WO2008001435A1 - Corps de structure de châssis et dispositif télescopique - Google Patents

Corps de structure de châssis et dispositif télescopique Download PDF

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Publication number
WO2008001435A1
WO2008001435A1 PCT/JP2006/312876 JP2006312876W WO2008001435A1 WO 2008001435 A1 WO2008001435 A1 WO 2008001435A1 JP 2006312876 W JP2006312876 W JP 2006312876W WO 2008001435 A1 WO2008001435 A1 WO 2008001435A1
Authority
WO
WIPO (PCT)
Prior art keywords
side wall
pair
frame structure
wall plates
fitting
Prior art date
Application number
PCT/JP2006/312876
Other languages
English (en)
Japanese (ja)
Inventor
Katsuyoshi Tachibana
Youichirou Yamamoto
Original Assignee
Hirata Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hirata Corporation filed Critical Hirata Corporation
Priority to PCT/JP2006/312876 priority Critical patent/WO2008001435A1/fr
Publication of WO2008001435A1 publication Critical patent/WO2008001435A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/30—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members controlled in conjunction with the feed mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • B23Q11/0825—Relatively slidable coverings, e.g. telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • B23Q2011/0808—Means for maintaining identical distances between relatively movable cover parts

Definitions

  • the present invention relates to a hollow frame structure applied to various robots or FA devices used in a manufacturing process of a machine or an electronic device, etc., and a telescopic device using a plurality of the frame structures. .
  • a frame structure that defines a part of various devices or a frame structure that supports or fixes various devices is formed of stainless steel, steel, or the like.
  • a plurality of beam-shaped frames having a rectangular, circular, H-shaped cross-section, etc. are connected by welding or bolt fastening, etc., and a steel plate is assembled to the connected frames as necessary to form a box as a whole
  • the frame type or the portal type formed a frame structure having another frame form.
  • high-tensile steel having high strength against tension and compression is known.
  • This high-strength steel is lightweight and has high strength, so it has been applied to bridges, hulls, automobile frames, etc. by forming it into a rectangular or circular cross-section beam.
  • high-strength steel is generally difficult to weld because its mechanical properties deteriorate due to heating, and because it has low bending rigidity when used as a flat plate, it can be used as an arm for robots or machine frame structures. The power was not used much.
  • a conventional telescopic robot extension device
  • a plurality of frame structures are coaxially nested into a telescopic shape, and a workpiece handling unit is held at the tip.
  • a workpiece handling unit is held at the tip.
  • the frame structure used in this robot consists of a plurality of (four) frames formed by connecting four plate-like members into a hollow quadrangular columnar shape (box shape) and covering each frame. End plate or top plate with integrated corner reinforcement, multiple (8) coupling plates fastened to the corner reinforcement by bolts, and multiple (8) side plates fastened to the coupling plates by bolts And a plurality of covers formed in a substantially octagonal box shape.
  • this frame structure is formed by a square pillar-shaped frame force plate member, and an octagonal cover is formed by 17 plate-shaped or notched plate-shaped members.
  • Patent Document 1 Japanese Patent No. 2983501
  • the present invention has been made in view of the circumstances of the above-described conventional technology.
  • the purpose of the present invention is to ensure mechanical strength while simplifying the structure and reducing the weight, etc. It is an object of the present invention to provide a hollow frame structure that is applied to various robots or FA devices used in the manufacturing process of electronic devices and the like, and a telescopic device using a plurality of the frame structures.
  • the frame structure of the present invention that achieves the above-described object has a pair of side wall plates and a pair of side wall plates that are substantially rectangular and whose outer peripheral edge is formed in a bent shape and are disposed to face each other.
  • a plurality of beam members which are formed to extend in opposite directions and connect the pair of side wall plates by at least four corner regions by concavity and convexity fitting.
  • the frame structure has a hollow structure formed by connecting a pair of side wall plates and a plurality of (at least four) beam members by concave-convex fitting, thereby simplifying the structure and reducing the weight. It is possible to ensure mechanical strength such as buckling strength and bending strength (bending rigidity) that can withstand vertical load or lateral load while achieving ⁇ . Therefore, a useful frame structure can be obtained in the field of mechanical structure.
  • the beam member may have a configuration in which a cross section perpendicular to the extending direction is formed in a bent shape. According to this configuration, it is possible to increase the bending strength (cross-sectional second moment, bending rigidity), etc. of the beam member with respect to the vertical load, etc., and to further increase the overall mechanical strength. Can be obtained.
  • the beam members are fitted to the pair of side wall plates and the contact portions that are in contact with the pair of side wall plates at both ends thereof.
  • a configuration in which the side wall plate has a mating protrusion and the side wall plate has a reinforcing rib formed by bending an outer peripheral edge thereof at a substantially right angle and a fitting hole into which the fitting protrusion is fitted can be adopted.
  • the plurality of beam members have the pair of side walls formed by fitting the fitting protrusions into the fitting holes of the pair of side wall plates while bringing the abutting portions into contact with the pair of side wall plates. Since it is firmly connected to the plate, a frame structure with high assembly rigidity can be obtained. In addition, since the pair of side wall plates have reinforcing ribs formed by bending at substantially right angles, the bending strength (second moment of section, bending rigidity) is increased. Therefore, the mechanical strength of the entire frame structure can be increased while achieving a reduction in the thickness of the pair of side wall plates.
  • the beam member is a reinforcing member in which the upright wall portion defining a substantially U-shaped cross section as a bent shape and the upper edge and the lower edge of the upright wall portion are bent.
  • a configuration having ribs can be employed.
  • the beam member since the beam member has the upright wall and the upper and lower reinforcing ribs, the bending strength (secondary moment of section, bending rigidity) is increased with a simple structure and shape. Therefore, it is possible to increase the mechanical strength of the entire frame structure while achieving thinning of the beam member.
