JPH08187685A - Linear moving robot - Google Patents

Abstract

PURPOSE: To provide a linear moving robot wherein a mounting position can be freely determined even without considering a position of a motor. CONSTITUTION: A device comprises a rectangular parallelopiped-shaped guide 12, slider 14, ball screw 20 connected to the slider, gear cutting shaft 26 arranged along the guide 12 further to be rotatably provided and a motor 44 made movable along the gear cutting shaft 26 further to rotate it, to move the slider 14 by driving the motor 44.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot, and more particularly to a linear mobile robot in which a slider moves linearly.

[0002]

2. Description of the Related Art Conventionally, there is a linear movement type robot which carries out work by attaching a hand device for carrying out work to a slider and moving the slider to a predetermined position.

As one of such linear mobile robots, there is a linear mobile robot 100 as shown in FIG.

In this linear mobile robot 100, a ball screw 104 is rotatably arranged inside a rectangular parallelepiped guide 102, and one end of the ball screw 104 has a guide 102.
Projecting from. Further, a slider 106 that linearly moves along the guide 102 is arranged, the female screw portion of the slider 106 and the ball screw 104 are screwed together, and the slider 106 moves when the ball screw 104 rotates.

The motor 1 is provided outside one end of the guide 102.
No. 08 is attached so as to protrude from the guide 102, and the rotation shaft of the motor 108 and one end of the ball screw 104 that protrudes are connected via a timing belt 110.

As a result, the linear mobile robot 100 is provided.
Causes the ball screw 104 connected by the timing belt 110 to rotate by rotating the motor 108,
The slider 106 moves along the guide 102.

[0007]

In the linear mobile robot 100 as described above, the guide 1 is used as described above.
Since the motor 108 is projected from one end of 02, when the robot 100 is attached to the work place,
The position of this motor 108 is the decisive factor for the arrangement. That is, as shown in FIG. 5, when the obstacle 112 exists, the motor 108 cannot be arranged at that position, so that the mounting position of the robot 100 is limited.

In particular, the linear mobile robot 100 has two
When using a platform to configure a Cartesian robot,
It is necessary to attach one of the robots 100 (hereinafter, referred to as X-axis robot 100) to the robot 100 that configures the other axis (hereinafter, referred to as Y-axis robot 100).

In this case, when the Y-axis robot 100 is attached to the upper part of the X-axis robot 100 at the other end side of the guide 102 opposite to the mounting position of the motor 108, the guide 102 of the Y-axis robot 100. There is a problem that the life of the guide 102 is shortened because the load applied to the guide increases.

Therefore, in view of the above problems, the present invention provides a linear mobile robot which can freely determine the mounting position without considering the position of the motor.

[0011]

According to a first aspect of the present invention, there is provided a linear mobile robot, wherein the guide is a rectangular parallelepiped, a slider is movable along the guide, and the slider is rotatably provided inside the guide. And a ball screw connected to
The rotary shaft is arranged along the guide and is rotatably provided on the guide, the connecting member, and a motor movable along the rotary shaft and rotating the rotary shaft. By driving the motor, the rotary shaft and the ball screw are rotated to linearly move the slider.

[0012]

[Operation] The linear mobile robot having the above configuration will be described.

When moving the slider, the motor is driven to rotate the rotary shaft and the ball screw, thereby linearly moving the slider.

When determining the mounting position of the robot, in order to prevent the motor from hitting the obstacle, the motor is moved along the rotating shaft so that the motor and the obstacle do not overlap with each other. In this case, the rotary shaft is always rotated by the motor, so that the slider can be moved even if the motor is provided at any position on the rotary shaft.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A linear mobile robot 10 according to an embodiment of the present invention will be described below.

Reference numeral 12 is a rectangular parallelepiped guide. On both side surfaces 12a, 12b of the guide 12, a T-shaped groove 22,
Two 24 are provided in parallel.

