JPH1128693A - Uniaxial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the collision of a ceiling cover with a movable member caused by the deflection of the ceiling cover. SOLUTION: A uniaxial robot 1 is constituted by integrally housing a movable member 8 and driving means for unaxially moving the movable member 8 in a casing 2. The casing 2 consists of a frame 4 and a ceiling cover 3. Both the ends in the longitudinal direction of the ceiling cover 3 are installed on the frame 4. The ceiling cover 3 at its central lower face is provided with a guide 30 through a leg. The movable member 8 at its upper part is provided with a slide contact member 32 consisting of a resin material which is slide- contacting the guide 30. A slit-like accepting port 33 opened to a side is formed in the slide contact member 32. The guide 30 is interposed in the accepting port 33. Thus, the ceiling cover 3 is supported through the guide 30 and the slide contact member 32 in the course of moving the movable member 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a single-axis robot.

[0002]

2. Description of the Related Art Conventionally, a single-axis robot in which, for example, a movable member is moved along a rail by a ball screw mechanism and various tools according to the purpose can be mounted on the movable member is well known. .

In this kind of single-axis robot, a box-shaped casing accommodates a movable member and driving means such as the ball screw mechanism, and, for example, a movable member through a slit-shaped opening formed on the left and right sides of the casing. The tool mounting portion is configured to face the outside.

A casing generally includes a frame integrally having a bottom plate and a side wall, and a ceiling cover mounted on an upper portion of the frame. The casing is movable between an upper end of the side wall of the frame and the ceiling cover. A slit-shaped opening extending in the moving direction of the member is formed.

[0005]

In the single-axis robot as described above, since it is necessary to provide the slit-shaped opening as described above, the ceiling cover is generally placed in a state of being separated from the upper end of the side wall of the frame. It is designed to be attached to the frame at both ends in the longitudinal direction.

However, in the case of this structure, if the movable stroke of the movable member is long, the ceiling cover tends to bend under its own weight. If the deflection is large, the movable member and the ceiling cover partially collide with each other. It may cause abnormal noise or damage the ceiling cover and movable members. Therefore, it is conceivable to increase the thickness of the ceiling cover to increase the rigidity. However, this increases the weight of the robot and increases the cost, which is not always effective.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and has as its object to provide a single-axis robot capable of preventing a collision between a ceiling cover and a movable member due to bending of the ceiling cover. .

[0008]

According to the present invention, there is provided a ceiling cover in which a movable member movable in one axis direction and driving means for the movable member are housed in a casing, and the casing is attached to the frame at both ends in a single axis direction. A movable member provided with a sliding member that supports the ceiling cover and slides on the ceiling cover.

According to this configuration, the movable member slides while supporting the ceiling cover via the sliding contact member. for that reason,
A situation in which the flexure of the ceiling cover due to its own weight is suppressed and the movable member and the ceiling cover are always in sliding contact with each other even when the ceiling cover is slightly bent, and the movable member collides with the ceiling cover during movement. Can be effectively avoided.

Particularly, a guide member extending in a uniaxial direction is provided on the lower surface of the ceiling cover, and the sliding contact member is engaged with the guide member so as to regulate the vertical position, and the ceiling member is connected to the ceiling member via the guide member. If the cover is configured to be supported (claim 2), the vertical positional relationship between the ceiling cover and the movable member can be kept constant, so that the ceiling cover due to intermittent contact between the movable member and the ceiling cover. , Etc., can be avoided.

In this case, a substantially horizontal plate-like guide extending in a uniaxial direction is protruded from the lower surface of the ceiling cover as a guide member, and a protrusion having a substantially horizontal slit-like opening as a sliding contact member is moved by the movable member. By providing the plate-shaped guide in the upper part of the member and interposing the plate-shaped guide in the slit-shaped opening of the projecting portion (claim 3), it is possible to obtain the above-described operation and effect with a simple configuration.