  • the beam members are fitted to the pair of side wall plates and the contact portions that are in contact with the pair of side wall plates at both ends thereof. It has one of a mating protrusion, a female screw and a screw hole provided in the contact portion, and the side wall plate is fitted with a reinforcing rib formed by bending its outer peripheral edge substantially at a right angle, and a fitting protrusion. And the other of the female screw and the screw threaded hole formed at a position corresponding to one of the female screw and the screw threaded hole formed in the contact portion. It is possible to adopt a configuration formed of high-tensile steel plates.
  • the plurality of beam members are in contact with the pair of side wall plates while the contact portions thereof are in contact with each other.
  • the fitting projections are fitted into the fitting holes of the pair of side wall plates, and further tightened with screws, so that they are firmly connected to the pair of side wall plates, so that a more rigid frame structure with high assembly rigidity. Is obtained.
  • the pair of side wall plates have reinforcing ribs formed by bending at substantially right angles, the bending strength (secondary moment of section, bending rigidity) is increased. Therefore, the mechanical strength of the entire frame structure can be increased while achieving a reduction in the thickness of the pair of side wall plates.
  • the pair of side wall plates are formed of high-tensile steel plates, the mechanical strength can be further increased by that much, and light weight can be achieved.
  • An expansion / contraction device of the present invention that achieves the above object includes a plurality of frame structures that are coaxially nested on a predetermined axis, and a guide that allows the plurality of frame structures to expand and contract in a predetermined axial direction. And a drive mechanism that drives the plurality of frame structures to extend and contract, and the plurality of frame structures are formed in a substantially rectangular shape, and the outer peripheral edge thereof is formed in a bent shape, and is disposed in a pair facing each other. And a plurality of beam members that are formed by extending in a direction in which the pair of side wall plates face each other and that connect the pair of side wall plates by at least four corner regions by concave-convex fitting.
  • the frame structure when a plurality of frame structures that are coaxially nested on a predetermined axis are driven in one direction by the drive mechanism, the frame structure is expanded from the contracted state along the guide mechanism. Also, when driven in the reverse direction by the drive mechanism, the state force stretched along the guide mechanism will be in a contracted state, so that when the expansion / contraction direction is the vertical direction, as an elevating device or a telescopic arm of the robot, etc. Moreover, when the expansion / contraction direction is a horizontal direction, it can be applied as a transfer device or an expansion / contraction arm of a robot.
  • the frame structure has a hollow structure formed by connecting a pair of side wall plates and a plurality of (at least four) beam members by concave-convex fitting, the structure of the expansion and contraction device is simplified and light weight is achieved. It is possible to obtain an expansion / contraction device that secures mechanical strength such as buckling strength and bending strength (bending rigidity) that can withstand vertical load or lateral load while achieving heel.
  • the beam member may have a configuration in which a cross section perpendicular to the extending direction is formed in a bent shape.
  • the beam members are fitted to the pair of side wall plates and the contact portions that are brought into contact with the pair of side wall plates at both ends thereof.
  • the side wall plate may have a protrusion and a reinforcing rib formed by bending the outer peripheral edge thereof at a substantially right angle and a fitting hole for fitting the fitting protrusion.
  • the plurality of beam members have the pair of side walls formed by fitting the fitting protrusions into the fitting holes of the pair of side wall plates while bringing the abutting portions into contact with the pair of side wall plates. Since it is firmly connected to the plate, it is possible to obtain a telescopic device having a frame structure with high assembly rigidity. Also, since the pair of side wall plates have reinforcing ribs formed by bending at substantially right angles, the bending strength (second moment of section, bending rigidity) is increased. Therefore, it is possible to increase the mechanical strength of the entire expansion device while achieving the thinning of the pair of side wall plates.
  • the beam member is reinforced by bending the upright wall portion defining a substantially U-shaped cross-section as the bent shape, and the upper and lower edges of the upright wall portion.
  • a configuration having ribs can be employed.
  • the beam member since the beam member has the upright wall and the upper and lower reinforcing ribs, the bending strength (secondary moment of section, bending rigidity) is increased with a simple structure and shape. Therefore, it is possible to increase the mechanical strength of the entire telescopic device while achieving the thin plate of the beam member.
  • the beam member is fitted at both ends thereof with an abutting portion that abuts against the pair of side wall plates and a pair of side wall plates.
  • the side wall plate has one of a protrusion and a female screw and a screw hole provided in the contact portion, and the side wall plate is fitted with a reinforcing rib formed by bending its outer peripheral edge substantially at a right angle, and a fitting protrusion.
  • a pair of side wall plates having a fitting hole to be mated with each other, a female screw formed in the contact portion, and a female screw formed at a position corresponding to one of the screw through holes. It is possible to adopt a configuration formed of a high-tensile steel plate.
  • the plurality of beam members are fitted with the fitting protrusions in the fitting holes of the pair of side wall plates while the abutting portions are brought into contact with the pair of side wall plates, and further screwed. Therefore, it is firmly connected to the pair of side wall plates.
  • a telescopic device provided with a structure is obtained.
  • the pair of side wall plates have reinforcing ribs formed by bending at substantially right angles, bending strength (secondary moment of section, bending rigidity) is increased. Therefore, the mechanical strength of the entire telescopic device can be increased while achieving a reduction in the thickness of the pair of side wall plates.
  • the pair of side wall plates are formed of high-tensile steel plates, the mechanical strength of the frame structure can be further increased by that amount, and the weight of the expansion / contraction device can be achieved.
  • the plurality of frame structures may employ a configuration including a cover plate that covers the beam member from the outside.
  • the guide mechanism includes a plurality of guide units respectively provided on the pair of side wall plates of the plurality of frame structures, and the drive mechanism includes the beam members of the plurality of frame structures. It is possible to adopt a configuration including a plurality of drive units respectively provided in the.
  • the plurality of guide units and the plurality of drive units so as to be orthogonal to each other around a predetermined axis in which a plurality of frame structures are embedded in a nested manner. Can be positioned near a predetermined axis. Therefore, the expansion and contraction operations of the plurality of frame structures can be performed smoothly without unevenness.
