JP2011173208A - Robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To increase a load capacity without increasing the whole size and weight. <P>SOLUTION: A base 11 of a horizontal multistage expansion device 3 is formed into a dimension shorter than the length of a linear guide 13. A pair of rail sliding bodies similarly has a dimension shorter than the length of the linear guide 13. The pair of rail sliding bodies 12L, 12R parallel to each other is provided on the lower surface of the base 11. The linear guide 13 comprises two rails 17L, 17R and two coupling end plates 18A, 18B (only one coupling end plate 18A is illustrated). Further, in order to couple a pair of the rails 17L, 17R to each other, each coupling end plate 18A, 18B is fixed with screws on the end face of each rail. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a robot in which a horizontal multistage telescopic device is incorporated in a vertical transfer device.

Conventionally, a multistage expansion / contraction apparatus is known as a means that can expand and contract the final stage movable body with a target stroke that exceeds the installation space of the multistage expansion / contraction apparatus itself (for example, Patent Documents 1 and 2).
The configuration of this multistage expansion / contraction device is schematically shown in FIGS. 26 to 30, the multistage expansion / contraction device 100 includes a fixed side guide 101, a linear motion guide 102, a movable block 103 as a final stage movable body, and a movable block moving mechanism 104. ing.

  As shown in FIG. 28, the fixed side guide 101 is configured by attaching a pair of parallel first rails 101b to a fixed base 101a by screwing. Concave first guide portions 101c are formed on both side surfaces of the first rail 101b. As the above-described screw, as shown in FIG. 30, a hexagon socket head cap screw 105 is used, and the first rail 101b includes a screw head housing recess 106a for housing the head portion 105a of the bolt 105 and the screw rail. A screw insertion hole portion 106b for inserting the screw portion 105b of the bolt 105 is formed in a direction orthogonal to the rail longitudinal direction. An internal thread portion 106c is formed on the fixed base 101a. The first rail 101b is screwed to the fixed base 101a by passing the hexagon socket head cap screw 105 through the screw head accommodating recess 106a and the screw insertion hole 106b and screwing into the female screw portion 106c.

  Further, as shown in FIG. 28, the linear motion guide 102 is constructed by attaching a pair of parallel second rails 102b to the lower surface of the linear motion base 102a by the same screwing as described above. A concave second guide portion 102d is formed on the rail 102b. Further, a pair of parallel rail slide bodies 102c are connected to the upper surface of the linear motion base 102a. A ball-shaped third guide portion 102e is formed on the rail sliding body 102c. Each rail sliding body 102c has a third guide portion 102e slidably held by the first guide portion 101c of each first rail 101b.

  The movable block 103 is composed of a block main body 103a and a pair of guided bodies 103b attached to the upper surface of the block main body 103a. The guided body 103b has a ball-shaped fourth guide portion 103c. Is formed. The fourth guide portions 103c of the pair of guided bodies 103b are slidably held by the second guide portions 102d of the second rails 102b of the linear guide 102.

  The movable block moving mechanism 104 includes a first pulley 104a provided at one end portion (right end portion in FIG. 26) of the linear motion base 102a of the linear motion guide 102 and a first pulley 104a provided at the other end portion of the linear motion base 102a. 2 pulley 104b and a belt 104c installed on these pulleys. A portion Q1 on one end side in FIG. A on the upper side of the belt 104c is connected to the fixed base 101a, and also on the lower side of the belt 104c. A part Q2 on the other end side in FIG. 26 is connected to the movable block 103.

The above-mentioned linear motion guide 102 is moved between the position shown in FIG. 26 and the position shown in FIG. 27 by a linear motion guide moving mechanism (not shown).
Here, the reason why the fixed side guide 101 is provided with the two rails 101b that are separated from each other and the linear guide 102 is also provided with the two rails 102b that are separated from each other is the movement of the hand attached to the movable block 103 or the like. In order to prevent the linear motion guide 102 and the movable block 103 from being deformed or obstructed even when subjected to a torsional action, the linear motion guide moving mechanism is disposed in the fixed side guide 101. This is because the arrangement space is secured when the movable block moving mechanism 104 is arranged on the linear guide 102, and the arrangement space is secured.

