Then, the fixing members 38a and 38b are respectively placed on the upper surfaces of both ends of the shutter 37, and the screws 39 are threaded into the screw holes through the two screw insertion holes. It is fixed on the top surface. The screw insertion holes of the shutter 37 are each composed of an ellipse that is long in the front-rear direction, and the tension of the shutter 37 can be adjusted by changing the position of the screw insertion hole with respect to the screw 39. .

  The shutter 37 passes from the lower side of the outer roller 27 positioned on the front side to the upper side of the inner roller 29 and extends below the outer roller 28 positioned on the rear side. That is, the shutter 37 passes through a gap between the upper surface of the table main body 24 of the table portion 23 and the ceiling portions of the protective covers 31a and 31b. And the part located in the outer rollers 27 and 28 in the shutter 37 is pressed by the upper surface parts 12a and 13a of the case member 10 by the outer rollers 27 and 28, as shown in FIG. Further, a portion of the shutter 37 positioned at the inner roller 29 is pushed upward by the inner roller 29.

  As described above, the upper surface of the shutter 37 is in contact with the outer rollers 27 and 28 and the lower surface of the shutter 37 is in contact with the inner roller 29, so that the frictional resistance received from the shutter 37 when the slider 20 moves is reduced. Further, since both ends of the shutter 37 are fixed to the end surface portion 14 and the portion is lifted upward by passing through the table portion 23, an appropriate tension is applied to the shutter 37. Is maintained in an unbent state.

  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 23. Then, the robot A is turned on to turn on the control device. As a result, a current flows through the motor M, the ball screw 17 rotates, and the slider 20 moves along the rail member 16. At this time, the shutter 37 closes the opening 15 of the case member 10 by being in close contact with the upper surfaces of the upper surface portions 12a and 13a at the front and rear of the slider 20 in the traveling direction. This prevents dust and foreign matter from entering the inside of the case member 10.

  Further, the portion of the shutter 37 located inside the slider 20 is lifted upward from the upper surfaces of the upper surface portions 12 a and 13 a by the inner roller 29. As described above, the slider 20 reciprocates while the shutter 37 is pressed against the upper surface portions 12 a and 13 a by the front and rear outer rollers 27 and 28, and the shutter 37 is lifted upward by the inner roller 29. At that time, the suction device sucks the electronic component at a predetermined place and mounts it on a substrate or the like. When the outer rollers 27 and 28 and the inner roller 29 are worn due to long-term use, an operation of replacing the outer rollers 27 and 28 and the inner roller 29 with unused ones is performed.

  This replacement operation will be described with reference to FIGS. As shown in FIGS. 9 to 12, in this case, the suction device B is installed on the upper surface of the table portion 23. First, from the state of FIG. 9, the screw 39 fixing the front end portion of the shutter 37 to the end surface portion 14 is loosened, and after removing the screw 33 fixing the protective cover 31 a to the table body 24, the protection is performed. The cover 31a is pulled forward to be removed from the table body 24 and the roller support member 25, and the state shown in FIG. 10 is obtained. At this time, the suction device B is fixed to the member installation portions 24a on both sides of the table main body 24, and the protective cover 31a is slid from the front into the groove 24e and assembled to the table main body 24. It can be easily removed by pulling on.

  Next, from the state of FIG. 10, the roller support member 25 together with the outer roller 27 is pulled forward and removed from the table body 24. Also in this case, the roller support member 25 is slid from the front into the groove 24e and assembled to the table main body 24, and therefore can be easily removed by pulling forward. Next, the same operation is performed on the rear side of the table main body 24 to remove the protective cover 31 b, the roller support member 26 and the outer roller 28 from the table main body 24.

  Next, the shutter 37 is pulled rearward and extracted from the table unit 23 to obtain the state shown in FIG. As a result, the inner roller 29 can be seen from the front and rear of the table body 24. Then, the inner roller 29 is removed from the bearing portions 32a and 32b of the table main body 24 with a rod-shaped jig or the like to obtain the state shown in FIG. In this case, the inner roller 29 can be removed from the bearing portions 32a and 32b by lifting the inner roller 29 with a jig. It comes out of the main body 24. At this time, even if the inner roller 29 is damaged, there is no problem because the inner roller 29 is used and discarded. As a result, the removal of all the used outer rollers 27 and 28 and the inner roller 29 is completed.

  Then, a new inner roller 29 is arranged on the upper surface of the table main body 24, and when both end portions of the central shaft portion 29b of the inner roller 29 are positioned at the bearing portions 32a and 32b, the roller main body 29a is pressed downward with a jig. To do. As a result, both end portions of the central shaft portion 29b are fitted into the bearing portions 32a and 32b, and the attachment of the inner roller 29 is completed. Next, the front end portion side of the shutter 37 is passed between the table portion 23 and the suction device B, and the front end portion is lightly fixed to the end surface portion 14 by the fixing member 38 a and the screw 39. In this case, the tension of the shutter 37 is loosened to give a margin.

