JP5269655B2 - Single axis robot and case member - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simplify a constitution, to reduce cost and to improve productivity and maintainability. <P>SOLUTION: This single axis robot includes a case member extending in the longitudinal direction (one-axis direction), a movable member 10 stored in the case member and a driving means for moving the movable member. The case member includes a guide rail 2 for movably supporting the movable member 10 in the longitudinal direction and members for fixing covers such as supporting blocks 26 and 27, a pair of side surface covers 3 of the rail 2 extending in the longitudinal direction along the rail 2, and end face covers fixed to the supporting blocks 26 and 27, etc. The end face covers include fitting parts capable of fitting to each side surface cover 3. Each side surface cover 3 is fixed to the guide rail 2 via the end face covers in a held state by both end face covers by fitting to each end face cover. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a single-axis robot that moves a movable member in one axis direction by driving a motor, and a case member suitable for the single-axis robot.

  2. Description of the Related Art Conventionally, a single-axis robot configured to move a slider (movable member) in a uniaxial direction by a screw feed mechanism using a rotary motor as a drive source is generally known.

  Patent Document 1 describes an example of this type of single-axis robot. The single-axis robot described in Document 1 has a box-shaped housing (case member) extending in a uniaxial direction, and has a configuration in which a slider and a screw feed mechanism are accommodated in the housing. The housing includes a base extending in a uniaxial direction and a pair of side covers, and a front cover and a rear cover disposed at the end portions in the longitudinal direction. A slider is movably supported on the base, and each part of a screw feed mechanism that drives the slider is assembled to the base.

JP 2000-197304 A

  In the conventional single-axis robot of this type, the housing is configured by screwing each cover to a base or a block member fixed to the base. Therefore, secondary processing such as a large number of screw holes is required for manufacturing the base and each cover, and it is necessary to use many screw members (bolts) for assembly, which reduces the cost of the single-axis robot. This is one of the negative factors above. Further, at the time of production, a lot of screwing work is required for fixing each cover, and it is necessary to perform the work from a different direction for each cover, so that it takes time to assemble each cover. This also applies to maintenance.

  The present invention has been made in view of such circumstances, and aims to simplify and reduce the configuration of a single-axis robot, and to improve its productivity and maintainability. is there.

The present invention for solving the above problems includes a case member extending in a uniaxial direction, a movable member housed in the case member and supported so as to be movable in the uniaxial direction, and a driving means for moving the movable member. The case member includes a base member for movably supporting the movable member and both sides of the base member that are arranged on both sides in the width direction perpendicular to the uniaxial direction. A pair of side surface covers extending in the uniaxial direction along the base member, and end surface covers fixed to the end portions of the base member in the uniaxial direction, each of the end surface covers being the uniaxial of the single-axis robot. an end face that forms an end face direction, and the distal portion of the uniaxial direction and can fit the fitting portion of each side cover is provided on the inner surface of the end face portion its Have, respectively, each of said side cover, by respectively fitted to the fitting portion, fixed to the base member via the end face cover in a state of being sandwiched between each of the end faces covered in the axial direction It is what has been.

  According to this single-axis robot, each side cover is fixed to the base member via the end face covers in a state where each side cover is sandwiched between the both end face covers, so that each side cover such as a screw hole or a screw member is fixed. Therefore, there is no need for a specific fixing means. Therefore, production costs can be reduced, and workability during assembly (production) and disassembly (maintenance) can be improved.

  Specifically, the fitting portion of the end surface cover has a plurality of fitting pieces arranged corresponding to the cross-sectional shape of the side cover so as to be in contact with both the inner and outer surfaces in the thickness direction of the side cover, A terminal portion of the side cover is inserted between the fitting pieces along a uniaxial direction so as to be fitted to the side cover.

  According to this configuration, the case member can be easily assembled and disassembled simply by inserting and removing the end cover and the side cover.

  Each end surface cover is positioned on the base member by fitting to the base member, and is fixed to the base member by a screw member from one specific direction and the same direction.

  According to this configuration, it is possible to fix the both end covers to the base member without difficulty only from work in one specific direction, so work during assembly and disassembly of a single-axis robot (particularly case member) The property is further improved.

  In the single-axis robot, the base member includes a guide rail that movably supports the movable member, and a cover fixing member that is assembled to an end of the guide rail. It is preferable that each end face cover is fixed.

  That is, the base member may be a base separate from the rail for supporting the guide rail of the movable member. However, according to the configuration in which the guide rail itself is the base member as described above, It becomes possible to further simplify and reduce the cost of the configuration of the axis robot.

