JPH07184364A - Travelling apparatus - Google Patents
Travelling apparatusInfo
- Publication number
- JPH07184364A JPH07184364A JP5328406A JP32840693A JPH07184364A JP H07184364 A JPH07184364 A JP H07184364A JP 5328406 A JP5328406 A JP 5328406A JP 32840693 A JP32840693 A JP 32840693A JP H07184364 A JPH07184364 A JP H07184364A
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- traveling carriage
- gap
- chips
- fixed base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000004020 conductor Substances 0.000 abstract description 17
- 230000033001 locomotion Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Landscapes
- Non-Mechanical Conveyors (AREA)
- Control Of Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Linear Motors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、例えば産業用ロボッ
トに適用して好適な走行装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device suitable for application to, for example, an industrial robot.
【０００２】[0002]
【従来の技術】図８は、従来の産業用ロボットの走行装
置の外観図である。図において、１は平板状の固定ベー
ス、２は固定ベース１の上面に平行して取り付けられた
直線状の直動ガイド、３は直動ガイド２の上に取り付け
られて直動ガイド２によって案内される走行台車であ
る。４は走行台車３の下面に取り付けられた駆動用リニ
アモータ、５は固定ベース１の上面で直動ガイド２に挟
まれた位置にリニアモータ４に対向して取り付けられた
２次導体である。2. Description of the Related Art FIG. 8 is an external view of a traveling device for a conventional industrial robot. In the figure, 1 is a flat plate-shaped fixed base, 2 is a linear linear motion guide mounted parallel to the upper surface of the fixed base 1, and 3 is mounted on the linear motion guide 2 and guided by the linear motion guide 2. It is a traveling trolley. Reference numeral 4 denotes a driving linear motor mounted on the lower surface of the traveling carriage 3, and 5 denotes a secondary conductor mounted on the upper surface of the fixed base 1 so as to face the linear motor 4 at a position sandwiched between the linear guides 2.
【０００３】また、走行台車３の一方の片端部には位置
検出器および制動用ブレーキ６が取り付けられている。
７はラック、８はピニオンであり、これらは位置検出器
および制動ブレーキ６への動力の伝達要素として取り付
けられている。走行台車３の他方の片端部には動力およ
び信号を伝えるためのケーブルを内蔵する摺動式ケーブ
ルガイド９の移動端側が取り付けられる。ケーブルガイ
ド９はケーブルガイド受け１０に案内される。ケーブル
ガイド９の固定端は、ケーブル受け１０と共に、固定ベ
ース１に取り付けられている（図６参照）。図９は、図
８のＣ−Ｃ線上の断面を示している。A position detector and a braking brake 6 are attached to one end of the traveling carriage 3.
Reference numeral 7 is a rack, and 8 is a pinion, which are attached as position transmitting elements and power transmission elements to the braking brake 6. A moving end side of a sliding cable guide 9 incorporating a cable for transmitting power and signals is attached to the other end of the traveling vehicle 3. The cable guide 9 is guided by the cable guide receiver 10. The fixed end of the cable guide 9 is attached to the fixed base 1 together with the cable receiver 10 (see FIG. 6). FIG. 9 shows a cross section taken along the line CC of FIG.
【０００４】次に、動作について説明する。走行台車３
は、その下面のリニアモータ４と固定ベース１上の２次
導体５の間で推力を発生し、直動ガイド２によって案内
されながら移動する。その際、走行台車３の一方の片端
部に取り付けられた位置検出器および制動ブレーキ６が
ラック７、ピニオン８を介して走行台車３の移動に連動
し、走行台車３の位置検出が行われる。走行台車３の位
置検出をすることで、走行台車３の位置がフィードバッ
ク制御される。非常時には、制動ブレーキ６を動作させ
ることで、走行台車３を停止させることができる。Next, the operation will be described. Traveling trolley 3
Generates a thrust between the linear motor 4 on the lower surface thereof and the secondary conductor 5 on the fixed base 1, and moves while being guided by the linear guide 2. At that time, the position detector and the braking brake 6 attached to one end of the traveling carriage 3 are interlocked with the movement of the traveling carriage 3 via the rack 7 and the pinion 8 to detect the position of the traveling carriage 3. The position of the traveling carriage 3 is feedback-controlled by detecting the position of the traveling carriage 3. In an emergency, the traveling vehicle 3 can be stopped by operating the braking brake 6.
