Patent Application
20200368789
This application claims the benefit of priority to Japanese Patent Application No. 2019-095917, filed on May 22, 2019, the entire contents of which are hereby incorporated by reference.
The present invention relates to a single axis robot.
A conventional single axis robot includes a box-shaped housing, a pair of linear guides, a slider, a ball screw, a motor, and a cover. The housing has an opening on one side. The pair of linear guides is disposed inside the housing. The slider slides on the pair of linear guides. The ball screw is disposed inside the housing. The motor is connected to the ball screw. The cover covers a space between the opening and the slider. As the conventional single axis robot, for example, THK Corporation, “Precision Stage Series A/AX, CMX. CHX THK Electric Actuator”. Page 5, <URL:https://tech.thk.com/upload/product_data/upfile/precision_stage_series.pdf?_ga=2.6214244.1177243993.1557715664-1848377462.1557715664>, hereinafter, “Non-Patent Literature 1” is known.
When replacing the ball screw or the linear guides of the single axis robot of Non-Patent Literature 1, the cover of the saddle side needs to be removed.
An object of the present invention is to provide a single axis robot in which a ball screw or a linear guide can be easily replaced.
A first aspect of the present invention provides a single axis robot, including:
a housing including, on a first side, a base plate having a first saddle hole;
a support plate arranged in a second side of the housing;
a linear guide arranged inside the housing along the base plate, the linear guide extending along the first saddle hole;
a slider arranged inside the housing on the linear guide, the slider configured to slide along the linear guide;
a saddle arranged on the first side of the slider to protrude to an outside of the housing through the first saddle hole;
a driving device arranged on the second side of the slider to drive the slider; and
a telescopic cover arranged outside the housing between the base plate and the saddle.
According to the single axis robot of the present invention, the ball screw or the linear guide is easily replaced.
As shown in
Hereinafter, for convenience of explanation, as shown in
The single axis robot 1 includes a housing 2, a support plate 3, a linear guide 4, a first saddle hole 5, a slider 6, a saddle 7, and a driving device 8. The single axis robot 1 may include a cable protection tube 41 disposed inside the housing 2.
The housing 2 includes a base plate 11. The base plate 11 is disposed in a front side (first side) of the housing 2. The housing 2 is a box-shaped body, and has an opening, for example, at the rear side (second side). The housing 2 includes, for example, side plates 12, 13 on the left and right sides. The base plate 11 has a first saddle hole 5. The first saddle hole 5 extends vertically at the center of the base plate 11.
The support plate 3 is disposed behind the housing 2. The support plate 3 is disposed apart from the base plate 11. The support plate 3 is disposed across the side plates 12 and 13, for example. The support plate 3 is accurately positioned, for example, by positioning pins. The support plate 3 is detachable from the housing 2. The support plate 3 may include a motor support plate 3A and a shaft end support plate 3B.
The motor support plate 3A is disposed in the upper part of the housing 2. The motor support plate 3A includes a motor bracket 28, a bearing 29 and a bearing holder 30.
The motor bracket 28 is disposed in front of the motor support plate 3A. The bearing holder 30 is disposed in front of the motor support plate 3A. The bearing holder 30 holds the bearing 29. The motor support plate 3A is detachable from the housing 2.
The shaft end support plate 3B is disposed in the lower part of the housing 2. The shaft end support plate 3B includes a bearing 31 and a bearing holder 32. The bearing holder 32 is disposed in a front side (first side) of the shaft end support plate 3B. The bearing holder 32 holds the bearing 31. The shaft end support plate 3B is detachable from the housing 2.
A pair of two linear guides 4 includes guide blocks 17. The linear guide 4 extends vertically, and is disposed on the rear surface of the base plate 11. The linear guide 4 includes a linear guides 4A, 4B. The linear guides 4A, 4B are arranged on the right and left of the first saddle hole 5, respectively. The guide block 17 is disposed on the linear guide 4, and slides on the linear guide 4.
The slider 6 is disposed on the linear guide 4A, 4B via the guide blocks 17. The slider 6 is in a plate having a rectangular shape when viewed in the front-rear direction. The slider 6 includes a nut holder 22. The nut holder 22 is disposed on the rear surface side of the slider 6. The slider 6 is disposed on the rear surface side of the base plate 11.
The saddle 7 includes a pillar 18 and a saddle plate 19. The saddle 7 is formed on the front end (first side) of the slider 6 to protrude to the outside of the housing 2 through the first saddle hole 5. The pillar 18 is fixed to the front surface of the slider 6, and passes through the first saddle hole 5. For example, the pillar 18 is a pair of left and right plate-like members each extending along the front-rear direction. The saddle plate 19 is fixed to the front end of the pillar 18 to be disposed outside the housing 2. The saddle plate 19 has a rectangular shape when viewed in the front-rear direction. The saddle plate 19 is disposed in a vertical plane on the front side of the base plate 11 in parallel with the base plate 11.
As shown in
The ball screw 21 includes a screw shaft 10 and a nut 23. The ball screw 21 includes a motor end 24, and a shaft end 25. The shaft end 25 is supported by the bearing 31. The motor end 24 is supported by the bearing 29. The nut 23 is fixed to the nut holder 22.
The motor 20 is supported by the motor support plate 3A via the motor bracket 28. The motor 20 includes an output shaft 26. The motor 20 is, for example, a servo motor or a stepping motor. The motor 20 is disposed with the output shaft 26 facing downward.
The coupling 27 directly fastens the output shaft 26 and the screw shaft 10.
The telescopic cover 9 is disposed between the base plate 11 and the saddle plate 19. The telescopic cover 9 includes a box 35, a moving box 36, and a bellows 37.
The box 35 has an opening 33 at the front (first side), and has a second saddle hole 34 at the rear (second side). The box 35 has an elongated shape flattened in the front-rear direction, and is attached to the front surface of the base plate 11. The second saddle hole 34 has substantially the same longitudinal shape as the first saddle hole 5, and is disposed so as to overlap with the first saddle hole 5.
The moving box 36 is disposed on the rear surface of the saddle plate 19. The moving box 36 has a box shape flattened in the front-rear direction. The lateral width of the moving box 36 is smaller than the internal lateral width of the box 35. The moving box 36 has a through hole 38. The moving box 36 may be fixed to the saddle plate 19.
The bellows 37 includes a fixed end 39 and a moving end 40. The fixed end 39 is fixed to the box 35. The moving end 40 is fixed to the moving box 36. The bellows 37 are arranged on both sides of the moving box 36 in the moving direction, that is, above and below the moving box 36 in the present embodiment.
The pillar 18 passes through the second saddle hole 34 and the through hole 38. The moving box 36 moves together with the saddles 7 along the linear guides 4A, 4B in the box 35.
As shown in
By removing the nut 23 from the nut holder 22, and removing the support plate 3 from the housing 2, the driving device 8 is easily detached from the housing 2. As the telescopic cover 9 is disposed between the base plate 11 and the saddle plate 19, the penetration of the cleaning liquid and foreign matter into the inside of the housing 2 is suppressed.
It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the gist of the present invention, and all technical matters included in the technical idea described in the claims are the subject matter of the present invention. While the foregoing embodiments illustrate preferred examples, those skilled in the art will appreciate that various alternatives, modifications, variations, or improvements may be made in light of the teachings disclosed herein and are within the scope of the appended claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-095917 | May 2019 | JP | national |