  The drive means includes a nut member assembled to the movable member, and a screw shaft extending in the uniaxial direction and having both ends thereof rotatably supported by the base member in a state of being inserted into the nut member. And a motor that is arranged on one end side of the screw shaft and rotationally drives the screw shaft. In this case, the end surface cover on the side close to the motor among the end surface covers is fitted with the fitting. A cover body portion having a joint portion and a lid portion detachably attached to the cover body portion, forming a housing portion for housing the motor in cooperation with the side cover and from the cover body portion; It is preferable that the housing portion is opened with the lid cover removed.

  According to this configuration, operations such as connection during assembly and disassembly can be performed without difficulty from the outside of the case member without removing the side cover, as well as removing the side cover with the housing portion opened. This makes it possible to improve workability during assembly and disassembly.

  In the single-axis robot, the case member is provided with an opening that extends in the uniaxial direction and opens upward, and the movable member is configured so that a part protrudes outside from the opening. The shutter member extending in the uniaxial direction for closing the opening may be provided on the upper surface portion of the case member so as to pass through the inside of the movable member. In this case, the base member Each of the end surface covers is fitted to the fixing portion and is fixed to the fixing portion from above by the screw member. The shutter member is fixed to the screw member together with the end surface cover in a state where at least one side of both end portions in the uniaxial direction is overlapped with the end surface cover. Ri is preferable that is fixed to the fixing part.

  According to this configuration, since the shutter member can be fixed together with the screw member for fixing the end surface cover, fixing means such as a screw portion dedicated to the shutter member is not necessary.

  On the other hand, the present invention provides a single-axis robot including a case member extending in a uniaxial direction, a movable member accommodated in the case member and supported so as to be movable in the uniaxial direction, and a driving means for moving the movable member. A base member for movably supporting the movable member, and a pair of side covers arranged on both sides in the width direction of the base member and extending in the uniaxial direction along the base member. And end face covers respectively fixed to the end portions of the base member in the uniaxial direction, each end surface cover having a fitting portion that can be fitted to the end portion of each side cover, Each side cover is fixed to the base member via the end surface cover in a state of being sandwiched between the both end surface covers by being fitted to the fitting portion. And those that are configured as.

  Such a case member is useful as a case member for the single-axis robot described above.

  As described above, according to the single-axis robot of the present invention, a simple configuration that does not require a specific fixing means for fixing each side cover, such as a screw hole or a screw member, is achieved, thereby reducing the cost. In addition, productivity and maintainability can be improved.

It is a side view showing a single axis robot concerning the present invention (a case member concerning the present invention is applied). It is a top view which shows a single axis robot. It is the III-III sectional view taken on the line of FIG. 1 which shows a single axis robot. It is a disassembled perspective view of a single axis robot. It is the VV sectional view taken on the line of FIG. 3 which shows a single axis robot. It is the VI-VI line cross section of FIG. 3 which shows a single axis robot. It is the VII-VII line section of Drawing 3 showing a single axis robot. It is the VIII-VIII sectional view taken on the line of FIG. 3 which shows a single axis robot. It is an exploded sectional view of a single axis robot.

  Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

  1 to 4 schematically show a single-axis robot according to the present invention (a single-axis robot to which a case member according to the present invention is applied), FIG. 1 is a plan view, FIG. 2 is a side view, FIG. 3 is a sectional view, and FIG. 4 is an exploded perspective view showing a single-axis robot.

  The single-axis robot shown in FIG. 1 includes an elongated case member 1 extending in a uniaxial direction, a movable member 10 that is supported by the case member 1 so as to be linearly movable, and a drive unit that drives the movable member 10. Including. In this embodiment, for the sake of convenience, the uniaxial direction in which the case member 1 extends is the front-rear direction (the left side in FIG. 1 is “front” and the right side is “rear”), and the horizontal direction (see FIG. 1 is described as the width direction (or left-right direction).

  The case member 1 includes a base member mainly composed of a guide rail 2, a pair of side covers 3 and 3 that are disposed on both sides in the width direction of the base member and extend along the base member, and the front-rear direction of the base member. A box-shaped box having a rectangular cross section, including end surface covers 4 and 5 (referred to as front end cover 4 and rear end cover 5 as required) fixed to the end portion, and having an opening 1a extending in the front-rear direction on the upper surface. It has a shape. The detailed structure of the case member 1 will be described later in detail.

  The movable member 10 is accommodated in the case member 1 with a part of the movable member 10 protruding upward from the opening 1a, and is supported by the guide rail 2 so as to be movable. Specifically, as shown in FIG. 5, the movable member 10 includes a pair of sliders 101 and 101 having a predetermined length in the front-rear direction on the lower surface, and these sliders 101 and 101 connect the guide rail 2 from both sides in the width direction. In the sandwiched state, the guide rails 2 are slidably engaged with each other. Thereby, the movable member 10 is supported so as to be movable with respect to the guide rail 2.

