JP5546320B2 - robot - Google Patents

Description

  The present invention relates to a robot provided with a case member whose one surface along the axial direction is open, a movable member that moves along the case member, and a shutter that closes the opening of the case member.

  Conventionally, a guide rail is provided on a case member that extends along the axial direction from one side to the other and has an open upper surface, and the movable member is guided by the guide rail with a part of the movable member protruding upward from the opening of the case member. A robot that can move along the line is used. In such a robot, in order to prevent dust and foreign matter from entering the inside of the case member and dust and foreign matter inside the case member from being scattered to the outside, (For example, refer to Patent Document 1).

JP 2006-6058 A

  In the above-described conventional robot, when the movable member moves along the guide rail, the shutter is lifted upward at the portion where the movable member is located, and when the movable member passes, the portion lifted by the movable member of the shutter is Lower to the upper surface of the lower opening edge. Thus, when the shutter moves up and down according to the position of the movable member, a gap is generated between the opening edge of the case member and the shutter. In such a case, if dust accumulates or foreign matter adheres to the upper surface of the shutter or the opening edge of the case member, the dust or foreign matter may enter the case member through the gap. The movable member may not be able to move smoothly due to dust or foreign matter that has entered the inside of the case member.

  The present invention has been made in order to cope with such a problem, and an object of the present invention is to prevent dust and foreign matter from entering the inside of the case member from the gap between the opening edge of the case member and the shutter. Is to provide. In the description of each constituent element of the present invention below, the reference numerals of corresponding portions of the embodiment are shown in parentheses in order to facilitate understanding of the present invention. The present invention should not be construed as being limited to the configurations of the corresponding portions indicated by the reference numerals of the forms.

In order to achieve the above-mentioned object, the structural features of the robot according to the present invention include a case member (10, 60) extending in the axial direction from one side to the other and having an opening along the axial direction, and the axis of the case member. A movable member (20, 70a, 70b) that is attached to the inside and the outside of the case member so as to be movable in the direction, and has engaging portions (36) at both ends in the axial direction of the portion (30) located outside. , 70c, 70d), a drive device (40) for moving the movable member in the axial direction of the case member, and both ends (16) in the axial direction of the case member with the opening (15) of the case member closed from the outside. A belt-like shutter (50, 80) in which both end portions are fixed and a portion located on the movable member is separated from the edge (17a, 17b) of the opening by the movable member, and a detachable engagement with the engaging portion Joint part (3 ) E Bei a wiper (34) which extends in a direction crossing the moving direction of the movable member in contact to the edge of the shutter of the outer surface and the opening comprises a, the engaging portion and the engaged portion, movement of the movable member The wiper can be attached to and detached from the movable member by sliding the engaged portion in the extending direction of the engaging portion relative to the engaging portion .

  In the robot according to the present invention described above, the wiper that contacts the outer surface of the shutter and the opening edge of the case member at both ends in the axial direction of the portion of the movable member that moves in the axial direction of the case member. Is provided. Further, the wiper is installed so as to extend in a direction intersecting the moving direction of the movable member. In this case, the direction intersecting the moving direction of the movable member may be a direction orthogonal to the moving direction of the movable member or a movable direction. It is a direction inclined with respect to the moving direction of the member. For this reason, when the movable member moves along the case member even if dust accumulates on the outer surface of the shutter or the opening edge of the case member or foreign matter adheres, the wiper removes the dust or foreign matter in the case. The dust and foreign matter are prevented from entering the inside of the case member by being pushed toward both ends of the member and the shutter or blown off to the outside of the case member.

  In this case, in the portion of the case member where the movable member is located, the shutter is in a state of being separated from the opening edge of the case member, but the wiper is provided because the shutter is in contact with the opening edge of the case member. It is the both ends of the moving direction of a movable member. For this reason, even if dust or foreign matter is located on the outer surface of the shutter or the opening edge of the case member, the dust or foreign matter does not enter the inside of the case member, and both end sides in the axial direction of the shutter or case member. Or moved out of the case member. The wiper is detachably provided on the movable member via the engaging portion and the engaged portion. For this reason, when the wiper is consumed or damaged due to use, the wiper that has been worn or damaged can be replaced with an unused wiper. According to this, the effect of removing dust and foreign matter by the wiper can be continued.

Further, in the robot according to the present invention, the engaging portion and the engaged portion extends in a direction crossing the moving direction of the movable member, with respect to the engaging portion, the engaging portion engaged portion The wiper can be attached to and detached from the movable member by sliding in the extending direction.