【０００５】また、走行台車３の他方の片端部に対向さ
せて取り付けられた摺動式ケーブルガイド９は走行台車
３の移動と共に摺動しながら、図６に示すような形態で
動作する。ケーブルガイド９の内部に上述したようにケ
ーブルが収められており、このケーブルによって固定ベ
ース１と走行台車３上のロボット（図示せず）、リニア
モータ４、位置検出器および制動ブレーキ６との間で駆
動信号、位置検出信号等の伝送が行われる。Further, the sliding cable guide 9 attached to the other end of the traveling carriage 3 so as to face it operates while sliding along with the movement of the traveling carriage 3 while operating as shown in FIG. The cable is housed inside the cable guide 9 as described above, and by this cable, between the fixed base 1 and the robot (not shown) on the traveling carriage 3, the linear motor 4, the position detector, and the braking brake 6. The drive signal, the position detection signal, and the like are transmitted by.
【０００６】[0006]
【発明が解決しようとする課題】従来の走行装置は以上
のように構成されているので、機械加工ワークの着脱作
業、マテハン等に用いる場合、機械加工時に発生する切
粉、切屑等が走行装置の上面および内部に落下堆積し、
さらにはリニアモータ４と２次導体５との隙間部、ラッ
ク７およびピニオン８の歯合部、走行台車３と直動ガイ
ド２ａ，２ｂとの隙間部に入り込み、走行台車３の移動
を妨げ、最悪の場合には走行台車３の移動を停止させて
しまという問題点があった。また、ワークを落下させた
場合には、上述した隙間部にワークをかみ込み、同様に
走行台車３の移動を停止させてしまうという問題点があ
った。Since the conventional traveling device is configured as described above, when used for attachment / detachment work of a machined work, material handling, etc., chips, chips, etc. generated during machining are used as the traveling device. Deposited on the top and inside of the
Furthermore, the gap between the linear motor 4 and the secondary conductor 5, the meshing portion of the rack 7 and the pinion 8, the gap between the traveling carriage 3 and the linear motion guides 2a and 2b, and the movement of the traveling carriage 3 are hindered, In the worst case, there is a problem that the traveling carriage 3 stops moving. Further, when the work is dropped, there is a problem that the work is caught in the above-mentioned gap portion and the movement of the traveling carriage 3 is similarly stopped.
【０００７】この発明はこのような問題点を解決するた
めになされたもので、走行装置の上面および内部に落下
した切粉、切屑等がリニアモータと２次導体との隙間部
等に入り込むことを防止し得る走行装置を提供すること
を目的とする。The present invention has been made in order to solve such a problem, in which chips, chips and the like that have fallen on the upper surface and inside of the traveling device enter the gap between the linear motor and the secondary conductor. It is an object of the present invention to provide a traveling device that can prevent
【０００８】[0008]
【課題を解決するための手段】請求項第１項の発明に係
る走行装置は、固定ベースに取り付けた直動ガイドに案
内されて移動する走行台車と、固定ベースに対向して配
され走行台車を駆動する駆動用リニアモータと、走行台
車の位置をラックおよびピニオンを介して検出する位置
検出器とを備える走行装置において、固定部分と移動部
分の隙間を小さく制限する切粉除去ブラシを走行台車の
走行方向の両端面および側面に設け、切粉受けを固定ベ
ースの両端部に設けるものである。According to a first aspect of the present invention, there is provided a traveling vehicle, wherein the traveling vehicle is guided by a linear guide attached to a fixed base to move, and a traveling vehicle disposed so as to face the fixed base. In a traveling device including a driving linear motor for driving a vehicle and a position detector that detects the position of the traveling vehicle via a rack and a pinion, a traveling vehicle is provided with a chip removing brush that limits a gap between a fixed portion and a moving portion to be small. Are provided on both end surfaces and side surfaces in the traveling direction of, and chip receivers are provided on both end portions of the fixed base.