  When the linear motion guide 102 is moved in the direction of arrow R from the position shown in FIG. 26 by a linear motion guide moving mechanism (not shown), the linear motion guide 102 moves to move relative to the linear motion guide 102. The movable block 103 connected to the lower side of the belt 104c moves in the direction of arrow R at twice the speed. As a result, as shown in FIG. 27, the movable block 103 can move the stroke S at the longest.

JP-A-9-285899 Japanese Patent Laid-Open No. 11-245189

  By the way, when the above-described multistage telescopic device 100 is mounted horizontally on a vertical movement device of a robot capable of vertical and horizontal movement, the tip of the linear motion guide 102 is in a cantilever state with the rail sliding body 102c as a supporting point. The load capacity of the multistage expansion device 100 is limited by the rigidity of the beam. In order to increase the transportable weight, it is conceivable to increase the rigidity of the beam by increasing the size of the beam. However, the weight of the multistage expansion / contraction device increases, and the multistage expansion / contraction device for raising and lowering the vertical movement device is used. The output of the motor must be increased, and the entire robot becomes larger.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot capable of increasing the portable weight without increasing the overall size and weight.

In order to achieve the above object, the present inventor conducted the following investigation and trial manufacture. In the conventional configuration shown in FIG. 26, the main members that determine the weight of the multistage telescopic device include the fixed side guide 101, the linear guide 102, and the movable block 103.
The inventor considered the weight reduction of each of the main members. First, since the size of the rail sliding body 102c and the movable block 103 of the linear motion guide 102 is not so large, further weight reduction cannot be expected.

  Next, the weight reduction of the first rail 101b of the fixed side guide 101 was examined. The mounting position relationship between the first rail 101b and the rail sliding body 102c is reversed (the first rail 101b is mounted on the upper side of the linear motion base 102a and the rail sliding body 102c is fixed to the lower surface of the fixed base 101a) (see FIG. 9), it was found that the linear motion guide 102 (the linear motion guide with this configuration is hereinafter referred to as the linear motion guide 102A) can secure its own movement stroke without any trouble. And if it is this structure, parts other than the rail sliding body 102c in fixed base 101a (area | region L part of FIG. 9) will become unnecessary, this area | region L part can be deleted, and it can contribute to the weight reduction. This deleted state is shown in FIG.

  In the case of the above configuration, as shown in FIGS. 11 to 13, the linear motion guide 102A is provided with twice as many rails 101b and 102b as the linear motion base 102a. Although the weight of 101 can be reduced, the weight of the linear motion guide 102A itself increases.

  Therefore, the present inventor considered that the linear motion base 102a is eliminated and the upper and lower rails 101b and 102b are integrated as shown in FIGS. In this case, as shown in FIG. 17, using the screw insertion holes 106b and the screw head accommodation recesses 106a of the rails 101b and 102b, the rails 101b and 102b are formed using hexagon socket bolts 105 and nuts 107. Thus, the upper and lower rails 101b and 102b are connected to one.

  In the case of the configuration shown in FIGS. 11 to 18, instead of the abolished linear motion base 102 a, the end portions of the integrated rail 108 of the rails 101 b and 102 b are connected by connecting end portions 109 and 109 (see FIG. 19). And The linear guide having this configuration is referred to as a linear guide 102B.

  When the weight of the linear motion guide 102B shown in FIG. 19 is compared with the weight of the conventional linear motion guide 102 (excluding the rail sliding body 102c) shown in FIG. 29, the linear motion of the configuration shown in FIG. It has been found that the weight of the moving guide 102B can be reduced as compared with the conventional case of FIG. We will demonstrate the achievement of this weight reduction. In the present invention, a so-called small robot having a transport load of less than 20 kg is targeted. In such a small robot, in the prior art shown in FIG. 29, when the rail width is a, the dimension between the rails 102b is as follows. As described above, in consideration of the rigidity enhancement against torsion and the space for the linear motion guide moving mechanism, it is usually set to 5a or more. Therefore, the width dimension of the conventional linear motion base 102a is 7a or more as can be seen from FIG. Since the linear motion base 102a only needs to satisfy the connection strength of the rail 102b connection, generally, aluminum or the like which is not so rigid is used. Such non-rigid materials are relatively small in density and lightweight. On the other hand, since the rail 102b directly supports the movable block 103, a steel material or the like that is generally a material that can be expected to have high rigidity is used. This steel material has a density about three times that of aluminum, and its weight per unit volume is about three times as heavy.