  According to this, since the wiper is attached to the movable member by sliding the wiper in the direction intersecting the moving direction of the movable member with respect to the engaging portion, the wiper is movable when the movable member is moved. It becomes difficult to come off from the member. Further, the attaching / detaching operation of the wiper with respect to the movable member is facilitated.

  Still another structural feature of the robot according to the present invention is that the cross-sectional shape of one of the engaging portion and the engaged portion is formed in a substantially C shape, and the other of the engaging portion and the engaged portion is formed on the other. This is because the portions (37a, 37b, 37c) that engage with the substantially C-shaped ends (36b, 36c) are formed. According to this, the engagement between the engaging portion and the engaged portion can be further ensured with a simple structure.

  Still another structural feature of the robot according to the present invention is that a disengagement preventing portion (39a) for preventing the engaged portion of the wiper from being disengaged from the engaging portion, and a fixed portion fixed to the movable member. (39b) is provided with an L-shaped pressing member (39), and the holding member detachment preventing portion is disposed on a surface along the moving direction of the movable member to cover the end surface of the wiper and to fix the pressing member. The portion is fixed to a surface orthogonal to the moving direction of the movable member by a screw (35b).

  According to this, by fixing the fixing part of the pressing member to the movable member with the screw, it is possible to prevent the wiper from coming out of the engaging part of the movable member by covering the end surface of the wiper with the separation preventing part. Further, when removing the used wiper from the movable member, the pressing member can be removed from the movable member by removing the screw, and the wiper can be pulled out and slid to be taken out from the engaging portion. When an unused wiper is attached to the movable member, the wiper can be attached by positioning the end of the wiper at the end of the engaging portion and pushing the wiper into the engaging portion and sliding it. Moreover, it is preferable to provide the pressing member at the four corners of the movable member where the end of each wiper is located. According to this, when the holding member or the like for holding the cable is arranged on one side of the movable member, the wiper is replaced by attaching or detaching the pressing member provided on the other side of the movable member. be able to. In this case, the cable holding member or the like does not interfere with the wiper replacement.

  Still another structural feature of the robot according to the present invention is that the wiper is formed by integrally molding a rubber material. According to this, even if the wiper has a complicated shape, it can be manufactured at low cost.

1 is a plan view showing a robot according to an embodiment of the present invention. It is 2-2 sectional drawing of FIG. FIG. 3 is a 3-3 cross-sectional view of FIG. 1. FIG. 4 is a sectional view taken along the line 4-4 in FIG. 1. It is a rear view of the robot shown in FIG. It is the perspective view which showed the table main body. It is the top view which showed the table main body. It is 8-8 sectional drawing of FIG. The table body is shown, (a) is a side view, (b) is a bottom view, and (c) is a front view. It is the side view which showed the wiper attached to the engaging part. It is a partially cutaway sectional view showing a chain type cable holding member. It is the perspective view which showed the state which attaches or detaches a wiper from a table main body. The state which attaches and detaches a wiper from the table main body is shown, (a) is a top view, (b) is a side view, (c) is a front view. The robot which concerns on other embodiment of this invention is shown, (a) is a top view, (b) is a side view.

  Hereinafter, a robot according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a plane of the robot A according to the embodiment, and FIG. 2 shows a main part of a section 2-2 in FIG. 3 shows the main part of the section 3-3 in FIG. 1, FIG. 4 shows the main part of the section 4-4 in FIG. 1, and FIG. 5 shows the robot A shown in FIG. The state seen from the rear (the rear when the upper part in FIG. 1 is the rear part and the lower part is the front part) is shown. The robot A includes a case member 10 extending in the X-axis direction (the front-rear direction in FIG. 1) as an axial direction of the present invention, a movable member 20 movably attached to the case member 10, and the movable member 20 as a case member. 10, a driving device 40 that moves in the X-axis direction, and a shutter 50 that is installed on the upper surface of the case member 10. Here, the direction perpendicular to the X-axis direction on the horizontal plane (the width direction of the case member 10 in the left-right direction in FIG. 1) is the Y-axis direction, and the vertical direction is the Z-axis direction.

  The case member 10 includes a bottom frame 11 positioned at a lower portion, and a pair of upper covers 12 and 13 respectively disposed on the left and right upper portions of the bottom frame 11. The bottom frame 11 includes a thick plate-like bottom surface portion 11a having a step portion whose widthwise center portion on the upper surface is lower than both side portions, and a side wall portion 11b protruding upward from the left and right side portions of the bottom surface portion 11a. , 11c, and is formed of a long frame-like body having a substantially U-shaped cross section with an opening located above. The bottom frame 11 is formed by processing an extruded material made of an aluminum alloy, and the cross-sectional shape thereof is the same from one end to the other end in the X-axis direction.