  • the plurality of guide units are provided on the guide rails provided on the inner wall surfaces of the pair of side wall plates and the outer wall surfaces of the pair of side wall plates in each of the plurality of frame structures.
  • a configuration including a provided slider can be employed.
  • the guide unit is formed by the guide rail and the slider provided on the inner wall surface and the outer wall surface of the pair of side wall plates, the plurality of frame structures can be achieved while achieving simplification of the structure.
  • the frame structure disposed inside it is guided by the frame structure disposed outside the frame structure, so that the expansion / contraction operation can be performed.
  • the slider provided on the outer wall surface of the pair of side wall plates to be short, when the frame structure disposed on the inner side is in a state where the outer frame structure force protrudes and extends, the slider is not exposed. The weight can be reduced accordingly.
  • the plurality of drive units are disposed at positions that are alternately deviated to the left and right with respect to a predetermined center line in each of the plurality of frame structures as viewed from the telescopic direction.
  • the configuration can be adopted.
  • the plurality of drive units are fixed to the beam member, but are alternately deviated to the left and right with respect to the predetermined center line, so that they do not overlap each other even in a contracted state.
  • These drive units can be easily adjusted, maintained and inspected from the direction of expansion and contraction.
  • the frame structure and the telescopic device having the above-described configuration, the mechanical strength can be secured while achieving simplification and weight reduction of the structure, and it is used in the manufacturing process of machines or electronic devices.
  • the mechanical strength can be secured while achieving simplification and weight reduction of the structure, and it is used in the manufacturing process of machines or electronic devices.
  • FIG. 1 is an external perspective view showing an embodiment of a telescopic device including a frame structure according to the present invention.
  • FIG. 2 is an external perspective view showing a state in which the telescopic device shown in FIG. 1 is extended.
  • FIG. 3 is a perspective view of the telescopic device shown in FIG.
  • FIG. 4 is a plan view of the expansion device shown in FIG.
  • FIG. 5 is a perspective view showing a frame structure incorporated in the telescopic device shown in FIG. 1.
  • FIG. 6 is a partially enlarged view of a beam member forming a part of the frame structure shown in FIG.
  • FIG. 7 is a perspective view showing a frame structure incorporated in the telescopic device shown in FIG. 1.
  • FIG. 8 is a perspective view showing a frame structure incorporated in the telescopic device shown in FIG.
  • FIG. 9 is a perspective view showing a guide mechanism and a drive mechanism included in the telescopic device shown in FIG.
  • FIG. 10 is a longitudinal sectional view schematically showing the inside of the telescopic device shown in FIG. 1.
  • FIG. 11 is a schematic diagram showing a drive mechanism of the telescopic device shown in FIG. 1.
  • FIG. 12 is an external perspective view showing another embodiment of the telescopic device including the frame structure according to the present invention.
  • Knit Knit (drive mechanism)
  • Knit Knit (drive mechanism)
  • a telescopic device here, functioning as a lifting device
  • the frame structure according to the present invention is shown.
  • the telescopic device includes a first frame structure 10 and a second frame structure 20 as a plurality of frame structures that are coaxially nested on a predetermined axis L. , Third frame structure 30, fourth frame structure 40, and fifth frame structure 50, first drive unit 110, second drive unit 120, third drive unit 130, and fourth as drive mechanisms.
  • the first frame structure 10 is composed of a pair of side wall plates 11 and a pair of side wall plates that are arranged to face each other with a predetermined gap in an upright state.
  • Four beam members 12 and 12 '(two upper beam members 12 and two lower beam members 12 ⁇ are connected to each other by engaging and disengaging 11 and fastening screws in the four corner regions.
  • the pair of side wall plates 11 are made of a high-strength steel plate having a predetermined thickness (for example, about 6 mm) and have a substantially rectangular shape (for example, a plane extending in the vertical direction as shown in FIGS. 3 to 5)
  • An upper edge reinforcing rib 1 la and a lower edge formed by bending the outer peripheral edge of the outer peripheral edge with a bending force or the like and bending the upper and lower edges thereof at a substantially right angle.
  • the upright wall 12a and the upper edge of the upright wall 12a are bent at a substantially right angle so that the pair of side wall plates 11 extend in the opposite direction and the cross section perpendicular to the extending direction is substantially U-shaped.
  • the upper edge reinforcing rib 12b and the lower edge reinforcing rib 12c are formed in a shape in which the length protruding in the horizontal direction for holding the first drive unit 110 is appropriately changed as necessary.
  • the four beam members 12 and 12 are fitted into the contact holes 12e that respectively contact the pair of side wall plates 11 and the fitting holes l id of the pair of side wall plates 11 as shown in FIG.
  • a fitting protrusion 12f a female screw 12g into which the screw B is screwed, and a circular hole 12h through which the wiring of the drive mechanism is passed if necessary.
  • the upper two beam members 12 are provided with a fixing bracket 13 for fixing a motor 111 of a first driving unit 110 described later, and a first bracket described later.
  • a bearing bracket 14 that rotatably supports the lead screw 112 of the drive unit 110 is provided, and the two lower beam members 12 are formed as shown in FIG.
  • a bearing bracket 14 'for rotatably supporting 112 is provided.
  • the contact portions 12e positioned at both ends of the four beam members 12, 12' are used as a pair of side walls.
  • the fitting protrusions 12f are fitted into the fitting holes l id of the pair of side wall plates 11 while being in contact with the plate 11 (the inner wall surface thereof).
  • the screw B is passed from the outside of the pair of side wall plates 11 to the screw insertion hole l ie, screwed into the female screw 12g provided on the flange 12d of the beam members 12, 12 ′, and screwed.
  • the pair of side wall plates 11 are firmly connected via the four beam members 12 and 12 ′, and a solid first frame structure 10 having a high assembly rigidity and having a cubic outer contour is obtained.
  • the first frame structure 10 has a grease material or other material so as to cover the beam members 12 and 12 ′.
  • Two cover side plates 15 formed of a lightweight plate or the like are fastened by screws or the like.