【０００９】請求項第２項の発明に係る走行装置は、固
定ベースに取り付けた直動ガイドに案内されて移動する
走行台車と、固定ベースに対向して配され走行台車を駆
動する駆動用リニアモータと、走行台車の位置をラック
およびピニオンを介して検出する位置検出器とを備える
走行装置において、固定部分と移動部分の隙間を小さく
制限する切粉除去ブラシを走行台車の走行方向の両端面
および側面に設け、固定部分との間の隙間を調整可能な
ワーク除去板を走行台車の両端面に設け、切粉受けを固
定ベースの両端部に設けるものである。According to a second aspect of the present invention, there is provided a traveling apparatus in which a traveling carriage guided by a linear guide attached to a fixed base moves, and a driving linear drive which is arranged to face the fixed base and drives the traveling carriage. In a traveling device including a motor and a position detector that detects the position of a traveling carriage through a rack and a pinion, a chip removing brush that limits a gap between a fixed portion and a moving portion to be small is provided on both end surfaces in the traveling direction of the traveling carriage. And a work removing plate which is provided on the side surface and is capable of adjusting a clearance between the work removing plate and the fixed portion, is provided on both end surfaces of the traveling carriage, and chip receivers are provided on both end portions of the fixed base.
【００１０】請求項第３項の発明に係る走行装置は、走
行台車に取り付けた対向する摺動式ケーブルガイドの中
間部に、このケーブルガイドの摺動面の切粉等を除去す
る切粉除去ブラシを設けるものである。According to a third aspect of the present invention, there is provided a traveling device in which a chip removing member for removing chips and the like from a sliding surface of the cable guide is provided at an intermediate portion of the opposing sliding cable guides mounted on the traveling carriage. A brush is provided.
【００１１】[0011]
【作用】請求項第１項の発明においては、固定部分と移
動部分の隙間を小さく制限する切粉除去ブラシが走行台
車の走行方向の両端面および側面に設けられるため、切
粉等が入り込む隙間が小さくなり、切粉等がリニアモー
タと２次導体との隙間部、ラックおよびピニオンの歯合
部、走行台車と直動ガイドの隙間部等に入り込むことを
防止することが可能となる。この場合、ブラシを使用す
るものであるため、接触式でかつ走行抵抗を増すことな
く、切粉等が入り込む隙間を小さくすることが可能とな
る。また、切粉受けが固定ベースの両端部に設けられる
ため、走行装置の上面および内部に落下、堆積した切粉
等を切粉受けにまとめて排出することが可能となる。In the invention of claim 1, since the chip removing brushes for limiting the gap between the fixed portion and the moving portion to a small size are provided on both end faces and side faces in the traveling direction of the traveling carriage, a gap into which chips and the like enter It is possible to prevent chips from entering the gap between the linear motor and the secondary conductor, the meshing portion between the rack and the pinion, the gap between the traveling carriage and the linear guide, and the like. In this case, since the brush is used, it is possible to reduce the gap into which chips and the like enter without contact resistance and increasing running resistance. Further, since the chip receiver is provided at both ends of the fixed base, it is possible to collectively discharge chips and the like that have fallen or accumulated on the upper surface and inside of the traveling device to the chip receiver.
【００１２】請求項第２項の発明においては、固定部分
と移動部分の隙間を小さく制限する切粉除去ブラシが走
行台車の走行方向の両端面および側面に設けられるた
め、切粉等が入り込む隙間が小さくなり、切粉等がリニ
アモータと２次導体との隙間部、ラックおよびピニオン
の歯合部、走行台車と直動ガイドの隙間部等に入り込む
ことを防止することが可能となる。この場合、ブラシを
使用するものであるため、接触式でかつ走行抵抗を増す
ことなく、切粉等が入り込む隙間を小さくすることが可
能となる。また、ワーク除去板が走行台車の両端面に設
けられるため、切粉除去ブラシで入り込みを防止できな
いワーク等の入り込みを防止することが可能となる。ま
た、切粉受けが固定ベースの両端部に設けられるため、
走行装置の上面および内部に落下、堆積した切粉、ワー
ク等を切粉受けにまとめて排出することが可能となる。According to the second aspect of the present invention, since the chip removing brush for limiting the gap between the fixed portion and the moving portion to a small size is provided on both end faces and side faces of the traveling vehicle in the traveling direction, a gap into which chips and the like enter It becomes possible to prevent chips from entering the gap between the linear motor and the secondary conductor, the meshing portion between the rack and the pinion, the gap between the traveling carriage and the linear guide, and the like. In this case, since the brush is used, it is possible to reduce the gap into which chips and the like enter without contact resistance and increasing running resistance. Further, since the work removing plates are provided on both end faces of the traveling carriage, it is possible to prevent the work or the like from entering, which cannot be prevented by the chip removing brush. Also, since the chip receiver is provided at both ends of the fixed base,
It becomes possible to collectively discharge chips, works and the like that have fallen and accumulated on the upper surface and inside of the traveling device to the chip receiver.