  A plate member 41 and a plurality of permanent magnets 42 constituting a part of the driving device 40 are installed in a portion which is a concave portion at the center in the width direction on the upper surface of the bottom surface portion 11a. The plate member 41 is installed on the upper surface of the bottom surface portion 11a along the front-rear direction, and a plurality of permanent magnets 42 are disposed on the upper surface of the plate member 41 so that the north and south poles are alternately positioned. Arranged in the direction and attached. In addition, a pair of guide rails 14a and 14b extending in the front-rear direction in parallel with the plate member 41 and the plurality of permanent magnets 42 are provided on the upper portion of the upper surface of the bottom surface portion 11a near the concave portion on both sides in the width direction. It is fixed with bolts. The guide rails 14a and 14b are formed of elongated rods, and a trapezoidal portion whose upper side is wider than the lower side is formed at the upper part in the cross section. In the present invention, the extending direction of the guide rails 14a and 14b is defined as the axial direction.

  Further, the width of each of the both sides of the upper surface of the bottom surface portion 11a is such that the portion where the guide rail 14b is installed (the right portion in FIGS. 3 and 4) is the portion where the guide rail 14a is installed (FIGS. 3 and 4). A long and narrow plate-like magnetic scale 43 is provided along the front-rear direction on the outer portion (side wall portion 11c side) having the larger width. Each of the upper covers 12 and 13 is formed of a long cover member having a cross-sectional shape formed in an L shape and arranged symmetrically. The upper covers 12 and 13 are each composed of upper surface portions 12a and 13a arranged substantially horizontally, and side surface portions 12b and 13b extending downward from outer edges of the upper surface portions 12a and 13a.

  The upper covers 12 and 13 are connected and fixed to the upper part of the bottom frame 11 with the inner edges of the upper surface parts 12a and 13a facing each other spaced apart by a set length. Therefore, an opening 15 extending along the X-axis direction is formed between the inner edges of the upper surface portions 12a and 13a facing each other. Further, wall portions 16 (see FIGS. 2 and 5) are respectively provided at both front and rear ends of the case member 10, and the fixing members 16a and 16b are provided on the upper surface of the wall portion 16 as shown in FIG. Both ends of a shutter 50 to be described later are fixed via the. As described above, the opening 15 is positioned between the left and right upper surface portions 12a and 13a, and the upper surface of the inner portion of the upper surface portions 12a and 13a and the lower surface of the end portion in the left and right direction of the shutter 50 are mutually connected. Contact. The portion between the upper surface portions 12a and 13a and the shutter 50 is shielded between the inside and the outside of the case member 10.

  More specifically, two stepped portions 17a and 17b that are lower than the upper surfaces of the outer portions of the upper surface portions 12a and 13a are formed on the upper surfaces of the inner portions of the upper surface portions 12a and 13a. Magnet sheets 18a and 18b are respectively installed on the lower steps located on the opposite sides (inner sides) of the step portions 17a and 17b. The left and right side portions of the shutter 50 are installed on the upper surfaces of the magnet sheets 18a and 18b, and between the outer portion of the upper surface portions 12a and 13a and the higher step located outside the step portions 17a and 17b. The lateral displacement of the shutter 50 is restricted by the step portion formed in the step.

  The movable member 20 is movably attached to the pair of guide rails 14a and 14b, and includes a slide table 21 and guided portions 22a and 22b provided on both sides of the lower surface of the slide table 21. The slide table 21 includes a base portion 21a located inside the case member 10, and a table main body 30 located above the upper surface portions 12a and 13a of the upper covers 12 and 13 and the opening 15, and the base portion 21a. Guided portions 22a and 22b that are slidably engaged with the guide rails 14a and 14b are detachably fixed to the left and right sides of the lower surface by bolts (not shown).

  Groove portions extending in the front-rear direction are formed on the lower surfaces of the guided portions 22a and 22b, and seal portions 23a and 23b made of rubber are formed on the peripheral surfaces of the groove portions. The cross-sectional shape of the edge part of the groove part formed in the to-be-guided parts 22a and 22b becomes a shape where the upper part side was wider than the lower part side, and the lower part opened. The cross-sectional shapes of the seal portions 23a and 23b are such that the upper side is wider than the lower side and the lower side is open, and the guide rails 14a and 14b are aligned along the groove portions of the guided portions 22a and 22b. The cross-sectional shape formed in the upper part of 14b is formed in the shape which can be externally fitted to the trapezoidal part.