  29, the portions z and z protruding from the rail 102b of the linear motion base 102a and the connecting end plates 109 and 109 in FIG. 19 are substantially offset in weight. If the height dimension Ha of the rail 102b and the thickness dimension Hb of the linear motion base 102a are the same, the unit weight in the longitudinal direction of the linear motion guide 102 in FIG. 29 is the weight of the rail 102b [a × 2]. Since x3 (specific gravity) = 6a and the linear motion base 102a is 7a or more × 1 (specific gravity), the total is 13a or more.

  On the other hand, the weight of the linear motion guide 102B in FIG. 18 is a × 4 × 3 (specific gravity) = 12a. Therefore, the linear motion guide 102B can be reduced in weight by adopting the configuration shown in FIGS.

  Here, in order to further reduce the weight, the inventor considered whether the height dimension HA (2 × Ha) of the integrated rail 108 in FIGS. 17 and 18 could be shortened. The height Ha and the width dimension Hb of the rails 101b and 102b are set such that the minimum length of the screw insertion hole 106b set for the minimum required hexagon socket head bolt 105 used and the screw head. It is determined in consideration of the necessary minimum depth of the housing recess 106a and the necessary thickness around the housing recess 106a. Thus, the rails 101b and 102b, which are in a situation where the size cannot be reduced in this way, are integrated in two stages. The rail 108 has no problem in rigidity (rather excessive rigidity), but there is room for improvement in terms of weight. For this reason, if the rails 101b and 102b are connected in two stages as described above to form the integrated rail 108, the integrated rail 108 is excessively high in rigidity and heavy in weight.

  Accordingly, the present inventor configured the integrated rail 108 as a single rail 110 having guide portions 110a and 110b at the upper and lower portions, as shown in FIGS. A female threaded portion 110c (see FIG. 22) is formed in the longitudinal direction, and a screw head accommodating recess 111a and a screw insertion hole portion 111b are formed in the connecting end plate 111. The connecting end plate 111 is used as an end surface of the rail 110. The connecting end plate 111 and the rail 110 are connected by a hexagon socket head bolt 105. According to this, as the screw hole formed in the rail 110, only the female screw part 110c is formed on the end face (the screw head accommodating recess is not required to be formed). The vertical width dimension HA ′ of the rail 110 can be shortened, and the weight can be further reduced.

  The invention of claim 1 is made in consideration of the above-described investigation and trial manufacture, and includes a vertical lifting device having a lifting member that is moved up and down by a vertical drive motor, and the lifting and lowering in the vertical lifting device. A base connected to the member in a horizontal state, a linear motion guide provided on the base so as to be movable in the horizontal direction, a guide moving mechanism having a drive motor for a horizontal device and moving the linear motion guide; A horizontal multi-stage type having a movable block movable with respect to the linear motion guide and a movable block moving mechanism for moving the movable block in the same direction as the movement direction with respect to the linear motion guide by the movement of the linear motion guide A small robot including a telescopic device, wherein the base of the horizontal multistage telescopic device is formed to have a dimension shorter than the length of the linear guide, and the bottom surface of the base In addition, a recess formed in a dimension shorter than the length of the linear motion guide and opened downward is formed to extend in the same direction as the direction in which the linear motion guide should be moved, and the recess is formed on both inner side surfaces of the recess. A pair of rail sliding bodies that form a first guide portion extending in the same direction as the extending direction of the first and second rails are provided in a parallel state, and the linear guide of the horizontal multi-stage telescopic device includes a pair of parallel rails and the pair of rails. A first connecting end plate screwed to each one end surface in a state of being addressed to each one end surface of the pair, and a screwing to each other end surface in a state of being addressed to each other end surface of the pair of rails And an upper portion that slidably engages with the first guide portions of the pair of rail sliding bodies so as to extend in the longitudinal direction at the upper portions of both side surfaces of the pair of rails. A guide part is formed, and at the lower part of the pair of rails A lower guide portion is formed so as to extend in the longitudinal direction, and the movable block is provided in parallel with a block main body formed in a dimension shorter than the length of the linear motion guide, and an upper surface of the block main body, A recess formed in a dimension shorter than the length of the linear motion guide and opened upward is formed so as to extend in the same direction as the direction in which the linear motion guide should be moved, and the extending direction of the recess on both inner side surfaces of the recess And a pair of guided bodies that extend in the same direction and form a second guide portion that slidably engages with the lower guide portion, and the movable block moving mechanism is configured to A first pulley provided on one connecting end plate between the pair of rails, and a second pulley provided on the second connecting end plate of the linear motion guide between the pair of rails. 2 pulleys and this The first and second pulleys have a belt, and one of the counter electrode positions of the belt is fixed to the base and the other is fixed to the movable block.