  • a bottom plate (not shown) for closing the lower opening is fastened to the first frame structure 10 with screws or the like on the beam member 12.
  • the first frame structure 10 Is formed in a hollow structure.
  • the pair of side wall plates 11 has an upper edge reinforcing rib 11a, a lower edge reinforcing rib l ib, and a side edge reinforcing rib 11c formed by bending substantially at right angles, the bending strength (second moment of section) is obtained. (Bending rigidity) is increased, and the mechanical strength can be increased while achieving a reduction in the thickness of the pair of side wall plates 11. Further, since the pair of side wall plates 11 is formed of a high-strength steel plate, As a result, the mechanical strength of the first frame structure 10 can be further increased and a light weight can be achieved.
  • the first frame structure 10 is fixed at a predetermined position and serves as a base for movably supporting the other frame structures 20, 30, 40, 50. Therefore, since the substrate may be relatively heavy, a thick steel plate may be used as the material of the pair of side wall plates 11.
  • the second frame structure 20 has a pair of side wall plates 21 and a pair of side wall plates 21 that are unevenly fitted in the four corner regions, as in the first frame structure 10 described above.
  • Four beam members 22, 22 ' (the upper two beam members 22 and the lower two beam members 22') are provided to be connected by coupling and screw fastening.
  • the pair of side wall plates 21 is formed in the same manner as the above-described side wall plate 11, and as shown in FIGS. 2, 3, 4, and 7, using a high-strength steel plate having a predetermined thickness (for example, about 6 mm).
  • the upper edge reinforcing rib 21a and the lower edge reinforcing rib 21b which are formed in a substantially rectangular shape having a plane extending in the vertical direction and bent at a substantially right angle, and two side edge reinforcing ribs 21c, which are formed in the four corner regions,
  • the four beam members 22, 22 are molded using a stainless material, and a pair of side wall plates 21 face each other as shown in Figs.
  • the upright wall 22a and the upright wall 22a so that the cross section extending in the direction and perpendicular to the extending direction is substantially U-shaped.
  • a flange 22d that also functions as a contact portion is provided.
  • the upper two beam members 22 are provided with support brackets 23 that rotatably support sprockets 121 of the second drive unit 120 described later, As shown in FIG. 7, the lower two beam members 22 are supported by a support bracket 23 that rotatably supports a sprocket 122 of a second drive unit 120, which will be described later. 23 A screw is fastened to the lead screw 112 of the first drive unit 110. A fixing bracket 24 for fixing a nut 116 to be described later is provided.
  • the contact portions 22e located at both ends of the four beam members 22, 22' are used as a pair of side walls.
  • the fitting protrusions 22f are fitted into the fitting holes 21d of the pair of side wall plates 21 while being in contact with the plate 21 (the inner wall surface thereof).
  • the screw B is passed from the outside of the pair of side wall plates 21 to the screw insertion hole 21e, and is screwed into the female screw 22g provided on the flange 22d of the beam members 22 and 22 ′ to be screwed.
  • the pair of side wall plates 21 are firmly connected via the four beam members 22 and 22 ', and a rigid second frame structure 20 having a high assembly rigidity and having a cubic outer contour is obtained.
  • the second frame structure 20 should contain the second drive unit 120, as shown in Fig. 2, so as to cover the beam members 22 and 22 'from outside, Two cover side plates 25 formed of a lightweight plate, etc., and one cover upper plate 26 having a rectangular opening are fastened by screws or the like.
  • the second frame structure 20 is formed in a hollow structure that is coaxially nested on the vertical axis L inside the first frame structure 10 and penetrates in the vertical direction.
  • the upper edge reinforcing ribs 22b of the upper two beam members 22 eliminate the cover upper plate 26, and the second frame structure 20 contracts into the first frame structure 10 in the first frame structure 10. It may be formed so as to define a slight gap to allow relative movement with respect to the system structure 10.
  • the pair of side wall plates 21 has an upper edge reinforcing rib 21a, a lower edge reinforcing rib 21b, and a side edge reinforcing rib 21c formed by bending substantially at right angles, bending strength (second moment of section, (Bending rigidity) is increased, and the mechanical strength can be increased while achieving a reduction in the thickness of the pair of side wall plates 21. Further, since the pair of side wall plates 21 is formed of a high-tensile steel plate, only that much. The mechanical strength of the second frame structure 20 can be further increased and light weight can be achieved.
  • the third frame structure 30 is formed in substantially the same structure as the second frame structure 20 except that the third frame structure 30 is not provided with a component corresponding to the fixing bracket 24, and on the vertical axis L.
  • a pair of side wall plates 31 and four beam members 32 and 32 ′ (the upper two beam members are arranged as shown in FIG. 32 and two lower beam members 32mm.
  • the pair of side wall plates 31 is formed in a substantially rectangular shape having a plane extending in the vertical direction by using a high-strength steel plate having a predetermined thickness (for example, about 6 mm), and includes an upper edge reinforcing rib 31a and a lower edge. Reinforcing rib 3 lb, side edge reinforcing rib 31c, fitting hole 31d, screw through hole 3le, etc. are provided.
  • the upper two beam members 32 are provided with support brackets 33 for rotatably supporting sprockets 131 of a third drive unit 130 described later, As shown in FIG. 7, the lower two beam members 32 are provided with support brackets 33 ′ that rotatably support sprockets 132 of a third drive unit 130 described later.
  • the third frame structure 30 should accommodate the third drive unit 130 as shown in FIG.
  • two cover side plates 35 and one cover upper plate 36 having a rectangular opening are fastened with screws or the like so as to cover the beam members 32 and 32 'from the outside. ing.
  • the third frame structure 30 is coaxially nested inside the second frame structure 20 and is formed in a hollow structure penetrating in the vertical direction.
  • the upper edge reinforcing ribs 32b of the upper two beam members 32 eliminate the cover upper plate 36, and the second frame member 30 is contracted into the second frame member 20 in the state where the third frame member 30 is contracted into the second frame member 20. It may be configured to define a slight gap between the structures 20 to allow relative movement.