  By engaging the groove portions of the guided portions 22a and 22b with the upper portions of the guide rails 14a and 14b via the seal portions 23a and 23b, the movable member 20 can be moved without being detached from the guide rails 14a and 14b. It can slide in the extending direction of 14b. A plurality of grease supply passages 24a and 24b for supplying grease between the guided portions 22a and 22b and the seal portions 23a and 23b are provided at the center in the left-right direction at the upper portions of the guided portions 22a and 22b. The guide portions 22a and 22b are provided at predetermined intervals in the front-rear direction.

  The table main body 30 is provided with various devices and members according to the application of the robot A, and is connected to the base portion 21a by a plurality of bolts (not shown). As shown in FIGS. 6 to 9, the table main body 30 is configured by covering the upper surface, side surfaces, and front and rear surfaces of the guide portion 31 with a pair of cover members 32a and 32b. Four pressing rollers 33a, four guide rollers 33b, and four wipers 34 are attached. The guide portion 31 is configured by a plate-like member having an overall shape that is substantially H-shaped when viewed from the bottom surface, and a convex curved surface 31a is formed on the top surface with the center in the front-rear direction rising from both front and rear sides.

  The guide portion 31 is formed with four roller installation holes 31b penetrating vertically, and a guide roller 33b is rotatably installed in each roller installation hole 31b via a shaft portion 33c. . Each guide roller 33b is disposed so as to be positioned at the approximate center of each region when the guide portion 31 is divided into four parts in the front, rear, left, and right directions, and the guide rollers 33b disposed on the left and right are respectively on the same shaft portion 33c. is set up. Then, two pressing rollers 33a are arranged side by side on the left and right sides of the recesses formed at the left and right center of the front portion of the guide portion 31 and the left and right center of the rear portion, respectively. The two left and right pressing rollers 33a are rotatably supported by the same shaft portion 33d.

  The cover members 32a and 32b are made of the same member, and are made up of a substantially square ceiling portion and three side portions extending downward from the three edges of the ceiling portion. Then, the end portions where the side portions of the cover members 32a and 32b are not provided are brought into contact with each other, and the connecting members 35 are respectively connected to the corner portions of the ceiling portion and the side portions on the left and right sides of the portions where the cover members 32a and 32b are faced. The cover members 32a and 32b are formed in a box shape having a low height with the lower surface opened. Further, the cover members 32a and 32b have a plurality of spaces in a state where a gap is maintained between the ceiling portion and the convex curved surface 31a of the guide portion 31 and between the front and rear side portions and the front and rear end portions of the guide portion 31. It is fixed to the left and right side portions of the guide portion 31 by screws 35a.

  Further, between the front and rear side portions of the lower surface of the ceiling portion of the cover members 32a and 32b and the front and rear end portions of the guide portion 31, there is an engaging portion 36 having a substantially C-shaped cross section with the opening facing downward. Two each are provided. The engaging portion 36 has a shape in which a slit 36a extending left and right is provided at the center in the width direction (front-rear direction) of the lower surface portion of the rectangular cylindrical body extending in the left-right direction of the cover members 32a and 32b, two each. Are arranged in parallel in contact. And the wiper 34 is attached to each engaging part 36 so that attachment or detachment is possible. The wiper 34 is formed of an integrally formed rubber product, and, as shown in FIG. 10, an engaged portion 37 that engages with the end portions 36b and 36c of the engaging portion 36, and an engaged portion And a blade portion 38 extending downward from the lower end of the portion 37.

  The engaged portion 37 is composed of an upper piece 37a and a lower piece 37b arranged vertically in parallel with each other, and a connecting piece 37c that connects the centers in the width direction (front-rear direction) of the upper piece 37a and the lower piece 37b. It is configured. The upper piece 37 a is formed in a slightly thick band shape, and the width is set to be larger than the width of the slit 36 a of the engaging portion 36 and smaller than the width between the inner wall surfaces before and after the engaging portion 36. For this reason, the upper piece 37 a can be accommodated inside the engaging portion 36. The lower piece 37b is formed in a strip shape that is slightly thinner than the upper piece 37a, and the width is set to be slightly smaller than the outer width of the engaging portion. The connecting piece 37c has a width that is substantially the same as the width of the slit 36a, and a vertical length (thickness) that is substantially the same as the height of the slit 36a (the thickness of the end portions 36b and 36c).

  Therefore, the end surface of the engaged portion 37 is positioned on the end portion side of the engaging portion 36, the upper piece 37a is aligned with the inside of the engaging portion 36, the connecting piece 37c is aligned with the slit 36a, and the lower piece 37b is When the engaged portion 37 is pushed into the engaging portion 36 and is slid in a state where the engaged portion 36 is positioned below the engaging portion 36, the engaged portion 37 engages with the engaging portion 36. The blade portion 38 includes a connecting piece 38a extending downward from the center in the width direction of the lower piece 37b, a horizontal piece 38b connected to the connecting piece 38a, and a thin protruding piece extending downward from the center in the width direction of the horizontal piece 38b. 38c.

