JPH0533278Y2 - - Google Patents

Description

[Detailed description of the invention] <Industrial application field> This invention relates to a dustproof device for a Cartesian coordinate robot, and more specifically, a dustproof sheet that covers the opening surface of a base casing that supports a slide base in a reciprocating manner. The present invention relates to a dust prevention device for an orthogonal coordinate robot in which the dust is guided into the slide base by guide rolls.

<Prior art and problems to be solved by the invention> Conventionally, as a type of industrial robot, a Cartesian coordinate robot that can easily cope with an increase or decrease in the number of axes has been provided.

A Cartesian coordinate robot is capable of reciprocating a slide base with at least a portion of it protruding from a base casing that is open on one side.For example, a ball screw installed inside the base casing can be The ball screw is inserted into the ball screw nut of the slide base, and by controlling the direction and amount of rotation of the ball screw, the slide base can be moved to a desired position. Further, a dust device is provided to prevent dust from entering the inside of the base casing housing the ball screw. The specific structure of this dustproof device is that a guide roll is provided inside the slide base, and the guide roll detours a part of the dustproof sheet that is stretched to cover the opening of the base casing.
The driving force can be transmitted well to the slide base by the ball screw, and good dustproof performance can be achieved by the dustproof sheet. (Utility Model Application Publication No. 62-174893 and U.S. Patent Specification No.
(See No. 4545290).

However, in the dust-proof device with the above configuration, the dust-proof sheet is tensed to a tens of kilograms in order to improve its dust-proofing effect, so the dust-proof sheet stretches over time, resulting in insufficient dust-proofing. It becomes ineffective. Therefore, it is necessary to periodically adjust the tension applied to the dustproof sheet to achieve a good dustproofing effect, which poses a problem in that the work becomes complicated.

In addition, the above problem can be reduced by increasing the tension applied to the dustproof sheet, but this will cause an excessive load to be applied to the guide rolls that bypass the dustproof sheet, so the sliding base There is a problem in that it becomes extremely difficult to smoothly reciprocate, and furthermore, applying excessive tension shortens the life of the dustproof sheet.

In either case, there is a problem in that when a work tool or the like is placed on the dust-proof sheet, the dust-proof sheet flexes considerably, increasing the possibility that the entire structure will be damaged.

<Purpose of the invention> This invention was made in view of the above problems, and the purpose is to provide a dust prevention device for a Cartesian coordinate robot that can exhibit sufficient dust prevention effects without applying excessive tension. It is said that

<Means for Solving the Problems> In order to achieve the above object, the dust prevention device in the orthogonal coordinate robot of this invention is arranged so that the dust prevention device in the reciprocating direction of the slide base 6 is positioned directly under the dust prevention sheet in the non-detour state. The slide base has a support elongate body extending from the slide base to a predetermined position, and a support elongate body insertion hole is formed at a predetermined position of the slide base.

However, as the supporting elongated body, various structures such as wire ropes and rods can be used as long as they have poor elasticity, and various materials can also be used. The supporting elongated bodies can be placed at any location, but it is preferable to set them directly under the center of the dustproof sheet, and the number of supporting elongated bodies is 1.
It can be a book or multiple books. Further, the dust-proof sheet may be any sheet having sufficient tensile strength and flexibility, such as a metal sheet formed into a thin plate or a plurality of synthetic resin sheets laminated and integrated.

<Function> With the dustproof device having the above configuration, when the slide base is reciprocated via the driving force transmission mechanism housed in the base casing, the dust is diverted by the guide roll and guided into the slide base. The detour point of the dustproof sheet moves following the reciprocating movement of the slide base. Therefore, if the slide base reciprocates many times, the dustproof sheet, which was initially under a certain tension, will stretch in the longitudinal direction, and if this condition continues for a certain period, it will sag in the width direction. If left as is, it would not be possible to reliably cover the opening surface of the base casing, but in the dustproof device of this invention, a support elongate body is placed directly under the dustproof sheet in the non-detour state. Therefore, even if the dustproof sheet is stretched, it can be reliably prevented from sagging, and the dustproofing effect can continue to be sufficiently exerted.

<Embodiments> Hereinafter, the embodiments will be described in detail with reference to the attached drawings.

FIG. 3 is a vertical sectional view showing only one axis of a Cartesian coordinate robot incorporating the dust prevention device of this invention.

A ball screw 2 and a pair of guide rails 3 are housed inside a base casing 1 having a predetermined length, and both ends of a dustproof sheet 4 are fixed so as to cover the opening surface of the base casing 1. Furthermore, two wire ropes 8 are stretched in parallel to each other so as to be located directly below the dustproof sheet 4. A motor 5 for rotationally driving the ball screw 2 is provided at a predetermined position of the base casing 1. Further, it has a ball screw nut 6a that is screwed into the ball screw 2, and a guide rail 3.
A part of the slide base 6 having a linear slider 6b that engages with the slide base 6 protrudes from the base casing 1.