  • the pair of side wall plates 31 includes the upper edge reinforcing rib 31a, the lower edge reinforcing rib 31b, and the side edge reinforcing rib 31c, the bending strength (secondary moment of section, bending rigidity) is increased.
  • the mechanical strength of the side wall plate 31 can be increased while achieving a thin plate of the side wall plate 31, the third frame structure body can be increased by forming the pair of side wall plates 31 of high-tensile steel plate.
  • the mechanical strength of 30 can be further increased and light weight can be achieved.
  • the fourth frame structure 40 is formed in substantially the same structure as the third frame structure 30, and is arranged coaxially inside the third frame structure 30 on the vertical axis L. As shown in FIG. 7, it has a pair of side wall plates 41, four beam members 42, 42 ′ (two beam members 42 on the upper side and two beam members 42 on the lower side.
  • the pair of side wall plates 41 is made of a high-tensile steel plate having a predetermined thickness (for example, about 6 mm), is formed in a substantially rectangular shape having a plane extending in the vertical direction, and includes an upper edge reinforcing rib 41a and a lower edge Reinforcing ribs 4 lb, side edge reinforcing ribs 41c, fitting holes 41d, screw through holes 41e and the like are provided.
  • the upper two beam members 42 are provided with a support bracket 43 that rotatably supports a sprocket 141 of a fourth drive unit 140 described later, As shown in FIG. 7, the lower two beam members 42 are provided with support brackets 43 'for rotatably supporting sprockets 142 of a fourth drive unit 140 described later.
  • the fourth frame structure 40 Since the pair of side wall plates 41 and the four beam members 42, 42 are firmly connected by the concave-convex fitting and the screw fastening, the fourth frame structure 40 having high assembly rigidity can be obtained.
  • the fourth frame structure 40 includes two cover side plates formed of a grease material or other lightweight plate so as to cover the outer beam members 42 and 42 ′ that accommodate the fourth drive unit 140. 45 and one cover upper plate 46 having a rectangular opening are fastened by screws or the like.
  • the fourth frame structure 40 On the vertical axis L, the fourth frame structure 40 is coaxially nested inside the third frame structure 30 and has a hollow structure penetrating in the vertical direction.
  • the upper edge reinforcing ribs 42b of the upper two beam members 42 eliminate the cover upper plate 46, and the fourth frame structure 40 is contracted into the third frame structure 30 in the third frame structure 30. It may be formed so as to define a slight gap between the structures 30 to allow relative movement.
  • the pair of side wall plates 41 includes the upper edge reinforcing rib 41a, the lower edge reinforcing rib 41b, and the side edge reinforcing rib 41c, the bending strength (secondary moment of section, bending rigidity) is increased.
  • the side wall plate 41 can be made thin, and the mechanical strength can be increased.
  • the pair of side wall plates 41 are made of high-tensile steel plate, so that the fourth frame structure The mechanical strength of 40 can be further increased and light weight can be achieved.
  • the fifth frame structure 50 is formed in substantially the same structure as the fourth frame structure 40, and is arranged coaxially on the inner side of the fourth frame structure 40 on the vertical axis L. As shown in FIG. 8, a pair of side wall plates 51, four beam members 52, 52 ′ (the upper two beam members 52 and the lower two beam members 52 2 are provided.
  • the pair of side wall plates 51 are formed in a substantially rectangular shape having a plane extending in the vertical direction by using a high-strength steel plate having a predetermined thickness (for example, about 6 mm), and include an upper edge reinforcing rib 51a and a lower edge. Reinforcing ribs 5 lb, side edge reinforcing ribs 51c, fitting holes 51d, screw through holes 5le, etc. are provided.
  • the four beam members 52, 52 are made of stainless steel, and as shown in FIGS. 6 and 8, the upright wall 52a, the upper edge reinforcing rib 52b, the lower edge reinforcing rib 52c, the flange 52d, and the abutting portion 52e , A fitting protrusion 52f, a female screw 52g, and the like.
  • the upper two beam members 52 firmly fix the connection head 300 as shown in FIG.
  • the solid fifth frame structure 50 having high assembling rigidity can be obtained.
  • two beam members 52, 52 ′ for accommodating the main body portion of the coupling head 300 are formed of a resin material or other lightweight plate so as to cover the outer force.
  • the cover side plate 55 and the cover upper plate 56 are fastened with screws or the like.
  • the fifth frame structure 50 is arranged on the vertical axis L in a concentric manner inside the fourth frame structure 40 and has a hollow structure that opens downward.
  • the pair of side wall plates 51 includes the upper edge reinforcing rib 51a, the lower edge reinforcing rib 51b, and the side edge reinforcing rib 51c, the bending strength (secondary moment of section, bending rigidity) is increased.
  • the mechanical strength of the side wall plate 51 can be increased while achieving a thin plate of the side wall plate 51.
  • the pair of side wall plates 51 are formed of high-tensile steel plates, so that the fifth frame structure The mechanical strength of 50 can be further increased and light weight can be achieved.
  • the beam members 52 and 52, the upright wall 52a, the upper edge reinforcing rib 52b, and the lower edge reinforcing rib 52c Therefore, the bending strength (second moment of section, bending stiffness) is increased with a simple structure and shape. Therefore, the overall mechanical strength can be increased while achieving the thin plate of the beam members 52 and 52 ′.
  • the first drive unit 110 drives the second frame structure 20 so that it can be expanded and contracted (lifted up and down) relative to the first frame structure 10, and is shown in FIGS. 3, 4, 7, and 10.
  • the motor 111 fixed to the fixing bracket 13 of the beam member 12, the bearing bracket of the beam members 12 and 12 '14, and the lead screw (or ball screw) 112 provided so as to be rotatable.
  • two first drive units 110 are provided on both sides of the first frame structure 10, so that a drive force can be applied with a good lance.
  • the second frame structure 20 can be smoothly expanded and contracted (lifted and lowered).
