Robot

Abstract

The invention provides a robot which can be miniaturized and can improve supporting rigidity of a workpiece table. A robot (1) for working workpieces (W1, W2) using a tool (T), the robot being characterized by comprising: a base (2); a workpiece stage (5) that supports the workpieces (W1, W2); and a linear motion guide (10) which is disposed in parallel and supports the workpiece stage (5) so as to be linearly movable with respect to the base (2), the linear motion guide (10) comprising a linearly extending guide rail part and a slider part slidably supported by the guide rail part, at least one of the linear guides (10) is a first linear guide (11) in which the first slider section (13) is attached to the stage (5) and the first guide rail section (12) is attached to the base (2), and the remaining part of the linear guides (10) is second linear guides (21A, 21B) in which the second guide rail section (22) is attached to the stage (5) and the second slider section (23) is attached to the base (2).

Description

Technical Field

[0001] The present invention relates to a robot including a linear guide that supports a workpiece table so as to be linearly movable. Background Art

[0002] Conventionally, there has been known a small robot (table robot) that three-dimensionally drives a tool and a workpiece, for example, by a linear motion mechanism in three directions, and can automatically perform various operations such as screwing and assembling small parts such as a circuit board (for example, refer to Patent Document 1). With the popularization of these robots, as an example, when it is desired to expand the workpiece table and also perform other operations such as a pressing operation, robots such as those disclosed in Patent Documents 2 and 3 have been proposed in response to such uses or requirements.

[0003] In such a robot, a workpiece table that supports a workpiece is configured to be supported by a linear guide and can perform reciprocating linear motion. The linear guide includes: a linear rail portion provided on a base side such as a table; and a slider portion that is slidably supported by the rail portion and provided on the workpiece table side. Here, in a case where, for example, the area of the workpiece table is increased or the workpiece table to be pressed is supported, it is necessary to improve the support rigidity of the workpiece table so that the workpiece table does not tilt. In Patent Document 1, the workpiece table is supported by one rail portion and one slider portion, but in Patent Documents 2 and 3, the workpiece table is supported by two rail portions and slider portions, thereby improving the support rigidity of the workpiece table. Further, in Patent Document 2, by using two slider portions for one rail portion, the support rigidity of the workpiece table is improved.

[0004] [Prior Art Documents]

[0005] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Laid-Open No. 11-340695

[0007] [Patent Document 2] Japanese Patent Laid-Open No. 6-143055

[0008] [Patent Document 3] Japanese Patent Laid-Open No. 2-160127 Summary of the Invention

[0009] [Problems to be Solved by the Invention]

[0010] As in Patent Document 2, by arranging a plurality of sliders in the sliding direction with respect to one guide rail portion, the support rigidity of the worktable can be improved. However, if the number of sliders for each guide rail portion is increased, the slidable amount of the worktable decreases according to the distance between the sliders and the length of the sliders. On the other hand, if the guide rail portion is extended to ensure the slidable amount, the structure around the worktable becomes large-sized.

[0011] In view of such problems, an object of the present invention is to provide a robot that can be miniaturized and can improve the support rigidity of the worktable.

[0012] [Technical means for solving the problem]

[0013] The present invention is a robot that relatively moves a tool and a workpiece, and performs an operation on the workpiece using the tool. The robot is characterized by including: a base; a worktable that supports the workpiece; and a plurality of linear guides that are arranged in parallel and support the worktable so as to be linearly movable with respect to the base. Each of the linear guides includes: a guide rail portion that extends linearly, and a slider portion that is slidably supported on the guide rail portion. At least one of the plurality of linear guides is a first linear guide in which the slider portion is mounted on the worktable and the guide rail portion is mounted on the base, and the remaining portion of the plurality of linear guides is a second linear guide in which the guide rail portion is mounted on the worktable and the slider portion is mounted on the base.

[0014] In such a robot, preferably, the second linear guide is mounted on the outside of the worktable with respect to the first linear guide.

[0015] In such a robot, preferably, an adjustment mechanism is included, and the adjustment mechanism can change the position where the slider portion of the second linear guide is mounted on the base in the extending direction of the guide rail portion.

[0016] In addition, in such a robot, preferably, a tool moving portion is included, and the tool moving portion moves the tool with respect to the workpiece in a direction intersecting the extending direction of the guide rail portion, and the slider portion of the second linear guide is located directly below the moving trajectory of the tool movement.

[0017] In addition, in such a robot, preferably, in at least one of the plurality of linear guides, a plurality of the slider portions are arranged on the guide rail portion.

[0018] Furthermore, in such a robot, preferably, the mounting of the slider portion of the second linear guide member with respect to the base is achieved by a groove portion that supports the slider portion of the second linear guide member from below and restricts the movement of the slider portion of the second linear guide member in the extending direction of the guide rail portion.

