JPH10217165A - Straight moving robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a straight moving robot embodied in a small configuration in which bellows are not protruded from the outer side faces. SOLUTION: A straight moving robot is embodied is a small construction composed of a frame 2 in rectangular parallelepiped to serve as a holder for robot 1, a slider 2 to make a straight motion is a longitudinal direction of the frame 2, a slider moving member arranged in the moving direction from one end of the frame 2 to the other end or near thereto, a motor 7 furnished at one end of the frame 2 and coupled with a ball screw, and dust-proofing bellows 5 and 6 which are mounted on the oversurface of the frame 2 and in its inside, are held on the two side faces of the slider 3 about the moving direction and the two side faces or near thereto of the frame 2 about its longitudinal direction, and can be expanded and contracted with slider 3 motions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot having a slider that moves linearly on a rectangular parallelepiped frame and having a bellows for dust prevention on the upper surface of the frame.

[0002]

2. Description of the Related Art Conventionally, a lateral outer surface and an upper surface (excluding a slider) of a frame are covered with bellows in order to prevent dust and dust in the air from entering the robot and grease from scattering. There is a linear moving robot.

FIGS. 4 and 5 show an example of a conventional example. In the description of this figure, reference numeral 10 denotes a bellows formed in an accordion shape, and the bellows 10 is attached so as to cover the upper surface of the frame 2b and side surfaces in the short direction except for the upper surface of the slider 3b. And the slider 3b
Are held on both side surfaces in the moving direction of the frame 2b and the longitudinal side surfaces of the frame 2b.

In such a configuration, one of the bellows is contracted by the linear movement of the slider 3b in the axial direction, and the other bellows is extended accordingly.

[0005] As described above, the bellows 10 is deformable so as to be able to expand and contract. By covering the frame 2b with the bellows 10, dust and dust do not enter the frame, and it is possible to prevent backlash and scattering of grease due to wear of sliding parts such as ball screws and shafts.

[0006]

In the robot having the above structure, since the entire frame is covered with bellows, the size of the robot is increased by the bellows and the price of the bellows is increased. there were.

The present invention has been made in view of such circumstances, and the bellows do not protrude from the outer surface of the frame, so that the outer dimensions of the robot can be reduced.
Another object is to provide an inexpensive linear moving robot.

[0008]

According to a first aspect of the present invention, there is provided a robot having a substantially U-shaped cross section and a rectangular parallelepiped frame as a holding body of a robot, and a slider linearly moving along the longitudinal direction of the frame. A slider moving member provided along the moving direction from one end of the frame to the other end or near the other end, and provided at one end of the frame;
A driving motor engaged with the moving member, mounted on the upper surface and inside of the frame, and held on both sides in the moving direction of the slider and on both sides or sides in the longitudinal direction of the frame; And a dust-proof bellows that can be extended and contracted by the movement of the robot.

According to a second aspect of the present invention, a rectangular parallelepiped frame having a substantially U-shaped cross section, which is a holding body of the robot,
A ball screw provided along the moving direction from one end of the frame to the other end or the vicinity of the other end, a slider linearly moved along the longitudinal direction of the frame by the ball screw, and a slider provided at one end of the frame A driving motor connected to a ball screw, mounted on the upper surface and inside of the frame, and held on both sides in the moving direction of the slider and on both sides or in the vicinity of the longitudinal direction of the frame to move the thruster. The robot is made up of a dustproof bellows that can be extended and retracted.

According to a third aspect of the present invention, there is provided a frame which is a holding body of a robot and has a substantially U-shaped cross section and a rectangular parallelepiped shape, and a timing provided from one end to the other end or near the other end of the frame. A belt, a slider that linearly moves along the longitudinal direction of the frame by the timing belt, a driving motor provided at one end of the frame, and connected to the timing belt via a toothed pulley, A linear movement that is mounted on the top and inside of the frame, and is held on both sides in the moving direction of the slider and on both sides or near the sides in the longitudinal direction of the frame, and is made up of a dustproof bellows that can be extended and contracted by moving the thruster. Type robot.

By using a robot having such a configuration, the size of the robot can be made smaller than before, and the cost is reduced, thereby solving the problem.

[0012]

When the slider moves in the axial direction, one bellows contracts and the other bellows extends. in this way,
Even if the slider moves, the upper surface of the frame is covered with bellows, thereby preventing intrusion of dust and dust and scattering of grease.

By preventing the intrusion of dust and the like, wear of rotating parts and sliding parts such as ball screws, timing belts and rails can be prevented. Since the lower part of the bellows is housed in the frame, the legs formed at the lower part have a function of a guide, and expand and contract in the axial direction without the bellows coming off.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A linear moving robot according to an embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is a perspective view of a linear moving robot showing one embodiment of the present invention, FIG. 2 is a partial side view of the linear moving robot showing one embodiment of the present invention, and FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is AA sectional drawing of the linear movement type | formula robot which shows one Example of invention.

Reference numeral 1 denotes a linearly movable robot according to the present embodiment, in which a slider 3 linearly moves right and left on the upper surface and inside of a rectangular parallelepiped frame 2.