  • the second drive unit 120 drives the third frame structure 30 so that the third frame structure 30 can be expanded and contracted (lifted up and down) relative to the second frame structure 20, and FIG. 3, FIG. 4, FIG. 9, FIG.
  • One end is connected to one end and the other end is connected to the beam member 12 of the first frame structure 10.
  • the end of the endless chain 123 is connected to one end and the other end is the third frame structure.
  • the beam member 32 of the body 30 is provided with a connecting member 125 or the like to be connected.
  • two second drive units 120 are provided on both sides of the second frame structure 20, so that a drive force can be applied with a good lance.
  • the third frame structure 30 can be smoothly expanded and contracted (lifted and lowered).
  • the third drive unit 130 drives the fourth frame structure 40 so that the fourth frame structure 40 can be expanded and contracted (lifted up and down) relative to the third frame structure 30, and FIG. 3, FIG. 4, FIG. 9, FIG. 11, the support brackets 33 and 33 of the beam members 32 and 32 ′, the sprocket 131 and 132 supported so as to be rotatable, the endless chain 133 wound around the sprocket 131 and 132, and the endless chain 133
  • One end is connected to a part and the other end is connected to a beam member 22 'of the second frame structure 20, and one end is connected to a part of the endless chain 133 and the other end is a fourth frame.
  • the beam 40 of the structure 40 is provided with a connecting member 135 to be connected.
  • the third frame structure 30 Since two are provided on both sides of the frame, a driving force can be applied with a good lance, and the fourth frame structure 40 can be smoothly expanded and contracted (lifted and lowered).
  • the fourth drive unit 140 drives the fifth frame structure 50 so that the fifth frame structure 50 can be expanded and contracted (moved up and down) relative to the fourth frame structure 40.
  • One end is connected to the other end and the other end is a beam member 32 of the third frame structure 30.
  • the hook member 144 is connected to the other end of the endless chain 143.
  • a connecting member 145 connected to the beam member 52 ′ of the body 50 is provided.
  • two fourth drive units 140 are provided on both sides of the fourth frame structure 40, so that a drive force can be applied with a good lance.
  • the fifth frame structure 50 can be smoothly expanded and contracted (lifted and lowered).
  • the first drive unit 110 to the fourth drive unit 140 are arranged in the direction of the straight line Y passing through the vertical axis L, and the second drive unit 120 and the third drive unit.
  • the unit 130 and the fourth drive unit 14 are arranged at positions that are alternately deviated to the left and right with respect to the straight line Y (predetermined center line) when viewed from the telescopic (lifting / lowering) direction. ing. Accordingly, the second frame structure 20 to the fifth frame structure 50 are contracted (lowered).
  • the drive units 120, 130, 140 do not overlap each other, and the drive units 120, 130 can be removed from the expansion / contraction (lifting / lowering) direction simply by removing the cover upper plates 26, 36, 46 as necessary. , 140 adjustment, maintenance, inspection, etc. can be performed easily.
  • the first guide unit 210 guides the second frame structure 20 such that the second frame structure 20 can be expanded and contracted (moved up and down) in the direction of the vertical axis L with respect to the first frame structure 10, as shown in Figs.
  • the guide rail 211 provided on the inner wall surface of the pair of side wall plates 11 of the first frame structure 10 and the slider provided on the outer wall surface of the pair of side wall plates 21 of the second frame structure 20 212.
  • the guide rail 211 is formed in a substantially rectangular cross section and substantially the same length as the height dimension of the side wall plate 11, and on the inner wall surface of the side wall plate 11. Fastened with screws.
  • the guide rail 211 is covered with the upper edge reinforcing rib 1 la so that the upper end of the guide rail 211 is not exposed to the outside.
  • the slider 212 has a substantially concave cross section and the height of the side wall plate 21 so that it can slide on the guide rail 211 in the telescopic direction (direction parallel to the vertical axis L). It is formed to a length of approximately 1Z4 and is fastened to the outer wall surface of the side wall plate 21 with screws or the like.
  • the slider 212 has an upper edge reinforcing rib so that the upper end portion of the slider 212 is not exposed to the outside even when the second frame structure 20 is extended (extended) with respect to the first frame structure 10. 11a [covered from this! /
  • the first guide unit 210 is arranged on a straight line X between the side wall plate 11 of the first frame structure 10 and the side wall plate 21 of the second frame structure 20. Accordingly, the second frame structure 20 that does not rattle or tilt can be smoothly guided in the expansion / contraction direction.
  • the second guide unit 220 guides the third frame structure 30 such that the third frame structure 30 can be expanded and contracted (moved up and down) in the direction of the vertical axis L with respect to the second frame structure 20, as shown in Figs.
  • the guide rail 221 provided on the inner wall surface of the pair of side wall plates 21 of the second frame structure 20, and the slider provided on the outer wall surface of the pair of side wall plates 31 of the third frame structure 30 222.
  • the guide rail 221 has a substantially rectangular cross section and the side wall plate 21. It is formed to have substantially the same length as the height dimension, and is fastened to the inner wall surface of the side wall plate 21 with screws or the like.
  • the guide rail 221 is covered with the upper edge reinforcing rib 21a so that the upper end portion thereof is not exposed to the outside.
  • the slider 222 has a substantially concave cross section and a height of the side wall plate 31 so that it can slide on the guide rail 221 in the telescopic direction (direction parallel to the vertical axis L). It is formed to have a length of approximately 1Z4 and is fastened to the outer wall surface of the side wall plate 31 with screws or the like.
  • the slider 222 has an upper edge reinforcing rib so that the upper end of the third frame structure 30 is not exposed to the outside even when the third frame structure 30 is extended (extended) with respect to the second frame structure 20. 21a ⁇ This is covered! ⁇
  • the second guide unit 220 is arranged on a straight line X between the side wall plate 21 of the second frame structure 20 and the side wall plate 31 of the third frame structure 30. Accordingly, the third frame structure 30 that does not rattle or tilt can be smoothly guided in the expansion / contraction direction.