In the first aspect of the present invention, the base of the horizontal multistage telescopic device is formed to have a dimension shorter than the length of the linear guide, and the lower surface of the base is in parallel with a dimension shorter than the length of the linear guide. Since the pair of rail sliding bodies is provided, it can be made shorter than the conventional fixed base, and can contribute to the weight reduction of the horizontal multistage telescopic device.
Further, since the linear motion guide is composed of two rails and two connecting end plates, the linear motion guide is composed of a flat linear motion base and two rails. Weight reduction can be achieved.

  Further, since the connection end plates are screwed at the end surfaces of the rails for connecting the pair of rails, the screw head receiving recess and the screw insertion hole are provided on the connection end plate. It is only necessary to form a female screw with a smaller diameter than the screw head receiving recess on the end face of the rail. Unlike the conventional configuration in which the screw head receiving recess and screw insertion hole are formed on the rail, it is necessary for the rail. The vertical width of the rail can be shortened while ensuring a sufficient rigidity, and further weight reduction can be achieved. As a result, the weight of the horizontal multistage telescopic device can be reduced. As a result, the load on the vertical device drive motor can be reduced, and the vertical device drive motor can be reduced in size. As described above, the weight of the linear motion guide can be reduced, so that the loadable weight conveyed by the movable block can be increased accordingly.

The perspective view of the whole robot which shows one Embodiment of this invention Perspective view showing the horizontal multistage telescopic device Perspective view of horizontal multistage telescopic device excluding guide moving mechanism Perspective view of linear motion guide Sectional view showing end screwing points in linear guide Sectional drawing which follows the cutting line EE of Fig.7 (a) (A) is a side view showing a schematic configuration of a horizontal multistage expansion / contraction device portion, and (b) is a side view showing a schematic configuration of a horizontal multistage expansion / contraction device portion in a state different from (a). Cross section of rail part of linear guide The side view which shows the 1st reference example for demonstrating the history of invention, and is a schematic structure of a horizontal multistage expansion-contraction apparatus part Side view of schematic configuration of horizontal multi-stage telescopic device showing second reference example Sectional drawing which follows the cutting line DD of FIG. Cross section of linear guide Perspective view of linear motion guide Side view of schematic configuration of horizontal multi-stage telescopic device showing third reference example The side view which shows schematic structure of the horizontal multistage expansion-contraction apparatus part in the state which becomes FIG. Sectional drawing which follows the cutting line FF of FIG. Sectional view showing rail connection structure Cross section of rail part of linear guide Perspective view of linear motion guide Sectional view of the rail showing the fourth reference example Perspective view of linear motion guide Sectional view showing end screwing points in linear guide Sectional drawing which follows the cutting line GG of FIG. Side view of schematic configuration of horizontal multistage telescopic device FIG. 24 is a side view of a schematic configuration of a horizontal multistage expansion / contraction device portion in a state corresponding to FIG. Side view of schematic configuration of horizontal multi-stage telescopic device showing conventional example FIG. 27 is a side view of a schematic configuration of a horizontal multistage expansion / contraction device portion in a state corresponding to FIG. Sectional drawing which follows the cutting line CC of FIG. Sectional view of linear guide without rail slide Sectional view showing the screwing structure between the base and rail

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In this embodiment, the final improvement plan (FIGS. 20 to 25) described above is specifically implemented. In FIG. 1, the robot 1 includes a vertical lifting device 2 and a horizontal multistage expansion / contraction device 3.
The vertical elevating device 2 is configured by attaching two parallel guide rails 5 and 5 to the device base 4 in a vertical state and attaching a vertical device drive motor 6 and a vertical moving mechanism 7 and the like. An elevating member 8 is provided on the guide rails 5 and 5 so as to be movable in the vertical direction. The elevating member 8 receives the driving force of the vertical device driving motor 6 via the vertical moving mechanism 7. Move up and down.