FIG. 1 is an enlarged central vertical cross-sectional view showing the main parts of the dustproof device, and shows a dustproof sheet insertion hole 6c in a predetermined position protruding from the base casing 1 of the slide base 6.
is formed, and a dustproof sheet insertion hole 6 is formed.
Four guide rolls 7 are provided at predetermined positions c. The guide roll 7 located at the end is provided at almost the same height as the opening surface of the base casing 1, and the remaining guide rolls 7 are located outward from the base casing 1. It is set up to do so. Therefore, the dustproof sheet 4 is wound around the guide roll 7 located at the end from below, and is wound around the remaining guide rolls 7 from above.

FIG. 2 is a longitudinal cross-sectional view showing the structure of the guide roll and the state in which the wire rope is inserted. Insertion holes 7a are formed at predetermined positions of the slide base 6 so as to face each other, and a fixed shaft 7b is formed between the insertion holes. is suspended horizontally. The elongated cylindrical body 7c having an inner diameter larger than the outer diameter of the fixed shaft 7b is connected to the fixed shaft 7b.
It is loosely inserted into the Further, a wire rope insertion hole 6d for inserting the wire rope 8 is formed. Further, as is clear from FIG. 2, the width of the dustproof sheet 4 is set smaller than the width of the dustproof sheet insertion hole 6c and larger than the opening width of the base casing 1.

The operation of the orthogonal coordinate robot having the above configuration is as follows.

When the motor 5 rotates the ball screw 2 by an arbitrary angle in either direction, the ball screw nut 6a screwed with the ball screw 2 converts it into a translational force, so that the slide base 6 can rotate at an arbitrary angle. Move to position.

In this case, the dustproof sheet 4 is detoured only between the guide rolls 7, so it continues to cover the opening surface of the base casing 1 and reliably prevents dust from entering. be able to. Furthermore, when the slide base 6 moves, the detour points of the dustproof sheet 4 move sequentially, and each guide roll 7 is subjected to a load due to the tension of the dustproof sheet 4. However, since the elongated cylindrical body 7c is rotatably loosely inserted into the fixed shaft 7b,
The load-bearing area becomes wider, preventing the load from concentrating on one part, and significantly improving durability. Further, as is clear from the above explanation, it is preferable that the outer diameter of the fixed shaft 7b and the inner diameter of the elongated cylinder 7c are approximate, but even if they are not necessarily approximate, they may change due to movement of the detour point. Long cylindrical body 7
This allows for smooth rotation. Therefore, the inconvenience that the load for moving the slide base 6 becomes particularly large does not occur.

Furthermore, if the dustproof sheet 4 stretches as a result of long-term use, the dustproof sheet 4 will sag and will no longer be able to completely cover the opening of the base casing 1. However, in the above embodiment, since the dustproof sheet 4 is supported by the two wire ropes 8, the opening of the base casing 1 can be kept covered by the dustproof sheet 4. Therefore, there is no need to increase the initial tension applied to the dustproof sheet 4 so that the life of the dustproof sheet 4 can be extended, and the slide base 6 can be smoothly reciprocated.

Furthermore, even if a work tool or the like is placed on the dustproof sheet 4, the dustproof sheets 4 and 2
Since it is supported by the real wire rope 8, it is possible to effectively suppress the amount of deflection from increasing, and as a result, it is possible to reliably eliminate the inconvenience of damage to the entire structure.

Note that this invention is not limited to the above-mentioned embodiments; for example, it is possible to use steel rods, chains, etc. in place of the wire rope 8, and it is also possible to change the number, spacing, etc. of the long support bodies. It is possible to make various other design changes without changing the gist of the invention.

<Effects of the invention> As described above, this invention provides a support elongate body that extends in the reciprocating direction of the slide base directly below the dustproof sheet, so even when the dustproof sheet is stretched, the opening of the base casing is prevented. It has the unique practical effect of being able to keep the dust-proof sheet covered, eliminating the need for tension adjustment while maintaining a good dust-proofing effect, and extending the life of the dust-proof sheet. play.

[Brief explanation of the drawing]

Figure 1 is an enlarged central vertical sectional view showing the main parts of the dustproof device, Figure 2 is a vertical sectional view showing the configuration of the guide roll and the wire rope insertion state, and Figure 3 is an orthogonal cross-sectional view showing the structure of the guide roll and the wire rope insertion state. FIG. 3 is a vertical cross-sectional view showing only one axis of the coordinate robot. 1...Base casing, 2...Ball screw, 4
...Dustproof sheet, 6...Slide base, 6a...
...Ball screw nut, 6d...Wire rope insertion hole, 8...Wire rope.

Claims (1)

[Scope of utility model registration request] A slide base 6 is provided to protrude from the opening surface of the base casing 1, and the slide base 6 is reciprocated by the driving force transmission mechanism 2, 6a housed in the base casing 1. In the orthogonal coordinate robot in which the dustproof sheet 4 covering the opening surface of the base casing 1 is detoured by the guide roll 7 and guided into the slide base 6, the dustproof sheet 4 in the non-detour state
It has a support elongate body 8 extending in the reciprocating direction of the slide base 6 so as to be located directly below the slide base 6, and a support elongate body insertion hole 6d is formed at a predetermined position of the slide base 6. A dust-proof device for orthogonal coordinate robots.