  A portion of the movable member 10 that protrudes above the case member 1 through the opening 1a (referred to as a table portion 10a) is provided with a pair of tool attachment portions 102 that extend in the front-rear direction at both ends in the width direction. ing. These tool attachment portions 102 protrude upward from the other portions of the table portion 10a, and each has a substantially horizontal tool attachment surface at the upper end portion. A plurality of screw holes 103 are formed in each tool mounting surface, so that various tools, devices, and the like according to applications can be mounted on the movable member 10.

  As shown in FIGS. 3 and 5, a removable resin protective member 12 is mounted between the tool mounting portions 102 on the upper surface of the table portion 10a, and the entire portion excluding the tool mounting portion 102 is further removed. A detachable resin table cover 13 is attached to the table portion 10a so as to cover from above.

  Between the protective member 12 and the table cover 13, a flat gap in the vertical direction penetrating in the front-rear direction is formed, and the shutter 6 (corresponding to the shutter member of the present invention) is disposed so as to pass through this gap. Yes. The shutter 6 closes the opening 1a of the case member 1 and is made of a thin stainless steel plate that is elongated in the front-rear direction and has flexibility. As shown in FIGS. The front and rear ends of the table portion 10a are fixed to support blocks 26 and 27, which will be described later, in the state of passing through the gap between the protective member 12 and the table cover 13 inside the table portion 10a.

  Specifically, the upper surface of the protection member 12 and the lower surface of the table cover 13 are highest at the middle position in the front-rear direction of the table portion 10a and are lowest at both end positions in the same direction so that their heights change in the front-rear direction. It is formed as follows. Thereby, the said clearance gap which protrudes upwards between the protection member 12 and the table cover 13 is formed. Therefore, when the movable member 10 moves, the shutter 6 that is pushed down by the lower surface of the front end portion of the table cover 13 in the front-rear direction ends 13a and 13a and closes the opening 1a is While being lifted along the front part in the moving direction, at the rear part in the moving direction of the protection member 12, the shutter 6 is pushed down by the lower end face of the table cover 13 at the rear in the moving direction among the front and rear end parts 13a, 13a. The part 1a is closed by the shutter 6. The front and rear ends 13a and 13a of the table cover 13 are extended outward in the front and rear direction with respect to the protection member 12. Further, the height positions of the lower surfaces of the both ends 13a and 13a are at the front and rear ends of the protection member 12. It is set lower than the height position of the upper surface (the height obtained by adding the thickness of the shutter 6 to the height of the contact surface of the shutter 6 of the opening 1a). Therefore, the shutter 6 passing through the gap slides along the upper surface of the protective member 12 while being held down by the front and rear end portions 13a of the table cover 13, and as a result, vibration of the shutter 6 is prevented. Quietness is achieved when the movable member 10 moves.

  The drive means of the movable member 10 includes a nut member 21 that is assembled and fixed to the movable member 10, a screw shaft 22 that extends in the front-rear direction along the guide rail 2 and is inserted into the nut member 21, and the screw And a motor 24 for rotationally driving the shaft. In other words, the drive means is configured to convert the forward / reverse rotational drive of the screw shaft 22 by the motor 24 into a propulsive force in the front-rear direction via the nut member 21 and to move the movable member 10 by this propulsive force. .

  The screw shaft 22 is rotatably supported by the guide rail 2, the motor 24 is fixed to the guide rail 2, and the screw shaft 22 and the output shaft 24 a of the motor 24 provide the rotational driving force of the motor 24 to the screw shaft 22. Are connected to each other so that they can be transmitted to each other.

  Specifically, the support block 26 is fixed to both ends in the front-rear direction of the guide rail 2 by bolts B11, the support block 27 is fixed by bolts (not shown), and the front end of the screw shaft 22 is fixed to the front support block 26 (appropriately, the front block 26) is rotatably supported via a bearing 23a and is fixed (constrained) in the axial direction, and is supported by a rear support block 27 (referred to as a rear block 27 as appropriate) behind the screw shaft 22. The end is rotatably supported via a bearing 23b and is fixed in the axial direction.

  A bracket 28 for motor mounting is fixed to the front block 26. As shown in FIGS. 3 and 4, the bracket 28 has an L-shaped cross section having a horizontal portion 28 a extending in the front-rear direction and a vertical portion 28 b depending from the front end portion. It is fixed to the upper surface of the front block 26 by a bolt or the like via 28a. The motor 24 is fixed to the front surface of the vertical portion 28b by four through bolts 29 (shown in FIG. 6), and the motor 24 passes through through holes 261 and 281 formed in the front block 26 and the bracket 28 (vertical portion 28b). The output shaft 24 a and the screw shaft 22 are arranged so as to face each other. In this state, the output shaft 24 a and the screw shaft 22 are connected to each other via the coupling 25.