  The vertical movement mechanism 7 includes a ball screw 9 that is rotatably provided between the guide rails 5 and 5 and a belt transmission mechanism 10 that transmits the rotation of the vertical device drive motor 6 to the ball screw 9. And a ball screw nut (not shown) which is provided on the elevating member 8 and moves up and down by the rotation of the ball screw 9. When the vertical device drive motor 6 is rotated in one direction, the elevating member 8 is moved upward, for example, and when it is rotated in the other direction, the elevating member 8 is moved downward. The lifting member 8 is provided with a base mounting plate 8a that projects horizontally.

The horizontal multistage telescopic device 3 includes a base 11, a pair of rail slide bodies 12L and 12R, a linear guide 13, a guide moving mechanism 14, a movable block 15, and a movable block moving mechanism 16. Configured.
The base 11 is connected to the lower surface of the base mounting plate 8a of the elevating member 8 in a horizontal state. The length La of this base 11 (the length in the same direction as the direction of movement of the linear guide 13; see FIG. 3) is shorter than the length Lg of the linear guide 13 described later (the length of the rail 17L and rail 17R). It is set.

  3 and 6, the pair of rail sliding bodies 12L and 12R are placed on the lower surface of the base 11 in the direction of movement of the linear guide 13 and the movable block 15 (in the direction of arrow A in FIG. 3). It is attached in parallel by being positioned at both ends in a direction orthogonal to the horizontal plane (in the direction of arrow B in FIG. 1). The pair of rail sliding bodies 12L and 12R have the same configuration. As shown in FIG. 6, one rail sliding body 12L is formed with a recess 12La opened in the lower surface so as to extend in the direction of arrow A, and both inner side surfaces of the recess 12La are formed in the direction of arrow A. Ball-shaped first guide portions 12 </ b> Lb and 12 </ b> Lb that can slide the linear motion guide 13 are formed. The other rail slide body 12R is similarly formed with a recess 12Ra and first guide portions 12Rb and 12Rb.

  Further, as shown in FIGS. 3 and 4, the linear motion guide 13 has a pair of parallel rails 17L and 17R, and each one of the linear motion guides 13 in a state of being addressed to each end surface of the pair of rails 17L and 17R. A first connecting end plate 18A screwed to the end face; and a second connecting end plate 18B screwed to the other end face in a state of being addressed to the other end faces of the pair of rails 17L and 17R; Have

  Concave upper guide portions 17La and 17La are formed at the upper portions of both side surfaces of the one rail 17L, and lower guide portions 17Lb and 17Lb are formed at the lower portion so as to extend in the longitudinal direction. ing. Furthermore, female screw portions 17Lc directed inward in the longitudinal direction are formed on both end surfaces (only one is shown in FIG. 5) of the one rail 17L. Further, similar upper guides 17Ra and 17Ra and lower guides 17Rb and 17Rb are formed on both side surfaces of the other rail 17R, and female thread portions similar to the female thread portion 17Lc are formed on both end surfaces of the other rail 17R. (Not shown) is formed.

  Further, at both end portions of the first connecting end plate 18A (one end portion is shown in FIG. 5), a screw head accommodating recess 18Aa and a screw insertion hole portion 18Ab are formed from the outer surface to the inner surface, respectively. ing. Further, an overhang portion 18Ad having a horizontal overhang surface 18Ah is formed on the first connecting end plate 18A. Similarly, the second connecting end plate 18B is also formed with a screw head accommodating recess and a screw insertion hole (not shown) at both ends thereof, and a horizontal projecting surface 18Bh as shown in FIG. An overhang portion 18Bd is formed.