  The connecting piece 38a has a width smaller than that of the connecting piece 37c, and the vertical length is set to be substantially the same as the vertical length of the connecting piece 37c. The horizontal piece 38b is set to have a width smaller than that of the upper piece 37a and a thickness substantially equal to the thickness of the lower piece 37b. The protruding piece 38c gradually decreases in width from the upper part to the lower part, and is more easily bent than the other parts constituting the wiper 34. When each wiper 34 is attached to the engaging portion 36, each protruding piece 38c protrudes downward from the lower part of the cover members 32a and 32b.

  And the pressing member 39 which prevents that the wiper 34 pulls out from the engaging part 36 is attached to the four corners of the combined cover members 32a and 32b with the screw 35b, respectively so that attachment or detachment is possible. The pressing member 39 is constituted by a fixing member obtained by bending an elongated plate into an L shape. One of the pressing members 39 constitutes a separation preventing portion 39a across the bent portion, and the other constitutes a fixing portion 39b. Each pressing member 39 has the separation preventing portion 39a covering the left and right side surfaces of the cover members 32a and 32b so as to cover the end surface of the wiper 34, and the fixing portion 39b along the front and rear side surfaces of the cover members 32a and 32b. In this state, the cover members 32a and 32b are assembled. And the fixing | fixed part 39b located in the side surface before and behind cover member 32a, 32b is being fixed to cover member 32a, 32b with the screw 35b.

  A magnetic head 44 is provided on the side of the base portion 21a of the slide table 21 (the right side in FIGS. 3 and 4). The magnetic head 44 is disposed opposite to the magnetic scale 43 provided on the upper surface of the bottom surface portion 11a, and detects the position of the movable member 20 by reading the magnetic scale 43 when the movable member 20 moves. A movable block 45 that moves together with the movable member 20 is attached to the center of the lower surface of the base portion 21 a of the movable member 20. The movable block 45 is formed in a rectangular shape whose width in the left-right direction is slightly larger than the height and whose length in the front-rear direction is longer than the width in the left-right direction, and a plurality of permanent blocks attached to the upper surface of the plate member 41. It is arranged opposite to the magnet 42.

  A plurality of coils 45a and a substrate (not shown) are housed inside the movable block 45, and one end of a cable (not shown) is connected to the coil 45a and the substrate. This cable is introduced into the chain-type cable holding member 46a shown in FIG. 11 via a cable introduction portion 46 installed on the side surface of the movable member 20. The cable introduction part 46 is connected to the table body 30 of the movable member 20 by a connection part 46b, and is movable in the direction in which the guide rails 14a and 14b extend integrally with the movable member 20. The other end of the cable passing through the chain type cable holding member 46a is connected to a power source via a control device including a CPU and a storage device.

  The plate member 41, the plurality of permanent magnets 42, the movable block 45, the control device and the like constitute the drive device 40 according to the present invention. The driving device 40 includes a magnetic field (N pole, S pole) generated by passing a current through the coil 45a, and a force attracting the N pole and the S pole between the N pole and the S pole of the permanent magnet 42, A linear motor that generates a propulsive force by the repulsive force between the N poles and the S poles is included. Therefore, when the power is turned on and the control device is turned on to pass a current through the coil 45a, the movable member 20 moves along the guide rails 14a and 14b together with the movable block 45 and the cable introduction portion 46. At that time, the chain-type cable holding member 46a causes the portion connected to the cable introduction portion 46 to follow the movement of the cable introduction portion 46 while changing the position of the bent portion (the left portion shown in FIG. 11).

  The shutter 50 is made of a thin plate made of stainless steel, the length in the front-rear direction is slightly shorter than the length in the front-rear direction of the upper covers 12, 13, and the width in the left-right direction is the upper surface portion of the upper covers 12, 13. It is slightly longer than the length between the outer edges of the magnet sheets 18a, 18b installed on the step portions 17a, 17b of 12a, 13a. The shutter 50 is fixed at both ends in the longitudinal direction to the upper surface of the wall surface portion 16 via fixing members 16a and 16b and a plurality of screws 51, and closes the opening 15 of the case member 10 from above.