  As shown in FIGS. 1 and 9, a convex shape 26 a extending in the front-rear direction is formed on the upper surface of the front block 26 to which the bracket 28 is fixed, and a recess extending in the front-rear direction is formed on the lower surface of the vertical portion 28 b of the bracket 28. 9) are formed. Then, the brackets 24 (vertical portions 28b) are overlapped on the upper surface of the front block 26 and fixed to each other in a state where these irregularities are fitted, so that the motor 24 is positioned in the vertical direction and the width direction with respect to the front block 26. Has been. In FIG. 4, the motor 24 and the bracket 28 are shown separated from the front block 26 to the front side.

  The case member 1 has a box shape with a rectangular cross section in which an opening 1a extending in the front-rear direction is formed on the upper surface. As described above, the case member 1 is fixed to the base member including the guide rails 2 and the like, the side covers 3 and 3 disposed on both sides of the base member in the width direction, and the end portions in the front-rear direction of the base member. In this embodiment, the support blocks 26 and 27 and the bracket 28 are also included in the base member.

  In this case member 1, each end cover 4, 5 is provided with a fitting portion that can be fitted to the side cover 3, and the end portion of each side cover 3, 3 is fitted to each end cover 4, 5. As a result, each side cover 3 is assembled to the guide rail 2 via the end surface covers 4 and 5 while being sandwiched between the end surface covers 4 and 5. Details will be described below.

  As shown in FIG. 5, each side cover 3, 3 includes a side part 31 that extends vertically, and a bottom part 32 and a top part 33 that extend substantially horizontally from the top and bottom ends of the side part 31 toward the inside of the case. It has a symmetrical shape with a U-shaped cross section. These side covers 3 and 3 are formed of extruded materials such as aluminum. In addition, a bulging portion 31 a that bulges outside the case (outside in the width direction) is formed at a position slightly lower in the vertical direction of the side surface portions 31 of the side covers 3 and 3. As shown in FIGS. 4 and 6, the upper surface portion 33 of the side covers 3 and 3 is a portion on the front side of the bracket 28 (vertical portion 28 b) in order to ensure a large space for accommodating the motor 24. In order to form an opening 1a that can be closed by the shutter 6 as will be described later, it is provided at a portion on the rear side of the vertical portion 28b.

  The front end cover 4 includes a separate cover main body 4A and a lid 4B as shown in FIGS. 2 to 4 and 7, and a housing portion for housing the motor 24 in cooperation with the side cover 3. Form. The front end cover 4 and the lid portion 4B are formed of the same resin material such as ABS.

The cover main body 4A includes a front surface portion 40 (corresponding to an end surface portion of the present invention) that forms the front end surface of the single-axis robot, and a lower surface portion that extends rearward from the lower end of the front surface portion 40 and covers the lower side of the motor 24. 41 and a pair of left and right side guide portions 42, 42 extending rearward from both ends in the width direction of the front surface portion 40 are integrally provided. Then, the lid 4B is fixed to the front block 26 with the bolt B1 in a state in which the tip of the lower surface portion 41 is abutted against the motor mounting surface of the bracket 28, that is, the rear end surface of the vertical portion 28b. The front block 26 and the bracket 28 are integrally fixed.

  The lower surface portion 41 of the cover body portion 4A is formed in a plate shape that is slightly wider than the motor 24, and vertical pieces 41a that rise substantially vertically are provided at both ends in the width direction. In addition, a pair of bosses 41b and 41b projecting from the end surface are arranged in parallel at a predetermined interval in the width direction at the tip of the lower surface portion 41. As shown in FIG. 3, FIG. 6 and FIG. When the bosses 41b and 41b are inserted into the fitting recesses 282 (see FIG. 9) formed in the bracket 28 (vertical portion 28b), the tip of the lower surface portion 41 is abutted against the vertical portion 28b as described above. The cover body 4A is positioned with respect to the bracket 28 in the front-rear direction and the width direction. Note that the lower surface portion 41 is set to have a dimension in the front-rear direction larger than that of the case portion of the motor 24, thereby forming a space for wiring processing between the front surface portion 40 of the cover main body portion 4A and the motor 24. ing.

  The side surface guide portions 42 and 42 of the cover main body portion 4A are formed symmetrically with each other. As shown in FIG. 4, each of the side surface guide portions 42 and 42 includes three plate-like guide pieces arranged in the vertical direction (referred to as a first guide piece 42a, a second guide piece 42b, and a third guide piece 42c from the top). Have each.