【００１３】請求項第３項の発明においては、摺動式ケ
ーブルガイドの中間部に、このケーブルガイドの摺動面
の切粉等を除去する切粉除去ブラシが設けられるため、
摺動面に入り込む切粉等を除去することが可能となる。According to the third aspect of the present invention, a chip removing brush for removing chips and the like on the sliding surface of the cable guide is provided in the middle of the sliding cable guide.
It becomes possible to remove chips and the like that enter the sliding surface.
【００１４】[0014]
実施例１．図１は、この発明に係る走行装置の第１実施
例を示している。本例は産業ロボットの走行装置に適用
した例である。この図１において、図８と対応する部分
には同一符号を付し、その詳細説明は省略する。本例に
おいては、走行台車３の走行方向の両端面および側面に
切粉除去ブラシ１１を設ける。Example 1. FIG. 1 shows a first embodiment of a traveling device according to the present invention. This example is an example applied to a traveling device of an industrial robot. In FIG. 1, parts corresponding to those in FIG. 8 are designated by the same reference numerals, and detailed description thereof will be omitted. In this example, chip removing brushes 11 are provided on both end surfaces and side surfaces of the traveling carriage 3 in the traveling direction.
【００１５】この場合、切粉除去ブラシ１１は、リニア
モータ４と２次導体５との隙間部、ラック７およびピニ
オン８の歯合部、走行台車３と直動ガイド２の隙間部を
小さくするように、そのブラシの毛先が固定部分（２次
導体５、ラック７、直動ガイド２および固定ベース１に
軽く接触する程度に、すなわち走行台車３の走行時の走
行抵抗とならないように調整して取り付ける。また、固
定ベース１の両端部に切粉受け１２を設ける。本例は以
上のように構成し、その他は図８の例と同様に構成す
る。図２は、図１の例のＡ−Ａ線上の断面図を示してい
る。In this case, the chip removing brush 11 reduces the clearance between the linear motor 4 and the secondary conductor 5, the engagement between the rack 7 and the pinion 8, and the clearance between the traveling carriage 3 and the linear guide 2. As described above, the brush tips are adjusted so as to lightly contact the fixed portions (the secondary conductor 5, the rack 7, the linear guide 2 and the fixed base 1), that is, the running resistance of the running carriage 3 does not occur. Further, the chip receivers 12 are provided on both ends of the fixed base 1. This example is configured as described above, and the other configurations are similar to those of the example of Fig. 8. Fig. 2 is an example of Fig. 1. The sectional view on the AA line of FIG.
【００１６】本例においては、切粉除去ブラシ１１が走
行台車３の走行方向の両端面および側面に設けられるた
め、切粉等が入り込む隙間が小さくなり、切粉、切屑等
がリニアモータ４と２次導体５との隙間部、ラック７お
よびピニオン８の歯合部、走行台車３と直動ガイド２の
隙間部に入り込み、走行台車３の走行の妨げとなること
を良好に防止できる。この場合、ブラシを使用するもの
であるため、接触式でかつ走行抵抗を増すことなく、切
粉、切屑等が入り込む隙間を小さくできる。In this example, since the chip removing brushes 11 are provided on both end faces and side faces of the traveling vehicle 3 in the traveling direction, the gap for the ingress of chips and the like becomes small, and the chips and chips and the linear motor 4 become smaller. It is possible to satisfactorily prevent the clearance between the traveling conductor 3 and the rack 7, the meshing portion of the rack 7 and the pinion 8 and the clearance between the traveling carriage 3 and the linear guide 2 from interfering with the traveling of the traveling carriage 3. In this case, since a brush is used, it is a contact type and the gap into which chips, chips, etc. enter can be reduced without increasing running resistance.
【００１７】また本例においては、走行台車３が移動す
る際に、走行台車３の走行方向の両端面および側面に取
り付けられた切粉除去ブラシ１１は、固定部分に軽く接
触しながら移動する。そのため、例えば機械加工用の作
業に用いた場合に、２次導体５、ラック７、直動ガイド
２および固定ベース１等の固定部分に落下し堆積した切
粉、切屑等は、切粉除去ブラシ１１によって掃かれて、
固定ベース１の走行方向の両端部に設けられた切粉受け
１２に排出される。Further, in this example, when the traveling carriage 3 moves, the chip removing brushes 11 attached to both end faces and side surfaces of the traveling carriage 3 in the traveling direction move while lightly contacting the fixed portion. Therefore, for example, when used for machining work, chips, chips, etc. that have fallen and accumulated on the fixed parts such as the secondary conductor 5, the rack 7, the linear guide 2 and the fixed base 1 are removed with a chip removing brush. Swept by 11,
It is discharged to the chip receivers 12 provided at both ends of the fixed base 1 in the traveling direction.