  Further, as shown in FIG. 2, the portion of the shutter 50 located on the movable member 20 is sequentially guided by two guides on the left and right sides from the lower portions of the two wipers 34 and the two left and right pressing rollers 33a. It passes over the upper part of the roller 33b and is stretched from the upper part of the two left and right guide rollers 33b located on the other side to the lower part of the two right and left pressing rollers 33a and the two wipers 34. That is, the shutter 50 passes through a gap between the convex curved surface 31a of the guide portion 31 of the table body 30 and the ceiling portions of the cover members 32a and 32b. The shutter 50 is pushed upward by the guide roller 33b on the center side in the front-rear direction in the table body 30, and the lower surfaces of both edge portions in the left-right direction are pushed by the pressing rollers 33a on both sides in the front-rear direction in the table body 30. The magnetic sheets 18a and 18b are biased toward the upper surface side.

  Further, the four wipers 34 are in contact with the upper surface of the shutter 50 and the upper surface inner portions of the upper surface portions 12a and 13a, respectively. Thus, when the upper surface of the shutter 50 contacts the pressing roller 33a and the lower surface of the shutter 50 contacts the guide roller 33b, the frictional resistance received from the shutter 50 when the movable member 20 moves is reduced. Further, since both ends of the shutter 50 are fixed to the wall surface portion 16 and the portions are lifted upward by passing through the table main body 30, an appropriate tension is applied to the shutter 50. Is maintained in an unbent state.

  For example, when the robot A configured as described above is used to sequentially supply small electronic components to a predetermined place, an adsorption member for adsorbing the electronic components is attached to the table body 30. Then, the robot A is turned on to turn on the control device. As a result, a current flows through the coil 45a in the movable block 45, and the movable member 20 moves along the guide rails 14a and 14b together with the movable block 45 and the cable introducing portion 46. At this time, at the front and rear of the moving direction of the movable member 20, the shutter 50 is brought into close contact with the upper surfaces of the upper surface portions 12a and 13a by the attractive force of the magnet sheets 18a and 18b, thereby opening the opening 15 of the case member 10. Block it.

  As the movable member 20 advances, the protruding pieces 38c of the pair of wipers 34 arranged on the front side in the moving direction of the movable member 20 come into contact with the upper surface of the shutter 50 and the upper surfaces of the upper surface portions 12a and 13a. Therefore, if dust or foreign matter adheres to the upper surface of the shutter 50 or the upper surface portions 12a and 13a, the dust or foreign matter is pushed forward. This prevents dust and foreign matter from entering the inside of the case member 10. Next, the portion of the shutter 50 located on the moving direction side of the movable member 20 is lifted upward from the upper surfaces of the upper surface portions 12a and 13a by the guide roller 33b. At this time, the pressing roller 33a presses the portion of the shutter 50 located behind the wiper 34 against the upper surface side of the upper surface portions 12a and 13a.

  Further, at the rear of the movable member 20 in the traveling direction, the shutter 50 is maintained in a state of being guided in the horizontal direction and lifted upward by the guide roller 33b positioned at the rear, and further, by the rear pressing roller 33a. The upper surface portions 12a and 13a are pressed against the upper surface side. Even in the rearward direction of the movable member 20, the protruding pieces 38c of the pair of wipers 34 disposed on the rear side in the moving direction move in contact with the upper surface of the shutter 50 and the upper surfaces of the upper surface portions 12a and 13a. . In this case, since dust and foreign matter are not attached to the upper surface of the shutter 50 and the upper surfaces 12a and 13a, the protruding pieces 38c of the pair of wipers 34 are located on the upper surface of the shutter 50 and the upper surfaces of the upper surfaces 12a and 13a. Just touch.

  That is, when the movable member 20 travels, a portion of the shutter 50 that is positioned on the front side of the pressing roller 33a that is positioned in front of the movable member 20 in the traveling direction and a rear side in the traveling direction of the movable member 20 are positioned. The portion located on the rear side of the pressing roller 33a to be in close contact with the upper surfaces of the upper surface portions 12a and 13a by the attractive force of the magnet sheets 18a and 18b closes the opening 15 of the case member 10. The movable member 20 reciprocates while pressing the shutter 50 against the upper surface portions 12a and 13a by the pressing rollers 33a on both the front and rear sides and lifting the shutter 50 upward by the guide roller 33b positioned between the pressing rollers 33a. .

  At that time, regardless of whether the moving direction of the movable member 20 is the front-rear direction, the wiper 34 pushes away dust and foreign matters adhering to the upper surface of the shutter 50 and the upper surfaces of the upper surface portions 12a and 13a forward in the moving direction. Dust and foreign matter are prevented from entering the inside of the case member 10. Further, since the wiper 34 is attached by being inserted into the engaging portion 36 provided on the table main body 30 of the movable member 20 from the left-right direction, the engaging portion can be moved even if the movable member 20 advances in the front-rear direction. It will not deviate from 36. Furthermore, since the pressing members 39 are positioned at the left and right ends of the wiper 34, the wiper 34 is not displaced in the left-right direction.