  The guide pieces 42a to 42c of the side surface guide portions 42, 42 are arranged in a staggered manner as shown in FIG. Specifically, the first and third guide pieces 42 a and 42 c are arranged vertically at a position outside the lower surface portion 41 in the width direction, and the second guide piece 42 b is the first vertical piece of the lower surface portion 41. It is located above 41a. That is, as shown in the figure, the front end portion of the side cover 3 is inserted between the first guide piece 42a and the vertical piece 41a of the lower surface portion 41 and each of the first and third guide pieces 42a and 42c. The guide body 4A and the side cover 3 are fitted to each other when the guide pieces and the like are in pressure contact with both the inner and outer surfaces in the thickness direction 3. In the present embodiment, these vertical pieces 41a and guide pieces 42a to 42c correspond to the fitting pieces of the present invention.

  The lid portion 4B is an inverted dish-shaped member, and is formed in an elongated shape in the front-rear direction so as to cover the position of the front block 26 (the bearing 23a portion) from the position of the front surface portion 40 of the cover main body portion 4A. The lid portion 4B has a pair of hooks 45, 45 arranged in the width direction at the front end portion thereof, and has a perforated portion 46 for screwing at the rear end portion and in the middle position of the width. As shown in FIG. 3, the motor 24 is engaged with the hooks 45, 45 engaged from the front side with the locking portions 44, 44 formed at the upper end of the front surface portion 40 of the cover body 4 </ b> A. In this state, the bolt B1 is screwed into the screw hole of the front block 26 through the through hole of the perforated part 46 and the bracket 28, and the lid part 4B is attached to the bracket 4B. 28 and the front block 26 are fixed. The opening width of the front portion of the opening 1a is larger than the width of the bracket 28 and the motor 24, and the lid portion 4B is provided so as to close the front portion of the opening 1a from above. Yes.

  That is, the tip of the lower surface 41 of the cover body 4A is abutted against the bracket 28 from the front side, and the bosses 41b and 41b are inserted into the recesses 282 (see FIG. 9), so that the cover body 4A is attached to the bracket 28. The lid 4B, which is positioned in the front-rear direction and the width direction with respect to the cover body 4A and is engaged with the cover body 4A, is fixed to the bracket 28 and the like, so that the front end cover 4 comprising the cover body 4A and the lid 4B. Is fixed to the bracket 28 or the like by one bolt B1. Therefore, in this embodiment, the front block 26 and the bracket 28 correspond to a cover fixing member (or a fixing portion for fixing the cover) according to the present invention for fixing the front end cover 4.

As shown in FIGS. 2 to 4 and 8, the rear end cover 5 includes a rear surface portion 50 (corresponding to an end surface portion of the present invention) that forms the rear end surface of the single-axis robot, and an upper end portion of the rear surface portion 50. An upper surface 51 extending forward from the front, a pair of left and right side guides 52, 52 extending forward from both ends in the width direction of the rear surface 50, and the rear surface 50 at positions inside the side surface guides 52, 52. A pair of left and right upper fitting portions 53 and 53 and lower fitting portions 54 and 54 that are formed and extend forward are integrally provided.

  The upper surface part 51 has one perforated part 51a for screwing that penetrates in the vertical direction at an intermediate position in the width direction. As shown in FIG. 8, the upper fitting parts 53, 53 and the lower fitting parts 54, 54 have an L-shaped cross section substantially corresponding to the four corners of the rear block 27 having a rectangular cross section. Yes. The fitting portions 53, 53, 54, 54 are fitted to the rear block 27 so that the fitting portions 53, 53, 54, 54 are fitted to the four corner portions of the rear block 27, and the upper surface portion 51 is fitted to the upper surface protruding portion of the rear block 27. The rear end cover 5 is assembled from the rear side, and in this state, as shown in FIG. 3, the bolt B2 is screwed and inserted into the screw hole of the rear block 27 from above through the perforated portion 51a. The end cover 5 is fixed to the rear block 27 in a state where it is positioned vertically and horizontally. Therefore, in this embodiment, the rear block 27 corresponds to a cover fixing member (and a fixing portion for fixing the cover) according to the present invention for fixing the rear end cover 5.