【００１８】実施例２．図３は、この発明に係る走行装
置の第２実施例を示している。この図３において、図１
と対応する部分には同一符号を付し、その詳細説明は省
略する。本例では、図１の例と同様に走行台車３の走行
方向の両端面および側面に切粉除去ブラシ１１を取り付
け、固定ベース１の両端部に切粉受け１２を設ける他
に、走行台車３の走行方向の両端面に隙間調整可能なワ
ーク除去板１３を取り付ける。この場合、ワーク除去板
１３を、その先端部と固定部分との隙間が最小となるよ
うに調整し、固定部分と非接触となるように取り付け
る。本例は以上のように構成し、その他は図１の例と同
様に構成する。図４は図３の例のＢ−Ｂ線上の断面図で
あり、図５は図３の例の側面図を示している。Example 2. FIG. 3 shows a second embodiment of the traveling device according to the present invention. In FIG. 3, FIG.
The same reference numerals are given to the portions corresponding to, and the detailed description thereof will be omitted. In this example, as in the example of FIG. 1, the chip removing brushes 11 are attached to both end faces and side faces of the traveling vehicle 3 in the traveling direction, and the chip receivers 12 are provided at both ends of the fixed base 1. Workpiece removal plates 13 with adjustable clearances are attached to both end faces in the traveling direction of. In this case, the work removing plate 13 is adjusted so that the gap between the tip portion and the fixed portion is minimized, and the work removing plate 13 is attached so as not to contact the fixed portion. This example is configured as described above, and other configurations are similar to those of the example of FIG. 4 is a cross-sectional view taken along the line BB of the example of FIG. 3, and FIG. 5 is a side view of the example of FIG.
【００１９】本例においては、図１の例と同様の作用効
果を得ることができる他、ワーク除去板１３が走行台車
３の両端面に設けられるため、誤って固定部分にワーク
が落下した場合には、走行台車３が移動する際にワーク
除去板１３によって押されてワークが粉受け１２に排出
される。つまり本例によれば、切粉除去ブラシ１１では
入り込みを防止することが困難なワークの入り込みを防
止できる。In this example, the same action and effect as in the example of FIG. 1 can be obtained, and in addition, since the work removing plates 13 are provided on both end surfaces of the traveling carriage 3, when the work is accidentally dropped on the fixed portion. In addition, when the traveling carriage 3 moves, it is pushed by the work removing plate 13 and the work is discharged to the powder receiver 12. That is, according to this example, it is possible to prevent the work that is difficult to prevent from entering with the chip removing brush 11.
【００２０】実施例３．図６は、この発明に係る走行装
置の第３実施例を示す構成図である。この図６におい
て、図１および図３の例と対応する部分には同一符号を
付して示すこととする。本例では、対応したケーブルガ
イド９の移動端側の下面に、このケーブルガイド９の摺
動面と接触する切粉除去ブラシ１４を設けることで、ケ
ーブルガイド１４の摺動面に入り込んだ切粉、切屑等を
走行台車３の移動に併せて除去するものである。１５は
ケーブルガイド９の案内板である。Example 3. FIG. 6 is a configuration diagram showing a third embodiment of the traveling device according to the present invention. 6, parts corresponding to those in the examples of FIGS. 1 and 3 are designated by the same reference numerals. In this example, the chip removing brush 14 that comes into contact with the sliding surface of the cable guide 9 is provided on the lower surface of the corresponding cable guide 9 on the moving end side. , Chips and the like are removed along with the movement of the traveling carriage 3. Reference numeral 15 is a guide plate of the cable guide 9.