[0012]

Embodiments of the present invention will be described with reference to the drawings.

FIGS. 1 to 3 show an example of a single-axis robot according to the present invention. As shown in these drawings, the single-axis robot 1 has an elongated casing 2 extending in one axis direction, and has a configuration in which a movable member 8 and a driving mechanism thereof are provided inside the casing 2. .

The casing 2 mainly comprises a frame 4 having a U-shaped cross section which forms the bottom and side walls of the casing 2 and a ceiling cover 3 disposed on the upper part thereof. It is configured to be mounted on the frame 4 at both ends in the longitudinal direction via the mounting portion 5.
The ceiling cover 3 and the frame 4 are both formed of a metal material such as aluminum or steel, and a certain gap is formed between the upper end of the side wall of the frame 4 and the ceiling cover 3 as shown in FIG. Mutually attached to be done. Thus, a slit-shaped opening 7 extending in the longitudinal direction is formed on both left and right sides of the casing 2. In addition,
In FIGS. 1 and 2, reference numeral 6 denotes a motor cover attached to one end of the frame 4.

The movable member 8 is provided so as to be movable in one axis direction inside the casing 2 and is driven by a motor 14 provided at one end of the casing 2.

More specifically, a pair of parallel fixed rails 1 extending in a uniaxial direction are provided on the bottom of the frame 4.
The movable member 8 is movably mounted on the fixed rail 10 via a slide unit 12.
Two large and small pulleys 18 and 22 that can rotate integrally are supported in the vicinity of the motor 14, and a timing belt 20 is mounted over the pulley 16 mounted on the output shaft of the motor 14 and the pulley 18. Pulley 2
A drive belt 26 is attached to the other end of the casing 2, that is, a pulley 24 disposed on the opposite side of the motor 14. Then, as shown in FIG. 3, the drive belt 26 is connected to the movable member 8 via a mounting member 9.

That is, when the motor 14 is driven to rotate in the forward and reverse directions, the rotation force is applied to the pulley 16 and the timing belt 2.
The movable member 8 is transmitted to the drive belt 26 via the pulleys 18 and 22 so that the drive belt 26 moves, whereby the movable member 8 reciprocates along the fixed rail 10.

As shown in FIG. 3, the movable member 8 has a tool mounting portion 11 for mounting various tools on the left and right sides thereof.
Are formed integrally, and the tool mounting portion 11 faces the outside of the casing 2 through the slit-shaped opening 7.

Here, as a feature of the single-axis robot 1, a thin plate-like guide 30 extending horizontally on both left and right sides via legs 29 is provided substantially in the center of the lower surface of the ceiling cover 3 over the moving range of the movable member 8. In addition, a sliding member 32 made of a resin material that slides on the guide 30 is provided above the movable member 8. The sliding contact member 32 is formed with a slit-shaped receiving opening 33 that opens laterally, and the guide 30 is interposed in the receiving opening 33. Thereby, the ceiling cover 3 is supported via the sliding contact member 32. In addition,
The vertical width of the receiving port 33 is set slightly wider than the thickness of the guide 30.

According to the single-axis robot 1 configured as described above, the motor 14 operates as described above, and the movable member 8 moves in the one-axis direction along the fixed rail 10 by receiving the rotation force. I do. During the movement of the movable member 8, the ceiling cover 3 is moved by the sliding member 32 and the guide 30.
Will be supported through. Therefore, the movable member 8
The moving stroke of the ceiling member 3 becomes longer due to its own weight, and the bending of the ceiling cover 3 becomes larger.
The movable member 8 does not partially collide with the ceiling cover 3 during the movement of the vehicle, and generation of abnormal noise due to such collision and damage to the ceiling cover 3 and the movable member 8 are effectively avoided. be able to.