  The side guide portions 52, 52 of the rear end cover 5 have the same configuration as the side guide portions 42, 42 of the front end cover 4 (cover body portion 4A). That is, the side surface guide parts 52 and 52 are formed symmetrically, and as shown in FIG. 4, three plate-like guide pieces (first guide piece 52a, second guide piece 52b, 3rd guide piece 52c). As shown in FIG. 8, the guide pieces 52a to 52c of the side surface guide parts 52 and 52 are arranged in a staggered manner. Specifically, the first and third guide pieces 52a and 52c are arranged vertically, The two guide pieces 52b are arranged slightly inside the other guide pieces 52a and 52c. Thus, a groove-like fitting portion corresponding to the cross-sectional shape of the side cover 3 is formed by the upper surface portion 51, the fitting portions 53 and 54, and the side guide portions 52 and 52. That is, as shown in the figure, the rear end of the side cover 3 is located between the upper surface portion 51, the first guide piece 52a and the third guide piece 52c, and the fitting portions 53, 54 and the second guide piece 52b. The side cover 3 is fitted to the rear end cover 5 by inserting the portion and press-contacting these guide pieces and the like to both the inner and outer surfaces in the thickness direction of the side cover 3. In this embodiment, these fitting parts 53 and 54 and guide pieces 52a to 52c correspond to the fitting pieces of the present invention.

  In this case member 1, the end covers 4 and 5 are each provided with fitting portions that can be fitted to the front and rear end portions of the side cover 3, respectively. Each side cover 3 is sandwiched between both end surface covers 4 and 5 by being fitted to the fitting portions, and is fixed to a base member made up of guide rails 2 and the like. The front end cover 4 and the side cover 3 cooperate with each other in the front end portion of the case member 1, specifically, the front portion of the front block 26 to form a storage portion for the motor 24. The housing portion can be opened by removing only the lid portion 4B from the front end cover 4 while being housed in the housing portion.

  Further, in the upper surface of the case member 1, there is a space between the upper surface portions 33, 33 of the side surface covers 3, 3 on the rear side of the housing portion, specifically on the rear side of the front block 26. The opening 1a extending in the front-rear direction is formed (see FIG. 5). A part of the movable member 10 (table portion 10a) protrudes above the case member 1 through the opening 1a. As described above, the opening 1 a is closed by the shutter 6 that is in close contact with the upper surface portions 33 and 33. The shutter 6 has a front end portion fixed to the front block 26 and a rear end portion fixed to the rear block 27. More specifically, through holes 6 a and 6 b that penetrate in the thickness direction are formed at both front and rear ends of the shutter 6. A boss 262 protrudes at an intermediate position in the width direction at a portion of the upper surface of the front block 26 where the rear end portion of the lid portion 4B is overlapped, and a boss 262 is provided at a corresponding portion of the lid portion 4B. A recess 47 corresponding to 262 is formed (see FIG. 9), and the front end of the shutter 6 is sandwiched between the front block 26 and the lid 4B with the boss 262 passing through the front through-hole 6a. In rare cases, the front end portion of the shutter 6 is fixed to the front block 26 by fixing the lid portion 4B to the front block 26 with the bolt B1. Further, the rear end portion of the shutter 6 is inserted between the upper surface of the rear block 27 and the upper surface portion 51 of the rear cover 5, and the bolt B <b> 2 passes through the through hole 6 b of the shutter 6 to the screw hole of the rear block 27. By screwing and inserting, the rear end portion of the shutter 6 is fixed to the rear block 27 so as to be detachable.

  As described above, in this single-axis robot, the case member 1 is constituted by the base member composed of the guide rails 2 and the like, the side covers 3 and 3, the end cover 4 and 5 and the like. In the robot, each side cover 3, 3 is fixed to the base member via the end surface covers 4, 5 while being sandwiched between both end surface covers 4, 5. No special fixing means such as a screw hole or a screw member (bolt) for fixing 3 is required. Therefore, compared with the conventional single-axis robot of this type in which each side cover is fixed with a plurality of bolts, each cover 3-5 can reduce the number of bolts necessary for fixing and secondary processing such as screw holes. Therefore, the configuration can be simplified and the cost can be reduced.