  As shown in FIG. 5, the first connecting end plate 18A is in contact with one end surfaces of the pair of rails 17L and 17R, and the screw head accommodating recess 18Aa and the screw insertion hole 18Ab. A hexagon socket head cap screw 19 through which is inserted is screwed into the female screw portion 17Lc, and is screwed to each one end face. Further, the second connecting end plate 18B is similarly screwed to the other end surfaces in a state of being addressed to the other end surfaces of the pair of rails 17L and 17R.

  The upper guide portion 17La is slidably engaged with the first guide portion 12Lb of the one rail slide body 12L, and the upper guide portion 17Ra is a first guide portion of the other rail slide body 12R. 12Rb is slidably engaged. As a result, the linear motion guide 13 is provided on the rail sliding bodies 12L and 12R of the base 11 so as to be movable in the direction of the arrow A and the direction of the arrow B.

  As shown in FIGS. 1 and 2, the guide moving mechanism 14 includes a horizontal device driving motor 24 provided on the base 11 and a ball rotated by the horizontal device driving motor 24 via a belt transmission mechanism 25. A nut case 27 having a screw nut (not shown) and a ball screw 26 meshing with the ball screw nut are provided. One end of the ball screw 26 is connected to the first connecting end plate 18A so that the first connecting end plate 18A can be pushed and pulled. From the original state shown in FIG. When it is rotationally driven in one direction, the first connecting end plate 18A and then the movable block 15 are moved in the direction of arrow A to reach the longest stroke position shown in FIG. When the horizontal device driving motor 24 is rotationally driven in the other direction from the longest stroke state in FIG. 1, the movable block 15 is moved in the arrow B direction.

  Further, as shown in FIG. 6, the movable block 15 is attached in parallel to a block main body 20 formed in a dimension shorter than the length of the linear guide 13 and the upper surface of the block main body 20, respectively. A pair of guided bodies 21L and 21R having a dimension shorter than the length of the linear motion guide 13 is provided. In one guided body 21L of the pair of guided bodies 21L and 21R, a recess 21La opened upward extends in the same direction as the direction in which the linear motion guide 13 should be moved (directions of arrows A and B). Furthermore, on both inner side surfaces of the concave portion 21La, a second ball-shaped second member extends in the same direction as the extending direction of the concave portion 21La and slidably engages with the lower guide portion 17Lb of the rail 17L. A guide portion 21Lb is formed.

Similarly, the other guided body 21R is also formed with a recess 21Ra and a second guide portion 21Rb slidably engaged with the lower guide portion 17Rb of the rail 17R.
As shown in FIGS. 3 and 7A, the movable block moving mechanism 16 is positioned between the pair of rails 17L and 17R on the first connecting end plate 18A of the linear motion guide 13 and is supported by the shaft. The first pulley 22A provided via the body 22i and the second connecting end plate 18B of the linear guide 13 are provided between the pair of rails 17L and 17R via the shaft support 22j. The second pulley 22B thus formed, and a belt 23 installed on the first pulley 22A and the second pulley 22B. Then, a part of the upper side (see FIG. 3) at one of the opposite electrode positions on the belt 23 is fixed to the base 11 by the fixing tool 23a, and a part of the other lower side is fixed to the block main body of the movable block 15. 20 is fixed by a fixing portion 23b.

  In the movable block moving mechanism 16, when the linear motion guide 13 moves in the arrow A direction from the state of FIG. 3, the lower side portion of the belt 23 moves in the arrow A direction with respect to the linear motion guide 13. As a result, the movable block 15 moves in the direction of the arrow A to reach the longest stroke position in FIG.

  For example, a hand 28 as shown in FIG. 1 is attached to the movable block 15 so as to protrude from the movable block 15 in the direction of arrow A via an extension plate 29.

  Here, as shown in FIG. 8, when the lateral width dimension of the rails 17L and 17R in the linear motion guide 13 is a [mm], the vertical width dimension of each rail 17L and 17R is the final improvement plan (FIG. 20)), and in this case, for example, 1.3 × a [mm]. In this embodiment, the distance between the rails 17L and 17R is set to 6 × a. If the separation dimension is 5 × a or more, the linear guide 13 can be reduced in weight as described above.

  In the above configuration, when the vertical device drive motor 6 is rotated in one direction, the elevating member 8 is moved upward, for example, and thereby the horizontal multistage telescopic device 3 is moved upward. When the vertical device drive motor 6 is rotated in the other direction (reverse direction), the elevating member 8 is moved downward, for example, and the horizontal multistage telescopic device 3 is moved downward.