  • the third guide unit 230 guides the fourth frame structure 40 so that the fourth frame structure 40 can be expanded and contracted (moved up and down) in the direction of the vertical axis L with respect to the third frame structure 30.
  • FIG. 9 As shown in FIG. 9, the guide rail 231 provided on the inner wall surface of the pair of side wall plates 31 of the third frame structure 30 and the slider provided on the outer wall surface of the pair of side wall plates 41 of the fourth frame structure 40. 232.
  • the guide rail 231 has a substantially rectangular cross section and a length substantially the same as the height of the side wall plate 31, and is formed on the inner wall surface of the side wall plate 31. Fastened with screws. Then, the upper edge reinforcing rib 31a is covered / cuttered so that the upper end of the guide rail 231 is not exposed to the outside.
  • the slider 232 has a substantially concave cross section and the height of the side wall plate 41 so that it can slide on the guide rail 231 in the expansion / contraction direction (direction parallel to the vertical axis L). It is formed to a length of approximately 1Z4 and is fastened to the outer wall surface of the side wall plate 41 with screws or the like.
  • the slider 232 has an upper edge reinforcing rib so that the upper end of the fourth frame structure 40 is not exposed to the outside even when the fourth frame structure 40 is extended (extended) with respect to the third frame structure 30. 31a ⁇ Covered from here! [0070] As shown in Figs.
  • the third guide unit 230 is arranged on a straight line X between the side wall plate 31 of the third frame structure 30 and the side wall plate 41 of the fourth frame structure 40.
  • the fourth frame structure 40 that does not rattle or tilt can be smoothly guided in the expansion / contraction direction.
  • the fourth guide unit 240 guides the fifth frame structure 50 with respect to the fourth frame structure 40 so that the fifth frame structure 50 can be expanded and contracted (lifted and lowered) in the vertical axis L direction.
  • the guide rail 241 provided on the inner wall surface of the pair of side wall plates 41 of the fourth frame structure 40, and the slider provided on the outer wall surface of the pair of side wall plates 51 of the fifth frame structure 50, as shown in FIG. 242.
  • the guide rail 241 has a substantially rectangular cross section and a length substantially the same as the height of the side wall plate 41, and is formed on the inner wall surface of the side wall plate 41. Fastened with screws.
  • the guide rail 241 is covered with the upper edge reinforcing rib 41a so that the upper end portion thereof is not exposed to the outside.
  • the slider 242 has a substantially concave cross section and a height of the side wall plate 51 so that it can slide on the guide rail 241 in the expansion / contraction direction (direction parallel to the vertical axis L).
  • the length is approximately 1Z4, and is fastened to the outer wall surface of the side wall plate 51 with screws or the like.
  • the slider 242 has an upper edge reinforcing rib so that the upper end of the fifth frame structure 50 is not exposed to the outside even when the fifth frame structure 50 is extended (extended) with respect to the fourth frame structure 40. 41a ⁇ Covered from here!
  • the fourth guide unit 240 is arranged on a straight line X between the side wall plate 41 of the fourth frame structure 40 and the side wall plate 51 of the fifth frame structure 50.
  • the fifth frame structure 50 that does not rattle or tilt can be smoothly guided in the expansion / contraction direction.
  • first guide unit 210 to the fourth guide unit 240 are arranged on a straight line X passing through the lead straight axis L as shown in FIG.
  • the plurality of drive units 110 to 140 are arranged so as to be orthogonal to each other about the vertical axis L. Therefore, the center of gravity of the device can be positioned in the vicinity of the vertical axis L located at the center of the device, and the expansion and contraction operations of the plurality of frame structures 20, 30, 40, 50 can be performed smoothly without bias. Can be done.
  • the coupling head 300 is a fifth innermost frame arranged among the plurality of frame structures 20, 30, 40, and 50.
  • the frame structure 50 is provided with a motor 301 fixed to the beam member 52, a coupling board 302 that is coupled to the output shaft of the motor 301 and is exposed to the outside. .
  • connection head 300 By connecting a desired work unit to the connection head 300, it is possible to perform a predetermined work on the workpiece while performing an expansion (lifting) operation.
  • the exhaust unit 400 is fixed with 12 beams of the beam member of the first frame structure 10, and includes an exhaust fan (not shown) for exhausting air inside the frame structures 10 to 50, an exhaust port 401, and the like. I have. As shown in FIGS. 1 to 3, the exhaust port 401 opens toward the lower inside of the cover side plate 15.
  • the air in the internal space defined by the frame structures 10 to 50 is exhausted by the exhaust unit 400, so that the plurality of frame structures 20 to 50 contract (lower) at a high speed from the expanded state.
  • the air does not interfere with the movement of the frame structure 20 to 50 as a resistance pressure, and a smooth expansion (elevation) operation can be obtained. It is also possible to prevent air pollution when the NGK expansion and contraction device is used in a clean environment.
  • the 4 frame structure 40 and the 5th frame structure 50 are smoothly guided by the 2nd guide unit 220, the 3rd guide unit 230, and the 4th guide unit 240, and extend (raise) together. start. Then, the second frame structure 20 to the fifth frame structure 50 reach the most extended (ascended) state as shown in FIG.
  • the plurality of frame structures 20, 30, 40, 50 incorporated in a nested manner are extended and retracted upward and downward by the plurality of drive units 110 to 140 and the plurality of guide units 210 to 240. Therefore, it can be applied as a lifting device as described above, and can also be applied as a telescopic arm of a robot that expands and contracts in the vertical direction.
  • the frame structure 10-50 forces a pair of side wall plates 11, 21, 31, 41, 51 and multiple (at least four) beam members 12, 12 ', 22, 22', 32, 32 ', 42 , 42 ', 52, 52, are connected by concave / convex fitting and screw fastening, so that the structure can be simplified and light weight can be achieved, and it can withstand vertical load or lateral load.
  • Mechanical strength such as buckling strength and bending strength (bending stiffness) can be secured.