In addition, productivity and maintainability can be improved. For example, as shown in FIG. 4, if the support blocks 26 and 27, the screw shaft 22, the movable member 10, the motor 24, and the like are assembled to the guide rail 2 in advance (this component is referred to as an assembly component), for example The single-axis robot can be completed easily and quickly by assembling the covers 3 to 5 to the assembly parts according to the following procedure.
(1) The rear end cover 5 is fitted to the rear block 27, and the respective side covers 3 are arranged in parallel on both sides of the guide rail 2, and the respective rear ends are inserted into the rear end cover 5 and fitted to each other. Let
(2) While inserting the front end of each side cover 3 into the cover main body portion 4A of the front end cover 4, the cover main body portion 4A is brought close to the assembly member from the front, and the bosses 41b and 41b at the front end of the lower surface portion 41 are made into the concave portions 282 of the bracket 28. While being inserted, the tip of the lower surface portion 41 abuts against the bracket 28 (vertical portion 28b).
(3) With the shutter 6 placed on the table portion 10a of the movable member 10 and placed on the upper surface portions 33, 33 so as to close the opening 1a before and after the table portion 10a, the shutter 6 By inserting the rear end portion between the upper surface portion 51 of the rear end cover 5 and the rear block 27 and fastening the bolt B2 to the rear block 27, the rear end portions of the rear end cover 5 and the shutter 6 are moved to the rear side. Temporarily fasten to block 27. Then, with the through hole 6a of the shutter 6 hooked on the boss 262, the front end portion of the shutter 6 is overlaid on the front block 26, and then the bolt B2 is permanently tightened to rear the rear end cover 5 and the shutter 6. The end is fixed to the rear block 27.
(4) Hooks 45 and 45 are hooked on the locking portion 44 to engage the lid portion 4B with the cover main body portion 4A. In this state, the lid portion 4B is overlaid on the block 26 so as to cover the motor 24 and the bracket 28, and the shutter 6 and the rear end portion of the horizontal portion 28a of the bracket 28 are sandwiched between the lid portion 4B and the front block 26. Then, the front end cover 4 (the cover main body portion 4A and the lid portion 4B), the bracket 28, and the front end portion of the shutter 6 are fixed to the front block 26 by fastening the bolt B1 to the front block 26.
(5) The table cover 13 is mounted on the movable member 10 (table portion 10a) from above the shutter 6. Although not mentioned in the above description, the table cover 13 is integrally formed with a hook having elasticity, and the table cover 13 is overlaid on the table portion 10a and the center portion is pressed downward. When the four places are elastically deformed upward, the hooks integrally formed at the four places spread outward in the front-rear direction, and the hooks can be engaged with the side portions of the table portion 10a, thereby the table cover 13 Is configured to be locked to the table portion 10a.

  That is, in this single-axis robot, all the covers 3 to 5 can be fixed with only two bolts B1 and B2. Therefore, the fixing work of the covers 3 to 5 is required as compared with the conventional single-axis robot of this type in which each side cover must be fixed with a plurality of bolts and each end surface cover must be fixed with a plurality of bolts. The time required for this can be greatly reduced. Further, at the time of maintenance, the single-axis robot can be disassembled into the state shown in FIG. 4 (the state of the above-mentioned assembly component) very simply by removing only two bolts B1 and B2. Therefore, the productivity and maintainability of the single axis robot can be significantly improved.

  In particular, in this single-axis robot, the bolts B1 and B2 necessary for assembling the case member 1 are all tightened from the same direction (upper side) with respect to the single-axis robot. The cover member 1 can be assembled by fixing the covers 3 to 5 without difficulty. Therefore, it is not necessary to tighten the bolts while changing the posture and the direction of the tool many times, unlike the conventional single-axis robot of this type in which the side cover and the end cover are each fixed with a plurality of bolts from a plurality of directions. , Work load can be greatly reduced. Therefore, the productivity and maintainability of the single-axis robot can also be improved in this respect.

  Further, in this single-axis robot, the front end portion of the shutter 6 is held between the front block 26 and the lid portion 4B with the front end portion locked to the boss 262, and the rear end portion of the shutter 6 is placed on the upper surface portion 51 of the rear end cover 5. In this state, the rear end cover 5 is fixed to the rear block 27 together with the rear end cover 5 with a rear end cover fixing bolt B2. That is, the shutter 6 is also configured to be fixed to the support blocks 26 and 27 without using a dedicated fixing means (screw member). Accordingly, also in this respect, the configuration of the single-axis robot can be simplified and the cost can be reduced, and the productivity and maintainability can be improved.

  The single-axis robot described above (single-axis robot to which the case member according to the present invention is applied) is an example of a preferred embodiment of the present invention, and its specific configuration does not depart from the gist of the present invention. The range can be changed.

  For example, in the single-axis robot of the embodiment, the base member according to the present invention is configured by the iron guide rail 2 that movably supports the movable member 10 and the support blocks 26 and 27 and the bracket 28 that are fixed to the rail. However, for example, it is possible to provide a base made of an extruded material such as an aluminum alloy, and to fix the iron guide rail 2, the support blocks 26, 27, etc. on this base. The case member 1 can be configured using the base as a base member. However, according to the configuration of the case member 1 mainly using the guide rail 2 or the like as in the embodiment, the number of components of the single-axis robot is reduced compared to the case where the base is provided, which is simple and inexpensive. This is advantageous in providing a single-axis robot.