  In this state, the roller support member 25 to which the new outer roller 27 is attached is assembled to the front end of the table body 24. Then, the protective cover 31a is assembled to the table main body 24 to cover the roller support member 25 and the outer roller 27, and the protective cover 31a is fixed to the table main body 24 together with the roller support member 25 with the screw 33. finish. Further, the same operation is performed on the rear side of the table main body 24, and the roller support member 26 to which the new outer roller 28 is attached and the protective cover 31 b are attached to the table main body 24. Then, by adjusting the tension of the shutter 37 and fixing the front end portion of the shutter 37 to the end surface portion 14, the replacement work of the outer rollers 27 and 28 and the inner roller 29 is completed. In the above description, all of the outer rollers 27 and 28 and the inner roller 29 are exchanged, but one or two of these can be exchanged.

  Thus, in the robot A according to this embodiment, when removing the inner roller 29 from the table main body 24, the roller main body 29a can be removed upward by using a bar-shaped jig or the like. Further, when attaching the inner roller 29 to the table body 24, it is only necessary to align both ends of the central shaft portion 29b of the inner roller 29 with the bearing portions 32a and 32b and press the roller body 29a downward with a jig. For this reason, the inner roller 29 can be easily attached to and detached from the table main body 24.

  Furthermore, since the outer rollers 27 and 28 and the inner roller 29 can be replaced while the suction device B is still installed on the upper surface of the table body 24, the operation becomes extremely easy. Further, since the bearing portions 32a and 32b are made of MC nylon elastic members, even if a strong impact is applied from the shutter 37 to the inner roller 29, the impact can be absorbed by the bearing portions 32a and 32b. Furthermore, since the width of the upper opening of the bearing portions 32a and 32b is made shorter than the diameter of the central shaft portion 29b of the inner roller 29, the central shaft portion 29b of the inner roller 29 is prevented from being unexpectedly detached from the bearing portions 32a and 32b. it can.

  Further, since only one inner roller 29 is provided, the uppermost position of the shutter 37 is the upper end position of the inner roller 29. For this reason, the shutter 37 is not bent upward and does not contact the protective covers 31a and 31b. As a result, the shutter 37 and the protective covers 31a and 31b can be prevented from rubbing against each other and being damaged. Further, when adjusting the tension of the shutter 37, it is not necessary to pull both ends of the shutter 37 strongly, so that the adjustment operation of the shutter 37 is facilitated. Furthermore, since the outer rollers 27 and 28 are exchanged together with the roller support members 25 and 26, an operation of attaching the outer rollers 27 and 28 to the roller support members 25 and 26 is not necessary.

(Modification)
FIG. 13 shows a state in which the inner roller 49 is attached to the table body 44 provided in the robot according to the modification of the embodiment described above. The robot according to this modification has a larger left and right width than the robot A described above, and the width of each part constituting the robot is also increased according to the width. The table main body 44 includes a member installation portion 44a located on both the left and right sides, and a roller support portion 44b located between the two member installation portions 24a. The upper surface of the member installation part 44a is configured by a horizontal plane that is higher than the upper surface of the roller support part 44b.

  The front end side portion and the rear end side portion on the upper surface of the roller support portion 44b are configured by inclined surfaces that are inclined downward from the center side in the front-rear direction toward the front and rear end portions, and on the upper surface of the roller support portion 44b. The center side part of the front-back direction is comprised by the horizontal surface. And the roller accommodating recessed part 45 extended in the left-right direction is formed in the center part of the front-back direction in the upper surface of the roller support part 44b. The roller accommodating recess 45 includes a pair of bearing portions 45a located on both the left and right sides, a pair of interference preventing grooves 45b located on the inner sides of the pair of bearing portions 45a on both the left and right sides of the roller accommodating recess 45, and a pair of interferences. The shaft support groove 45c is located between the prevention grooves 45b.

  The pair of bearing portions 45 a has the same configuration as the bearing portions 32 a and 32 b described above, and is installed in a bearing portion mounting recess formed in the table body 44. Each of the pair of interference prevention grooves 45b is a groove having a shorter length in the left-right direction than the interference prevention groove 24f described above. The shaft support groove 45c is formed by an elongated groove connecting the pair of interference prevention grooves 45b, and is located at substantially the same height as the pair of bearing portions 45a. The inner roller 49 includes a pair of cylindrical roller main bodies 49a, a central shaft portion 49b penetrating the pair of roller main bodies 49a, and both ends of the pair of roller main bodies 49a and the central shaft portion 49b. It is comprised with the four bearings 49c installed.

  The inner roller 49 has the pair of roller main bodies 49a positioned in the pair of interference prevention grooves 45b, and the central portion of the central shaft portion 49b is positioned in the shaft support groove 45c. Both end portions of the first and second end portions are pushed into the pair of bearing portions 45 a and assembled to the table body 44. As for the outer rollers, those provided with a pair of roller main bodies may be installed in front of and behind the table main body 44 in accordance with the inner rollers 49, or those provided with one long roller main body. You may install before and after 44. The configuration of the other parts of the robot including the table main body 44 and the inner roller 49 is the same as that of the robot A described above.