  When the protruding piece 38c of the wiper 34 is consumed due to long-time use, the wiper 34 is replaced with an unused one. In this case, the pressing member 39 attached to the table main body 30 on the side where the cable introduction portion 46 and the chain type cable holding member 46a are not located is removed as shown in FIGS. At this time, since the screw 35b for fixing the pressing member 39 to the cover members 32a and 32b is located on the front surface or the rear surface of the table body 30, there is no obstacle in the vicinity of the screw 35b and the screw 35b can be easily removed. Yes. And the used wiper 34 is pulled out from the side part from which the pressing member 39 in the table main body 30 was removed.

  Next, the unused wiper 34 is inserted from the end portion side of the engaging portion 36 so as to be slid to be inserted to the end portion on the opposite side of the engaging portion 36. As a result, the wiper 34 engages with the engaging portion 36. In this state, the separation preventing portion 39a of the pressing member 39 is set along the left and right side surfaces of the cover members 32a and 32b, the fixing portion 39b is set along the front and back side surfaces of the cover members 32a and 32b, and the fixing portion 39b is screwed. The cover members 32a and 32b are fixed by 35b. Thereby, the replacement work of the wiper 34 is completed.

  As described above, in the robot A according to the present embodiment, the wiper 34 that contacts the upper surface of the shutter 50 and the upper surfaces of the upper surface portions 12a and 13a is provided on both ends of the movable member 20 in the moving direction. Therefore, when the movable member 20 moves along the case member 10 even if dust or foreign matter adheres to the top surface of the shutter 50 or the top surfaces 12a and 13a, the wiper 34 removes the dust or foreign matter to the shutter 50. Further, dust and foreign matter are prevented from entering the inside of the case member 10 by being pushed toward both end sides of the upper surface portions 12a and 13a or blown off to the outside of the case member 10. Further, since the wiper 34 is detachably provided on the engaging portion 36 of the movable member 20, when the wiper 34 is consumed or damaged by use, the wiper 34 can be replaced with an unused one. . For this reason, the effect of removing dust and foreign matter by the wiper 34 can be continued.

  Since the wiper 34 is attached to the movable member 20 by sliding the wiper 34 in the direction orthogonal to the moving direction of the movable member 20 with respect to the engaging portion 36, the wiper 34 is moved when the movable member 20 is moved. The movable member 20 will not be disengaged from the engaging portion 36. Further, the attachment / detachment operation of the wiper 34 with respect to the engaging portion 36 is facilitated. Further, the presser member 39 is fixed to the table main body 30 of the movable member 20 with the screw 35b to prevent the wiper 34 from coming out of the engaging portion 36 of the table main body 30. It will not deviate from 30. Moreover, since the screw 35b is attached to the front and back surfaces of the table body 30, there is no obstacle around the screw 35b, and the screw 35b can be easily attached and detached. Further, since the wiper 34 is formed by integrally molding a rubber material, even if the wiper 34 has a complicated shape, it can be manufactured at low cost.

  FIG. 14 shows a robot B according to another embodiment of the present invention. The robot B includes a case member 60 extending in the X-axis direction as the axial direction of the present invention, four movable members 70a, 70b, 70c, 70d movably attached to the case member 60, and movable members 70a, A driving device (not shown) for moving the respective parts 70b, 70c, and 70d in the X-axis direction of the case member 60 and a shutter 80 installed on the upper surface of the case member 60 are configured. The case member 60 is slightly longer in length in the X-axis direction than twice the length in the X-axis direction of the case member 10 described above, and the width (length in the Y-axis direction) is the same as the width of the case member 10. Is set.

  The movable members 70a, 70b, 70c, and 70d are each configured by the same as the movable member 20 described above. The cable introduction parts 96a, 96b, 96c, 96d (corresponding to a, b, c, d in the reference numerals are assembled to the side parts of the movable members 70a, 70b, 70c, 70d, respectively. The same applies to the following description). The cable introduction portions 96a, 96b, 96c, and 96d are connected to the chain type cable holding members 97a, 97b, 97c, and 97d, respectively, and the X axis direction in which the chain type cable holding members 97a, 97b, 97c, and 97d are arranged The movable members 70a, 70b, 70c, and 70d are moved together within the range.