  When the horizontal device driving motor 24 is rotationally driven in one direction, the linear motion guide 13 is moved in the direction of arrow A. Accordingly, the movable block moving mechanism 16 causes the movable block 15 to be twice as large as the linear motion guide 13. It is further moved in the direction of arrow A at the speed, and reaches the position shown in FIG. 1 in the longest stroke. Further, when the horizontal device driving motor 24 is rotationally driven in the other direction (reverse direction), the linear motion guide 13 is moved in the direction of arrow B, and accordingly, the movable block moving mechanism 16 causes the movable block 15 to move to the linear motion guide 13. Is further moved in the direction of arrow B at a speed twice as fast as.

Thus, the hand 28 performs a predetermined | prescribed operation | movement by moving the movable block 15 up and down and back and forth.
According to this embodiment, the base 11 of the horizontal multi-stage telescopic device 3 is formed to have a dimension shorter than the length of the linear guide 13 and is also shorter than the length of the linear guide 13 on the lower surface of the base 11. Since the pair of rail sliding bodies 12L and 12R having a parallel dimension are provided, the length of the base 11 and the rail sliding bodies 12L and 12R can be made shorter than the conventional fixed-side guide 101 shown in FIG. 11 and the rail sliding bodies 12L and 12R can be reduced in weight compared to the weight of the fixed base 101.

  Further, according to the present embodiment, the linear guide 13 is slidably held by the rail sliding body 12L and the rail 17L which holds the guided body 21L of the movable block 15 is slidable. A rail 17R slidably held on the rail sliding body 12R and slidably holding the guided body 21R of the movable block 15, and two connecting end plates 18A for connecting the two rails 17L and 17R, 18B, the linear motion guide 102 is linear motion as compared with the prior art (FIG. 26) in which the linear motion guide 102 is composed of a flat-plate linear motion base 102a, two rail slide bodies 102c, and two rails 102b. The weight of the guide 13 can be reduced.

  Furthermore, in the present embodiment, the rail 17L is composed of a single rail member having guide portions 17La and 17Lb at the upper and lower portions, unlike the rail 108 in the two-rail coupling form shown in FIG. Similarly, the other rail 17R is composed of one rail member. Furthermore, an internal thread portion 17lc (the internal thread portion of the rail 17R is not shown) is formed from each end face of each rail 17L, 17R in the longitudinal direction inside, and the first connection end plate 18A and the second connection end plate 18B. Are formed with a screw head housing recess 18Aa and a screw insertion hole 18Ab (the screw head housing recess and screw insertion hole of the second connecting end plate 18B are not shown). Then, the connecting end plates 18A and 18B are directed to the end surfaces of the rails 17L and 17R, and the connecting end plates 18A and 18B and the rails 17L and 17R are connected by the hexagon socket bolts 19.

  With these configurations, the screw holes formed in the rails 17L and 17R can be formed only by the female screw portions 17Lc at the respective end faces (the screw head housing recesses need not be formed), and are necessary for the rails 17L and 17R. While securing the rigidity, the height HA ′ of the rails 17L and 17R can be shortened, and the weight can be further reduced.

  As described above, the total weight of the base 11 and the rail sliding bodies 12L and 12R can be reduced, and the weight of the linear guide 13 can also be reduced. Therefore, the horizontal multistage telescopic device 3 can be reduced in weight, and as a result, for the vertical device. The load on the drive motor 6 can be reduced, and the vertical device drive motor 6 can be reduced in size.

Then, as described above, the weight of the linear motion guide 13 can be reduced, so that the transportable weight transported by the movable block 15 can be increased accordingly.
In addition, according to the present embodiment, since the pulleys 22A and 22B and the belt 23 of the movable block moving mechanism 16 are arranged between the rails 17L and 17R, the movable block 15 acts between the rails 17L and 17R. As a result, the movable block 15 moves the rails 17L and 17R with a uniform moving force. Therefore, the movable block 15 does not act so as to bend against both the rails 17L and 17R of the linear guide 13.