  Since it comprised in this way, the suitable inner roller 49 can be attached in the robot provided with the shutter and slider with a large width | variety. That is, by including the pair of roller main bodies 49a in the inner roller 49, it is possible to solve the problem that the strength of the inner roller 49 becomes insufficient or the inner roller 49 is expensive. Other functions and effects of this modification are the same as those of the above-described embodiment.

(Other variations)
FIG. 14 shows a table unit 53 provided in a robot according to another modification of the embodiment described above. In the table portion 53, the length of the table body 54 in the front-rear direction is set longer than the length of the table body 24 in the front-rear direction. A pair of bearing portions 55 and a pair of bearing portions 56 provided on the left and right sides of the table main body 54 are provided on the upper surface of the table main body 54 so as to be spaced apart from each other. 58 is supported, and the inner roller 59 is supported by the pair of bearing portions 56. Although not shown, the protective cover is elongated in the front-rear direction according to the length of the table body 54 in the front-rear direction. About the structure of the other part of the robot which concerns on this modification, 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.

  When only one inner roller is attached to a table body having a long length in the front-rear direction, in order to prevent the shutter 37 from contacting the table body, the inclined surfaces formed on the front and back of the upper surface of the table body are It will be necessary to make it longer. However, if the length of the inclined surface is increased in the front-rear direction as described above, the strength of the table body is decreased. For this reason, by providing the two inner rollers 58 and 59 in the table main body 54, it is not necessary to lengthen the length of the inclined surface in the front-rear direction, whereby the strength of the table main body 54 can be maintained. Three or more inner rollers can be installed on the table body. According to this, it is possible to obtain a robot including a number of inner rollers corresponding to the table body having a long length along the moving direction.

(Second Embodiment)
Furthermore, although illustration is omitted, as the second embodiment of the present invention, the outer roller can be attached to the lower surface of the table body or the front surface and the rear surface of the table body via the bearing portion. According to this, not only the inner roller but also the outer roller can be easily attached to and detached from the table body. Further, since the roller support member is not necessary, the number of parts can be reduced and the cost can be reduced.

  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 embodiments and modifications, the bearing portions 32a, 32b, 45a, 55, and 56 are made of MC nylon elastic members. However, as the materials that make up the bearing portions 32a and 32b, Not limited to this, other materials may be used. However, it is preferable to use a deformable material having elasticity. Further, the shape of the bearing portions 32a, 32b and the like can be changed as long as the shape can support the ends of the central shaft portions 29b and 49b.

  In the above-described embodiment, the opening 15 is positioned on the upper surface of the case member 10, but the robot A or the like according to the present invention can be installed in various directions, for example, as described above. When installed upside down from the embodiment, the opening 15 is positioned on the lower surface of the case member 10. Further, in the above-described embodiment, the robot A is operated by the driving device 35 including the ball screw 17. However, the robot according to the present invention is not limited to this, and various types, for example, linear motors are used. Including those operated by a driving device. Further, the configuration of the 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, 20 ... Slider, 24a, 44a ... Member installation part, 27, 28 ... Outer roller, 27a, 28a, 29a, 49a ... Roller main body, 27b, 28b, 29b, 49b ... Central shaft part 29, 49, 58, 59 ... inner rollers, 32a, 32b, 45a, 55, 56 ... bearings, 37 ... shutters, A ... robots, B ... suction devices.

Claims (2)

A case member having a long opening formed on the upper surface;
A shutter in which both ends are detachably fixed to both ends in the longitudinal direction of the case member in a state where the opening of the case member is closed from the outside,
A slider attached to the case member in a movable state in the longitudinal direction of the case member;
In a robot provided with a plurality of rollers provided rotatably on the slider in contact with the shutter and changing the interval between the shutter and the edge of the opening.
Each of the plurality of rollers includes a central shaft portion and a roller body, and the outer rollers that press the shutter against the edge of the opening on both sides in the moving direction of the slider; An inner roller that separates the shutter from the edge of the opening,
A pair of bearing portions provided with recesses for pressing both end portions of the central shaft portion of the inner roller downward from above on the upper surface of the slider, and a lower portion of the roller body of the inner roller located inside the pair of bearing portions An interference prevention groove comprising a portion that can accommodate the lower portion of the roller body of the inner roller and a portion that extends on both sides in the direction of movement of the slider. To support the shaft,
Furthermore, a member installing portion is provided on both sides of the inner roller in the width direction orthogonal to the moving direction of the slider on the upper surface of the slider, a predetermined member is installed on the upper surface of the member installing portion, A gap is formed between the central portion in the width direction and the predetermined member so that the inner roller can pass between the interference prevention groove and the outside of the slider in the moving direction of the slider. Robot characterized by.   2. The robot according to claim 1, wherein a bearing portion mounting recess is formed in the slider, and the bearing portion is formed of an elastic member made of a resin material installed in the bearing portion mounting recess.