【００２１】図７は、切粉除去ブラシ１４の形状を示し
ており、ケーブルガイド９の幅方向の中間点に頂点部を
有するひし形に形成する。これにより、ケーブルガイド
９の上面に入り込んだ切粉、切屑等を両側にかき落とす
ことができる。このように本例によれば、ケーブルガイ
ド１４の摺動面に入り込んだ切粉、切屑等を走行台車３
の移動に併せて切粉除去ブラシ１４で除去することがで
き、ケーブルガイド９同士による異物混入摺動による異
常摩擦を防止でき、寿命を長くできる利益がある。FIG. 7 shows the shape of the chip removing brush 14, which is formed in a rhombus shape having an apex at an intermediate point in the width direction of the cable guide 9. As a result, chips, chips and the like that have entered the upper surface of the cable guide 9 can be scraped off to both sides. As described above, according to this example, the chips, chips and the like that have entered the sliding surface of the cable guide 14 can be transported by the traveling carriage 3
Can be removed by the chip removing brush 14 in accordance with the movement of the cable, and abnormal friction due to foreign matter mixed sliding between the cable guides 9 can be prevented, which has the advantage of prolonging the service life.
【００２２】実施例４．なお、上述実施例では、切粉除
去ブラシ１１、ワーク除去板１３により、切粉、切屑等
がリニアモータ４と２次導体５との隙間部、ラック７お
よびピニオン８の歯合部、走行台車３と直動ガイド２の
隙間部に入り込むのを防止する例を示したが、走行装置
が踏板を有する踏台形状のものであるときは、踏板上面
と走行台車との隙間部への切粉、切屑等の入り込みを、
同様の構成で防止できることは勿論である。Example 4. In the above-described embodiment, the chip removing brush 11 and the work removing plate 13 allow chips, chips, and the like to form gaps between the linear motor 4 and the secondary conductor 5, the meshing portions of the rack 7 and the pinion 8, the traveling carriage. 3 shows an example of preventing entry into the gap between the linear motion guide 2 and the linear motion guide 2. However, when the traveling device has a step shape having a tread, chips to the gap between the tread upper surface and the traveling carriage, For entering chips etc.,
Of course, it can be prevented with the same configuration.
【００２３】[0023]
【発明の効果】請求項第１項の発明によれば、固定ベー
スに取り付けた直動ガイドに案内されて移動する走行台
車と、固定ベースに対向して配され走行台車を駆動する
駆動用リニアモータと、走行台車の位置をラックおよび
ピニオンを介して検出する位置検出器とを備える走行装
置において、固定部分と移動部分の隙間を小さく制限す
る切粉除去ブラシを走行台車の走行方向の両端面および
側面に設け、切粉受けを固定ベースの両端部に設けるも
のであり、切粉等が入り込む隙間が小さくなり、切粉等
がリニアモータと２次導体との隙間部、ラックおよびピ
ニオンの歯合部、走行台車と直動ガイドの隙間部等に入
り込み、走行台車の走行を妨げることを防止できる。こ
の場合、ブラシを使用するものであるため、接触式でか
つ走行抵抗を増すことなく、切粉等が入り込む隙間を小
さくできる。また、走行装置の上面および内部に落下、
堆積した切粉等を切粉受けにまとめて排出できる等の効
果がある。According to the first aspect of the invention, the traveling carriage that is guided and moved by the linear guide attached to the fixed base, and the driving linear drive that is arranged to face the fixed base and drives the traveling carriage. In a traveling device including a motor and a position detector that detects the position of a traveling carriage through a rack and a pinion, a chip removing brush that limits a gap between a fixed portion and a moving portion to be small is provided on both end surfaces in the traveling direction of the traveling carriage. And the chip receivers are provided on both sides of the fixed base to reduce the gap where chips enter and the gap between the linear motor and the secondary conductor for chips, rack and pinion teeth. It is possible to prevent the traveling carriage from interfering with the traveling of the traveling carriage by entering the gap between the traveling carriage and the linear guide. In this case, since a brush is used, it is a contact type and the gap into which chips and the like enter can be reduced without increasing running resistance. Also, it drops on the top surface and inside the traveling device,
The effect is that accumulated chips and the like can be collectively discharged to a chip receiver.