  In addition, since the rails 17L and 17R in the linear guide 13 are spaced apart by approximately 6a (this may be 5a or more), sufficient rigidity can be achieved in a so-called small robot having a transport load of less than 20 kg. It was also possible to reduce the weight while securing it. In other words, in the present embodiment, since the above-described small robot having a separation distance of 5 times or more is premised, the process shown in FIGS. 9 to 25 can contribute to weight reduction.

  In the above embodiment, the first guide portions 12Lb and 12Rb and the second guide portions 21Lb and 21Rb are formed in a ball shape (convex shape), and the upper guide portions 17La and 17Ra and the lower guide portions of the rails 17L and 17R. Although 17Lb and 17Rb are formed in a concave shape, the relationship between the concave shape and the convex shape may be reversed.

  It should be noted that in a small robot having a transport load of 20 kg or less, the distance between the pair of rails is generally five times or more than the lateral width of the rails. Indicates that the distance between the pair of rails is 5 times or more, and the present application is intended for a small robot having a transport load of 20 kg or less as described above, and is capable of being transported in comparison with the robot physique. In other words, the robot size can be reduced with the same transport weight as before.

  In the drawings, 1 is a robot, 2 is a vertical lifting device, 3 is a horizontal multistage telescopic device, 6 is a drive motor for a vertical device, 8 is a lifting member, 8a is a base mounting plate, 11 is a base, and 12L and 12R are rail slides. Moving body, 12La and 12Ra are concave portions, 12Lb and 12Rb are first guide portions, 13 is a linear motion guide, 14 is a guide moving mechanism, 15 is a movable block, 16 is a movable block moving mechanism, 17L and 17R are rails, and 17La , 17La is an upper guide portion, 17Lb and 17Lb are lower guide portions, 18A is a first connection end plate, 18B is a second connection end plate, 20 is a block body, 21L and 21R are guided bodies, and 21Lb and 21Rb are The second guide portion, 22A is a first pulley, 22B is a second pulley, 23 is a belt, and 24 is a motor for driving a horizontal device.

Claims (1)

A vertical lifting device including a lifting member that is moved up and down by a vertical drive motor, a base that is connected in a horizontal state to the lifting member in the vertical lifting device, and a base that is movable in the horizontal direction. A linear movement guide, a guide moving mechanism that has a drive motor for a horizontal device and moves the linear movement guide, a movable block that is movable with respect to the linear movement guide, and the movable by the movement of the linear movement guide A small robot including a horizontal multistage telescopic device having a movable block moving mechanism that moves a block in the same direction as the moving direction with respect to the linear motion guide;
The base of the horizontal multistage expansion and contraction device is formed in a dimension shorter than the length of the linear motion guide,
On the lower surface of the base, recesses that are shorter than the length of the linear motion guide and open downward are formed so as to extend in the same direction as the direction in which the linear motion guide should be moved. A pair of rail slide bodies in which a first guide portion extending in the same direction as the extending direction of the concave portion is formed on the inner side surface are provided in a parallel state,
The linear guide of the horizontal multistage telescopic device includes a pair of parallel rails, and a first connecting end plate screwed to each end face in a state of being addressed to each end face of the pair of rails. And a second connecting end plate screwed to each other end surface in a state of being addressed to each other end surface of the pair of rails, and extending in the longitudinal direction at the upper part of both side surfaces of the pair of rails An upper guide portion slidably engaged with the first guide portions of the pair of rail slide bodies is formed, and a lower guide portion is formed at the lower portion of the pair of rails so as to extend in the longitudinal direction thereof. ,
The movable block is provided in a state parallel to the block main body formed with a dimension shorter than the length of the linear motion guide and the upper surface of the block main body, and is formed with a dimension shorter than the length of the linear motion guide and above A recess that opens to extend in the same direction as the direction in which the linear guide should move is formed, and further, the inner surface of the recess extends in the same direction as the extension direction of the recess and can slide with the lower guide portion. And a pair of guided bodies that form a second guide portion that engages with,
The movable block moving mechanism includes: a first pulley provided between the pair of rails on the first connection end plate of the linear motion guide; and the second connection end plate of the linear motion guide. A second pulley provided between the pair of rails and a belt erected between the first pulley and the second pulley, and one of the counter electrode positions of the belt is fixed to the base. And the other is fixed to the movable block.

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