Reference numeral 4 denotes a ball screw. The ball screw 4 is rotatably held via a bearing on a side plate and a support plate disposed near the end surface of the frame 2 in the longitudinal direction and near the end surface. A ball nut 13 fixed to the slider 3 is screwed to the ball screw 4, and the slider 3 is in contact with a rail 9 fixed to the inner bottom surface of the frame 2 at a contact portion 11.

Reference numerals 5 and 6 denote bellows. This bellows A5,
The bellows B6 is provided on the upper and inner surfaces of the frame, and is formed by accordion-like bending. The central portion of the leg 12 provided below the bellows has a substantially concave shape. The bellows 5 and 6 are held on both side surfaces of the slider 3 and at and near the ends of the frame 2 in the longitudinal direction. The two legs 12 are arranged near the inner side surface of the frame.

Reference numeral 7 denotes a driving motor built in the left end of the frame 2. The ball screw 4 is connected to the rotation shaft of the motor 7 via a coupling. The motor 7 is connected to a control unit.

Reference numeral 8 denotes a cover. The cover 8 is arranged so as to cover the bellows 5, 6 and the upper surface of the slider 3 excluding the mounting portions on both sides, and is fastened to the frame.

In such a configuration, the drive motor 7 is rotated by a command from the control unit, and the ball screw 4 is rotated by the rotation of the motor 7 to move the slider 3 in the axial direction. Due to the movement of the slider 3, one bellows 5 fixed to both side surfaces of the slider 3 and the frame 2 extends, and the other bellows 6 contracts accordingly.

As described above, since the bellows A5 and B6 cover the upper surface of the frame 2, dust and dust are prevented from entering the frame 2 and wear of the rotating part and the sliding part is prevented. . Also, by inserting the leg 12 of the bellows into the frame 2, the leg 12 serves as a guide and the bellows A5
, B6 do not come off.

Although the cover 8 is mounted on the bellows 5 and 6 in this embodiment, a robot without a cover may be used.

Next, the robot according to the first aspect will be described. The bellows cover the frame and are mounted on both sides of the slider and on both sides or near the end of the frame. The difference is that the transmission member includes a ball screw, a timing belt, and the like as the member.

In the robot according to the third aspect, the robot uses a timing belt as a transmission member for moving the slider. Both ends of the timing belt are fixed to the slider of this robot, and one toothed pulley is provided near each end of the frame. The two toothed pulleys mesh with a timing belt, and one toothed pulley is mounted on a motor. With such a configuration, the rotation of the motor can be transmitted to the slider via the timing belt. The structure of the bellows portion is the same as in the above embodiment.

As described above, the robot of the present invention has no bellows on both outer side surfaces in the short direction of the frame 2, so that the outer dimensions can be reduced. Can be saved.

There are linearly moving robots in which a motor for driving the slider is built in the slider and those in which a spline shaft is arranged in parallel with the ball screw. The bellows can be applied to such a robot.

[0028]

As described above, the linear movement type robot according to the present invention has a bellows disposed only on the upper surface and the inner surface of the frame, so that the size and cost of the robot can be reduced.

[0029]

[Brief description of the drawings]

FIG. 1 is a perspective view of a linearly movable robot showing one embodiment of the present invention.

FIG. 2 is a partial side view of the linearly movable robot showing one embodiment of the present invention.

FIG. 3 is a sectional view taken along line AA of the linearly movable robot showing one embodiment of the present invention.

FIG. 4 is a partial side view of a conventional linear movement robot.

FIG. 5 is a sectional view of a conventional linearly movable robot taken along line BB.

[Explanation of symbols]

 1, 1b ... linear movement type robot 2 ... frame 3 ... slider 4 ... ball screw 5 ... bellows A 6 ... Bellows B 7 Drive motor 8 Cover 9 Rail 10 Bellows C 11 Contact part

Claims (3)

[Claims] 1. A frame, which is a holding body of a robot and has a substantially U-shaped cross section and a rectangular parallelepiped shape, a slider that moves linearly along a longitudinal direction of the frame, and one end or the other end of the frame. A slider moving member provided along the moving direction to the vicinity of the portion, a driving motor provided at one end of the frame and engaging with the moving member, and mounted on the upper surface and inside of the frame. And a dust-proof bellows which is held on both sides in the moving direction of the slider and near both sides or the sides in the longitudinal direction of the frame and which can be extended and contracted by the movement of the thruster. 2. A cuboid frame having a substantially U-shaped cross section as a holding body of the robot, a ball screw provided along a moving direction from one end to the other end or near the other end of the frame, A slider linearly moving along the longitudinal direction of the frame by the ball screw; a driving motor provided at one end of the frame and connected to the ball screw; and a slider mounted on the upper surface and inside of the frame. And a dustproof bellows which is held on both sides in the moving direction of the frame and in the vicinity of both sides or sides in the longitudinal direction of the frame and which can be extended and contracted by the movement of the thruster. A frame having a substantially U-shaped cross section and a rectangular parallelepiped shape as a holding body of the robot; a timing belt provided from one end of the frame to the other end or near the other end in a moving direction; A slider linearly moving along the longitudinal direction of the frame by a timing belt; a driving motor provided at one end of the frame and connected to the timing belt via a toothed pulley; A linear movement type which is mounted inside and is held on both side surfaces in the moving direction of the slider and near both side surfaces or the side surfaces in the longitudinal direction of the frame, and is made of dustproof bellows which can be extended and contracted by moving the thruster. robot.