  In the single-axis robot of the embodiment, a so-called screw feed mechanism using a rotary motor is adopted as a driving means for moving the movable member 10, but the movable member 10 may be directly driven by a linear motor. Good. In this case, for example, a case member 1 provided with a base made of an extruded material such as an aluminum alloy as described above is configured, and a guide rail 2 and a linear motor stator (long magnetic body) are provided on the base. On the other hand, a linear motor movable element (armature) is fixed to the movable member 10. Instead of the support blocks 26 and 27 of the screw shaft 22 on both ends in the longitudinal direction of the base, cover fixing members (or cover fixing portions) that are mere piece members without bearings are provided on the base, and end faces are provided on these bases. Fix the covers 4 and 5. In the case of this configuration, the housing portion for the motor 24 as in the embodiment is not necessary, and therefore the front end cover 4 may be provided with a front end cover 4 having a structure similar to the rear end cover 5. .

DESCRIPTION OF SYMBOLS 1 Case member 2 Guide rail 3 Side cover 4 Front end cover 4A Cover main-body part 4B Cover part 5 Rear end cover 6 Shutter 10 Movable member 24 Motor

Claims (7)

In a single-axis robot including a case member extending in a uniaxial direction, a movable member accommodated in the case member and supported so as to be movable in the uniaxial direction, and a driving means for moving the movable member.
The case member is disposed on each side of the base member for movably supporting the movable member and on both sides of the base member in the width direction perpendicular to the uniaxial direction, and the uniaxial along the base member. A pair of side covers extending in the direction, and end face covers fixed to the end portions of the base member in the uniaxial direction, respectively, and each end face cover forms an end face in the uniaxial direction of the single-axis robot. And a fitting portion that is provided on the inner side surface of the end surface portion and can be fitted to the end portion in the uniaxial direction of each side surface cover, and each side surface cover is respectively connected to the fitting portion. by fitting, characterized in that it is fixed to the base member via the end face cover in a state where each is sandwiched between the end face cover in the axial direction Axis robot. The single-axis robot according to claim 1,
The fitting portion of the end surface cover has a plurality of fitting pieces arranged corresponding to the cross-sectional shape of the side cover so as to be in contact with both inside and outside in the thickness direction of the side cover, and along the uniaxial direction. A single-axis robot configured to be fitted to the side cover by inserting an end portion of the side cover between the fitting pieces. The single-axis robot according to claim 1 or 2,
Each end face cover is positioned on the base member by fitting to the base member, and is fixed to the base member by a screw member from a specific direction and the same direction. Characteristic single-axis robot. The single-axis robot according to any one of claims 1 to 3,
The base member includes a guide rail that movably supports the movable member, and a cover fixing member that is assembled to an end portion of the guide rail. The end surface covers are fixed to the cover fixing member. A single-axis robot characterized by The single-axis robot according to any one of claims 1 to 4,
The drive means includes a nut member assembled to the movable member, a screw shaft extending in the uniaxial direction and having both ends thereof rotatably supported by the base member in a state of being inserted into the nut member, A motor that is arranged on one end side of the screw shaft and rotationally drives the screw shaft;
An end surface cover on the side close to the motor of the end surface cover includes a cover main body portion having the fitting portion and a lid portion detachably attached thereto, and cooperates with the side surface cover. A single-axis robot configured to form an accommodating portion for accommodating the motor and to open the accommodating portion in a state where the lid cover is removed from the cover main body portion. The single-axis robot according to claim 3,
The case member is provided with an opening that extends in the uniaxial direction and opens upward, and the movable member is configured such that a part of the opening protrudes outward from the opening, and passes through the inside of the movable member. In addition, a shutter member extending in the uniaxial direction for closing the opening is provided on the upper surface portion of the case member,
The base member has a fixing portion for fixing the cover at a position outside the opening in the uniaxial direction, and each end surface cover is fitted to the fixing portion and is fixed to the fixing portion. It is fixed by the screw member from above,
The single-axis robot, wherein the shutter member is fixed to the fixing portion by the screw member together with the end surface cover in a state where at least one side of the both end portions in the uniaxial direction is overlapped with the end surface cover. The case member of a single-axis robot comprising a case member extending in a uniaxial direction, a movable member housed in the case member and supported so as to be movable in the uniaxial direction, and a driving means for moving the movable member. And
A base member for movably supporting the movable member, a pair of side covers disposed on both sides in the width direction of the base member and extending in the uniaxial direction along the base member, and the uniaxial direction of the base member Each of the end surface covers has a fitting portion that can be fitted to the end portion of each of the side surface covers, and each of the side surface covers is fitted with each of the fittings. A case member configured to be fixed to the base member via the end surface cover in a state of being sandwiched between the both end surface covers by being fitted to a joint portion.

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