In the above configuration, the guide 30 is provided on the ceiling cover 3 and the guide 30 is interposed in the receiving port 33 of the sliding member 32. However, as a simpler configuration, the guide 30 is provided. Instead, for example, a sliding contact member having an arc-shaped sliding contact surface on the upper portion may be provided on the upper portion of the movable member 8 to directly support the substantially central portion of the ceiling cover 3. Further, in this case, the sliding contact surface may be constituted by a rotatable roller or roller. However, in these configurations, for example, when the ceiling cover 3 is waving in the longitudinal direction, the sliding contact member and the ceiling cover 3 intermittently come into contact with each other, causing the ceiling cover 3 to vibrate. There are cases. Therefore, it is desirable to adopt the configuration as in the above embodiment. That is, according to the configuration of the above embodiment, the guide 30 is interposed in the receiving port 33 of the sliding member 32, and the positional relationship between the ceiling cover 3 and the movable member 8 is kept constant. The members and the ceiling cover 3 do not intermittently contact with each other and do not cause the ceiling cover 3 to vibrate.

In the above-described embodiment, the ceiling cover 3 is formed from a metal material, and the sliding contact member 32 is formed from a resin material.
2 may be appropriately selected so as to make the sliding contact more smoothly.

[0023]

As described above, according to the present invention, in an end axis robot in which a movable member movable in one axis direction and a driving means for the movable member are accommodated in a casing, the movable member supports the ceiling cover of the casing. The moving member has a long sliding stroke, and even if the ceiling cover flexes greatly due to its own weight, generation of abnormal noise due to the collision between the moving member and the ceiling cover. Alternatively, damage to the ceiling cover and the movable member can be effectively avoided.

In particular, a guide member extending in a uniaxial direction is provided on a lower surface of the ceiling cover, and the sliding contact member is engaged with the guide member so as to regulate the vertical position, and the ceiling member is interposed through the guide member. The cover is configured to support the cover. Specifically, a substantially horizontal plate-like guide extending uniaxially is protruded from the lower surface of the ceiling cover as a guide member, while a substantially horizontal slit-like opening is provided as a sliding contact member. If a projection having a projection is provided above the movable member, and the plate-shaped guide is interposed in the slit-shaped opening of the projection, the vertical positional relationship between the ceiling cover and the movable member can be improved. It can be kept constant, thereby avoiding the occurrence of vibration of the ceiling cover due to intermittent contact between the movable member and the ceiling cover.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing an example of an end-axis robot according to the present invention.

FIG. 2 is a sectional view taken along line AA of FIG. 1 showing the end-axis robot.

FIG. 3 is a sectional view taken along line BB of FIG. 1 showing the end axis robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Single axis robot 2 Casing 3 Ceiling cover 4 Frame 5 Cover mounting part 6 Motor cover 7 Opening 8 Movable member 9 Mounting member 10 Fixed rail 11 Tool mounting part 14 Motor 20 Timing belt 26 Drive belt 30 Guide 32 Sliding member 33 Receiving entrance

Claims (3)

[Claims] A movable member movable in one axis direction and a driving means for the movable member are accommodated in a casing, and the casing has a frame and a ceiling cover attached to the frame at both ends in the one axis direction. In the robot,
A single-axis robot, wherein the movable member is provided with a sliding contact member that supports the ceiling cover while slidingly contacting the ceiling cover. 2. A guide member extending in a uniaxial direction is provided on a lower surface of the ceiling cover, and the sliding contact member is engaged with the guide member so as to regulate a vertical position, and the ceiling is interposed through the guide member. The single-axis robot according to claim 1, wherein the single-axis robot is configured to support the cover. 3. A substantially horizontal plate-like guide extending in a uniaxial direction protruding from a lower surface of the ceiling cover as a guide member, and a protrusion having a substantially horizontal slit-like opening as a sliding contact member is provided on the movable member. The single-axis robot according to claim 2, wherein the plate-shaped guide is provided in an upper part of the robot, and the plate-shaped guide is interposed in a slit-shaped opening of the projecting portion.