  The moving range of the movable members 70a and 70b is set to the left half portion of the case member 60 shown in FIG. 14, and the moving range of the movable members 70c and 70d is the right half portion of the case member 60 shown in FIG. Is set to The movement range of the movable member 70a and the movable member 70b is substantially shifted by the length of the movable member 70a in the X-axis direction, and the movement range of the movable member 70c and the movable member 70d is approximately X of the movable member 70c. It is shifted by the axial length. The robot B includes the same drive device as the drive device 40 described above according to the number of movable members 70a, 70b, 70c, and 70d, and the movable members 70a, 70b, 70c, and 70d do not collide with each other. It moves by the operation of the drive. The configuration of the other portions of the robot B is the same as that of the robot A described above. Accordingly, the same parts are denoted by the same reference numerals and the description thereof is omitted. This robot B can obtain the same effects as the robot A described above.

  Further, the robot according to the present invention is not limited to the above-described embodiments, and can be implemented with appropriate modifications. For example, in the above-described embodiment, two wipers 34 are provided before and after the movable member 20 or the like, but one wiper 34 may be provided before and after the movable member 20 or the like. In this case, two engaging portions 36 may be provided on the front and rear sides of the movable member 20, respectively, and the wipers 34 may be attached to the arbitrary front and rear engaging portions 36. You may provide one by one. In the above-described embodiment, the wiper 34 is slid from the end side of the engaging portion 36 and attached to the movable member 20 or the like. A method may be used.

  For example, an engaging protrusion may be provided in the engaging portion, and an engaging recess that is detachably engaged with the engaging protrusion may be provided in the wiper so that the engaging protrusion and the engaging recess are engaged. Further, the cross-sectional shape of the engaged portion of the wiper may be formed in a substantially C shape, and the engaging portion may be engaged with both ends of the substantially C shape of the engaged portion. Furthermore, the method of engaging the wiper with the engaging portion may be another method, and it may be any structure as long as the wiper can be detachably engaged with the engaging portion. Further, the shape of the wiper 34 and the shape of the engaging portion 36 can be appropriately changed within the technical scope of the present invention.

  Further, in the above-described embodiment, the wiper 34 is installed extending in the direction orthogonal to the moving direction of the movable member 20, but the extending direction of the wiper 34 is a direction inclined to the moving direction of the movable member 20. Also good. According to this, when dust or foreign matter adheres to the upper surface of the shutter 50 or the upper surfaces of the upper surface portions 12a and 13a, the dust or foreign matter is pushed away to one of the left and right in the front. This facilitates removal of dust and foreign matter from the case member 10. Further, as the driving device, instead of the linear motor type driving device including the plate member 41, the plurality of permanent magnets 42, the movable block 45 and the like, a ball screw shaft extending in the front-rear direction is provided on the case member or the like. And a drive device having a configuration in which a nut screwed to the ball screw shaft is fixed to the movable member. Further, the configuration of the other parts of the robot according to the present invention can be changed as appropriate within the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 10, 60 ... Case member, 15 ... Opening, 16 ... Wall surface part, 20, 70a, 70b, 70c, 70d ... Movable member, 30 ... Table main body, 34 ... Wiper, 36 ... Engagement part, 37 ... Engagement part , 39 ... a pressing member, 39a ... a detachment preventing part, 39b ... a fixing part, 40 ... a driving device, 50, 80 ... a shutter, A and B ... a robot.

Claims (4)

A case member extending in the axial direction from one side to the other and having an open surface along the axial direction;
A movable member attached to the inside and outside of the case member in a state movable in the axial direction of the case member, and provided with engaging portions at both ends in the axial direction at a portion located outside;
A driving device for moving the movable member in the axial direction of the case member;
Both ends of the case member are fixed to both ends in the axial direction with the opening of the case member closed from the outside, and a portion located on the movable member is separated from the edge of the opening by the movable member. A shutter;
E Bei a wiper in contact with the edge portion of the outer surface and the opening of the extending in a direction crossing the moving direction of said movable member includes a engaged portion detachably attached to the engagement portions shutter,
The engaging portion and the engaged portion extend in a direction intersecting a moving direction of the movable member, and the engaged portion is slid in the extending direction of the engaging portion with respect to the engaging portion. By doing so, the wiper can be attached to and detached from the movable member . One cross-sectional shape of the engaging portion and the engaged portion is formed in a substantially C shape, and the other of the engaging portion and the engaged portion is engaged with the both ends of the substantially C shape. The robot according to claim 1, wherein a portion is formed. An L-shaped pressing member comprising a separation preventing portion that prevents the engaged portion of the wiper from separating from the engaging portion, and a fixed portion that is fixed to the movable member; The detachment prevention portion is disposed on a surface along the moving direction of the movable member to cover the end surface of the wiper, and the fixing portion of the pressing member is fixed to a surface orthogonal to the moving direction of the movable member with a screw. robot according to claim 1 or 2 are. The robot according to claim 1, wherein the wiper is formed by integrally molding a rubber material.

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