【００２４】請求項第２項の発明によれば、固定ベース
に取り付けた直動ガイドに案内されて移動する走行台車
と、固定ベースに対向して配され走行台車を駆動する駆
動用リニアモータと、走行台車の位置をラックおよびピ
ニオンを介して検出する位置検出器とを備える走行装置
において、固定部分と移動部分の隙間を小さく制限する
切粉除去ブラシを走行台車の走行方向の両端面および側
面に設け、上記隙間を調整可能なワーク除去板を走行台
車の両端面に設け、切粉受けを固定ベースの両端部に設
けるものであり、切粉等が入り込む隙間が小さくなり、
切粉等がリニアモータと２次導体との隙間部、ラックお
よびピニオンの歯合部、走行台車と直動ガイドの隙間部
等に入り込み、走行台車の走行を妨げることを防止でき
る。この場合、ブラシを使用するものであるため、接触
式でかつ走行抵抗を増すことなく、切粉等が入り込む隙
間を小さくできる。また、切粉除去ブラシで入り込みを
防止できないワークの入り込みを防止できる。さらに、
走行装置の上面および内部に落下、堆積した切粉、ワー
ク等を切粉受けにまとめて排出できる等の効果がある。According to the second aspect of the present invention, a traveling carriage that is guided and moved by the linear guide attached to the fixed base, and a drive linear motor that is arranged to face the fixed base and drives the traveling carriage. In a traveling device including a position detector that detects the position of the traveling carriage via a rack and a pinion, a chip removing brush that limits a gap between a fixed portion and a moving portion to be small is provided on both end surfaces and side surfaces in the traveling direction of the traveling carriage. The work removing plates whose gaps can be adjusted are provided on both end surfaces of the traveling carriage, and the chip receivers are provided on both end portions of the fixed base.
It is possible to prevent chips and the like from entering the gap between the linear motor and the secondary conductor, the meshing portion of the rack and the pinion, the gap between the traveling carriage and the linear motion guide, and so on, thereby preventing the traveling of the traveling carriage. In this case, since a brush is used, it is a contact type and the gap into which chips and the like enter can be reduced without increasing running resistance. Further, it is possible to prevent the work from entering, which cannot be prevented by the chip removing brush. further,
There is an effect that chips, works and the like that have fallen and accumulated on the upper surface and inside of the traveling device can be collectively discharged to a chip receiver.
【００２５】請求項第３項の発明によれば、走行台車に
取り付けた対向する摺動式ケーブルガイドの中間部に、
このケーブルガイドの摺動面の切粉等を除去する切粉除
去ブラシを設けるものであり、摺動面に入り込む切粉等
を除去することができ、ケーブルガイド同士の異物混入
摺動による異常摩擦を防止でき、寿命を長くできる等の
効果がある。According to the third aspect of the invention, in the middle portion of the opposing sliding type cable guides attached to the traveling carriage,
This is provided with a chip removing brush that removes chips on the sliding surface of the cable guide, which can remove chips entering the sliding surface. Can be prevented and the life can be extended.
【図１】この発明に係る走行装置の第１実施例を示す斜
視図である。FIG. 1 is a perspective view showing a first embodiment of a traveling device according to the present invention.
【図２】図１のＡ−Ａ線上の断面図である。FIG. 2 is a sectional view taken along the line AA of FIG.
【図３】この発明に係る走行装置の第２実施例を示す斜
視図である。FIG. 3 is a perspective view showing a second embodiment of the traveling device according to the present invention.
【図４】図３のＢ−Ｂ線上の断面図である。4 is a cross-sectional view taken along the line BB in FIG.
【図５】図３の例の側面図である。FIG. 5 is a side view of the example of FIG.
【図６】この発明に係る走行装置の第３実施例を示す要
部の側面図である。FIG. 6 is a side view of an essential part showing a third embodiment of the traveling device according to the present invention.
【図７】図６の例の要部の平面図である。FIG. 7 is a plan view of a main part of the example of FIG.
【図８】従来例の走行装置を示す要部斜視図である。FIG. 8 is a perspective view of a main part of a conventional traveling device.
【図９】図８のＣ−Ｃ線上の断面図である。9 is a cross-sectional view taken along the line CC of FIG.