  • the force shown in the case where the cover side plate 15 for covering the beam members 12, 12 'with the lateral outer force is adopted is not limited to this, as shown in FIG.
  • a cover side plate 15 ′ formed so as to cover the beam member 12 of the frame structure 10 from above may also be adopted.
  • the upper side of the cover side plate 15 may be fastened to the beam member 12 with screws or the like.
  • the side wall plates 11, 21, 31, 41, 51 of the frame structures 10 to 50 As shown, the force shown when using high-strength steel plate is not limited to this, but it is lighter and has higher mechanical strength.
  • the beam member has a bent cross section perpendicular to its extending direction as the beam member.
  • the pair of side wall plates 11, 21, 31, 41, 51 and the plurality of beam members 12, 12 ', 22, 22', 32, 32 ', 42 of the frame structures 10-50. , 42 ', 52, 52, are shown connected by concave / convex fitting and screw fastening, but it is advisable to increase the fitting force and use only concave / convex fitting.
  • the pair of side wall plates 11, 21, 31, 41, 51 are provided with screw through holes l ie, 21e, 31e, 41e, 51e, and the beam members 12, 12 ', 22, 22', 32 , 32 ', 42, 42', 52, 52 Threaded female screw 12g, 22g, 32g, 42g, 52g Force provided when not provided And a threaded hole may be provided in the beam member.
  • a force using a belt drive system as the first drive unit 110 is not limited to this, and a chain drive system, a gear system, or other drive systems may be employed.
  • the chain drive method is adopted as the second drive unit 210 to the fourth drive unit 240, but the belt drive method or other drive methods are not limited to this. It may be adopted.
  • the telescopic device in which the four frame structures 20 to 50 expand and contract is shown.
  • the present invention is not limited to this.
  • the frame structure of the present invention can be used in the manufacturing process of machines or electronic devices because it can secure mechanical strength while achieving simplification and weight reduction of the structure. It is useful not only for various robots and FA devices, but also for other frame structures in the machine field.

Abstract

La présente invention concerne un corps de structure de châssis qui comprend une paire de plaques de paroi latérale (11) et des éléments poutre (12, 12'). La paire de plaques de paroi latérale (11) possède une forme sensiblement rectangulaire, des bords périphériques externes fléchis et est disposée de telle sorte que les plaques se trouvent agencées l'une face à l'autre. Les éléments poutre (12, 12') s'étendent suivant une direction dans laquelle les plaques de la paire de plaques de paroi latérale (11) se font face, possèdent une forme fléchie dans une section transversale verticale à la direction de l'extension et raccordent la paire de plaques de paroi latérale (11) sur quatre zones d'angle au moins par ajustement de protubérances dans des évidements. Ceci permet de garantir une résistance mécanique, telles une résistance au flambage et une résistance à la flexion (rigidité de flexion), capable de résister à des charges verticale, latérale, etc., à la structure du corps de structure de châssis simplifié et de poids réduit. Ainsi, un dispositif télescopique, formé par agencement de corps de structure de châssis (10, 20, 30, 40, 50) de manière télescopique, possède une résistance mécanique élevée, la structure du dispositif étant simplifiée et son poids réduit.
PCT/JP2006/312876 2006-06-28 2006-06-28 Corps de structure de châssis et dispositif télescopique WO2008001435A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2006/312876 WO2008001435A1 (fr) 2006-06-28 2006-06-28 Corps de structure de châssis et dispositif télescopique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2006/312876 WO2008001435A1 (fr) 2006-06-28 2006-06-28 Corps de structure de châssis et dispositif télescopique

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WO2008001435A1 true WO2008001435A1 (fr) 2008-01-03

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011217990A (ja) * 2010-04-12 2011-11-04 Obayashi Seisakusho:Kk Ｘ線管の保持装置
US10933540B2 (en) 2018-05-09 2021-03-02 Fanuc Corporation Robot link-constituting member and robot
JP2021058954A (ja) * 2019-10-04 2021-04-15 ファナック株式会社 直動伸縮機構
WO2023283677A1 (fr) * 2021-07-14 2023-01-19 Fast Automation Pty Ltd Système de levage

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS493252Y1 (fr) * 1968-01-30 1974-01-26
JPS55132893A (en) * 1979-03-31 1980-10-16 Matsushita Electric Works Ltd Expansible ladder
JPS55169249U (fr) * 1979-05-22 1980-12-05
JPS6299556A (ja) * 1985-08-22 1987-05-09 ジヨ−ジ　マレ− 伸長自在の塔
JPH07156092A (ja) * 1993-12-03 1995-06-20 Tokiyoshi Kuroda 多段伸縮アーム装置
JPH11129184A (ja) * 1997-09-01 1999-05-18 Dainippon Screen Mfg Co Ltd 基板処理装置および基板搬入搬出装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS493252Y1 (fr) * 1968-01-30 1974-01-26
JPS55132893A (en) * 1979-03-31 1980-10-16 Matsushita Electric Works Ltd Expansible ladder
JPS55169249U (fr) * 1979-05-22 1980-12-05
JPS6299556A (ja) * 1985-08-22 1987-05-09 ジヨ−ジ　マレ− 伸長自在の塔
JPH07156092A (ja) * 1993-12-03 1995-06-20 Tokiyoshi Kuroda 多段伸縮アーム装置
JPH11129184A (ja) * 1997-09-01 1999-05-18 Dainippon Screen Mfg Co Ltd 基板処理装置および基板搬入搬出装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011217990A (ja) * 2010-04-12 2011-11-04 Obayashi Seisakusho:Kk Ｘ線管の保持装置
US10933540B2 (en) 2018-05-09 2021-03-02 Fanuc Corporation Robot link-constituting member and robot
JP2021058954A (ja) * 2019-10-04 2021-04-15 ファナック株式会社 直動伸縮機構
JP7376306B2 (ja) 2019-10-04 2023-11-08 ファナック株式会社 直動伸縮機構
WO2023283677A1 (fr) * 2021-07-14 2023-01-19 Fast Automation Pty Ltd Système de levage

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