Reference numeral 14 is a slider that can move along the longitudinal direction of the rectangular parallelepiped guide 12, and
Slide on a pair of rails 16 and 16 provided on the bottom surface of the. Further, a female screw portion 18 is provided at the center of the slider 14 along the moving direction.

Reference numeral 20 is a ball screw rotatably arranged inside the guide 12. Ball screw 20
Is screwed into the female screw portion 18 of the slider 14,
The front end of the guide 12 projects from the front of the guide 12.

Reference numeral 26 is a gear cutting shaft rotatably provided along the left side surface of the guide 12. The gear cutting shaft 26 is attached to a pair of bearing portions 28 and 30 protruding from the front surface and the rear surface of the guide 12. Further, the gear shaft 26 projects from the bearing portion 28, and the pulley 32 is provided on the projecting portion. Further, a pulley 34 is provided at the front end portion of the ball screw 20 protruding from the guide 12, and both pulleys 32, 34 are connected by a timing belt 36.

Reference numeral 38 is a motor mount which is movable along the left side surface of the guide 12. The motor mount 38 is movable along the groove 22 provided on the left side surface of the guide 12, and can be fixed to an arbitrary position of the groove 22 by a bolt 40. A gear shaft 26 is rotatably passed through the motor mount 38, and a pulley 42 is provided at that position. The pulley 42 is rotatably fixed to the motor mount 38 and rotates together with the gear shaft 26.

Reference numeral 44 is a motor provided on the motor mount 38. A pulley 46 is provided on the rotating shaft of the motor 44, and is connected to the pulley 42 by a timing belt 48.

The linear mobile robot 10 having the above structure will be described.

When the robot 10 is attached to the work place, the motor mount 38 is provided in the groove 2 in order to prevent the motor 44 from hitting the obstacle 50, as shown in FIG.
Move along 2 and secure with bolts 40 in place.

When the slider 14 is moved, the motor 44 is rotated. When the motor 44 is rotated, the gear cutting shaft 26 connected by the timing belt 48.
Rotates, and the ball screw 20 also connected by the timing belt 36 also rotates. As a result, the slider 14 moves linearly.

As described above, in the linear mobile robot 10 according to the present embodiment, the motor 44 is set at an arbitrary position, for example,
Since it can be used by moving it to a position such as the chain double-dashed line in FIG. 1, the linear mobile robot 10 can be attached to the target position even if there is an obstacle in the work space. Therefore, when two linear mobile robots 10 are used to form a rectangular coordinate system, the two robots can be combined and attached to the guide 12 at a position where no load is applied.

[0026]

As described above, according to the linear mobile robot of the present invention, the motor can be attached to any position of the guide. Therefore, even if there is an obstacle in the work place, the motor should be attached avoiding the obstacle. The robot can be mounted at the desired position.

[Brief description of drawings]

FIG. 1 is a plan view of a linear mobile robot showing an embodiment of the present invention.

FIG. 2 is a sectional view taken along line AA in FIG.

FIG. 3 is an explanatory diagram showing a state in which the robot of this embodiment is attached to a work place.

FIG. 4 is a plan view of a conventional linear mobile robot.

FIG. 5 is an explanatory diagram when a conventional linear mobile robot is attached to a work place.

[Explanation of symbols]

 10 linear movement type robot 12 guide 14 slider 16 rail 18 female screw portion 20 ball screw 26 gear cutting shaft 38 motor mounting base 44 motor

Claims (1)

[Claims] 1. A guide on a rectangular parallelepiped, a slider moving along the guide, a ball screw rotatably provided inside the guide and connected to the slider, and arranged along the guide, and The rotary shaft is rotatably provided on the guide, a connecting member that connects the rotary shaft and the ball screw, and a motor that is movable along the rotary shaft and that rotates the rotary shaft. A linear movement robot that drives the motor to rotate the rotary shaft and the ball screw to linearly move the slider.