１ 固定ベース ２ 直動ガイド ３ 走行台車 ４ 駆動用リニアモータ ５ ２次導体 ６ 位置検出器および制動用ブレーキ ７ ラック ８ ピニオン ９ 摺動式ケーブルガイド １０ ケーブルガイド受け １１，１４ 切粉除去ブラシ １２ 切粉受け １３ ワーク除去板 1 fixed base 2 linear guide 3 traveling carriage 4 drive linear motor 5 secondary conductor 6 position detector and braking brake 7 rack 8 pinion 9 sliding cable guide 10 cable guide receiver 11, 14 chip removal brush 12 cutting Powder receiver 13 Work removal plate
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｇ０５Ｄ 1/02 Ｒ ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Internal reference number FI technical display area G05D 1/02 R
Claims (3)
内されて移動する走行台車と、上記固定ベースに対向し
て配され上記走行台車を駆動する駆動用リニアモータ
と、上記走行台車の位置をラックおよびピニオンを介し
て検出する位置検出器とを備える走行装置において、 固定部分と移動部分の隙間を小さく制限する切粉除去ブ
ラシを上記走行台車の走行方向の両端面および側面に設
け、切粉受けを上記固定ベースの両端部に設けることを
特徴とする走行装置。1. A traveling carriage that is guided and moved by a linear guide attached to a fixed base, a drive linear motor that is arranged to face the fixed base and drives the traveling carriage, and a position of the traveling carriage. In a traveling device equipped with a rack and a position detector that detects through a pinion, chip removing brushes that limit the gap between the fixed portion and the moving portion to a small size are provided on both end surfaces and side surfaces in the traveling direction of the traveling carriage, A traveling device characterized in that receivers are provided at both ends of the fixed base.
内されて移動する走行台車と、上記固定ベースに対向し
て配され上記走行台車を駆動する駆動用リニアモータ
と、上記走行台車の位置をラックおよびピニオンを介し
て検出する位置検出器とを備える走行装置において、 固定部分と移動部分の隙間を小さく制限する切粉除去ブ
ラシを上記走行台車の走行方向の両端面および側面に設
け、上記固定部分との間の隙間を調整可能なワーク除去
板を上記走行台車の両端面に設け、切粉受けを上記固定
ベースの両端部に設けることを特徴とする走行装置。2. A traveling carriage which is guided and moved by a linear guide attached to a fixed base, a drive linear motor which is arranged to face the fixed base and drives the traveling carriage, and a position of the traveling carriage. In a traveling device including a rack and a position detector that detects through a pinion, chip removing brushes that limit a gap between a fixed portion and a moving portion to a small size are provided on both end surfaces and side surfaces of the traveling carriage in the traveling direction, and A traveling device, wherein work removing plates capable of adjusting a clearance between the portions are provided on both end surfaces of the traveling carriage, and chip receivers are provided on both end portions of the fixed base.
式ケーブルガイドの中間部に、このケーブルガイドの摺
動面の切粉等を除去する切粉除去ブラシを設けることを
特徴とする請求項第１項または第２項に記載の走行装
置。3. A chip removing brush for removing chips and the like on the sliding surface of the cable guide is provided at an intermediate portion of the opposing sliding cable guides attached to the traveling carriage. The traveling device according to item 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5328406A JPH07184364A (en) | 1993-12-24 | 1993-12-24 | Travelling apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5328406A JPH07184364A (en) | 1993-12-24 | 1993-12-24 | Travelling apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07184364A true JPH07184364A (en) | 1995-07-21 |
Family
ID=18209907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5328406A Pending JPH07184364A (en) | 1993-12-24 | 1993-12-24 | Travelling apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07184364A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH101046A (en) * | 1996-06-18 | 1998-01-06 | Daifuku Co Ltd | Carrier facilities |
| CN102931789A (en) * | 2012-11-23 | 2013-02-13 | 上海电机学院 | Two-speed induction-type linear motor |
| CN102991975A (en) * | 2012-10-29 | 2013-03-27 | 天津博信汽车零部件有限公司 | Dust removing system of slide wire in self-propelling trolley conveying line |
| JP2018039654A (en) * | 2016-09-09 | 2018-03-15 | 株式会社ダイフク | Article conveyance facility |
-
1993
- 1993-12-24 JP JP5328406A patent/JPH07184364A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH101046A (en) * | 1996-06-18 | 1998-01-06 | Daifuku Co Ltd | Carrier facilities |
| CN102991975A (en) * | 2012-10-29 | 2013-03-27 | 天津博信汽车零部件有限公司 | Dust removing system of slide wire in self-propelling trolley conveying line |
| CN102931789A (en) * | 2012-11-23 | 2013-02-13 | 上海电机学院 | Two-speed induction-type linear motor |
| JP2018039654A (en) * | 2016-09-09 | 2018-03-15 | 株式会社ダイフク | Article conveyance facility |
| US10647507B2 (en) | 2016-09-09 | 2020-05-12 | Daifuku Co., Ltd. | Article transport facility |
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