[0019] Furthermore, in such a robot, preferably, the mounting of the slider portion of the first linear guide member with respect to the workpiece table is achieved by a groove portion that is placed on the slider portion of the first linear guide member and restricts the movement of the slider portion of the first linear guide member in the extending direction of the guide rail portion.

[0020] [Advantages of the Invention]

[0021] In the robot according to the present invention, the slider portion of the first linear guide member is mounted on the workpiece table and moves integrally with the workpiece table, and the slider portion of the second linear guide member is mounted on the base. Therefore, when the workpiece table slides, the distance between the slider portion of the second linear guide member and the slider portion of the first linear guide member changes in the sliding direction of the workpiece table. In a state where the slider portion of the second linear guide member and the slider portion of the first linear guide member are separated in the sliding direction, a plurality of slider portions serving as support portions of the workpiece table are located in a wide range in the sliding direction of the workpiece table, so that the support rigidity of the workpiece table becomes higher. In addition, since the slider portion of the second linear guide member and the slider portion of the first linear guide member are in a separated state in the sliding direction of the workpiece table, even if a plurality of slider portions are not provided on one guide rail portion, the support rigidity of the workpiece table can be improved, and the structure around the workpiece table can be miniaturized. [Description of the Drawings]

[0022] Figure 1 is a perspective view showing a first embodiment of the robot of the present invention.

[0023] Figure 2 is about Figure 1 the robot and a perspective view in a state where the workpiece table is moved forward.

[0024] Figure 3 is showing Figure 1 the structure at the lower part of the workpiece table in the state shown.

[0025] Figure 4 is showing Figure 2 the structure at the lower part of the workpiece table in the state shown.

[0026] Figure 5 is Figure 1 the exploded perspective view in the state shown.

[0027] Figure 6 isFigure 4 Exploded perspective view in the state shown

[0028] Figure 7 This is a second embodiment of the robot according to the present invention and shows an exploded perspective view of the structure below the workpiece table

[0029] Figure 8 This is a third embodiment of the robot according to the present invention and shows a perspective view of the structure below the workpiece table

[0030] [Description of reference symbols]

[0031] 1: Robot

[0032] 2: Base

[0033] 5: Workpiece table

[0034] 6: Y unit (tool moving part)

[0035] 10: Linear guide

[0036] 11: First linear guide

[0037] 12: First guide rail part (guide rail part)

[0038] 13: First slider part (slider part, slider part of the first linear guide)

[0039] 21A, 21B: Second linear guide

[0040] 22: Second guide rail part (guide rail part)

[0041] 23: Second slider part (slider part, slider part of the second linear guide)

[0042] 23a: Second slider part (slider part)

[0043] 24a: Long hole (adjustment mechanism)

[0044] 224c: Groove part

[0045] T: Tool

[0046] W1, W2: Workpieces Detailed implementation mode

[0047] Hereinafter, an embodiment of the robot according to the present invention will be described with reference to the drawings. In the following description, for convenience, the right, left, front, rear, top, bottom, and X, Y, Z directions shown in the drawings will be used for the description

[0048] Figure 1 and Figure 2Reference numeral 1 designates a robot which is a first embodiment of the robot according to the present invention. The robot 1 includes: a base 2 which serves as a housing of the robot 1; a pair of column portions 3 provided on the left and right side surfaces of the base 2; and an arm portion 4 spanned between the pair of column portions 3.

[0049] In addition, the robot 1 includes a work table 5 which is slidably movable in the front-rear direction (X-axis direction) on the upper surface of the base 2. Further, the robot 1 includes: a Y unit 6 provided on the arm portion 4 and slidably movable in the left-right direction (Y-axis direction); a Z unit 7 supported by the Y unit 6 and movable in the up-down direction (Z-axis direction); and an operation / display unit 8 for operating the robot 1 and the like and displaying the operation state and the like of the robot 1. In addition, the robot 1 includes a control unit (not shown) inside the base 2 for controlling the operations of the work table 5, the Y unit 6, and the Z unit 7.

[0050] Various workpieces can be mounted on the work table 5. In the present embodiment, a workpiece W1 as a workpiece and a workpiece W2 located behind the workpiece W1 are mounted on the work table 5. Tools T such as a pressing tool, a screwdriver, and a soldering iron can be mounted on the lower end portion of the Z unit 7. Therefore, according to the robot 1, the workpieces W1 and W2 can be three-dimensionally relatively moved with respect to the tool T, and thus operations such as pressing, screwing, and soldering can be performed on the workpieces W1 and W2 using the tool T.

[0051] The base 2 includes: a box-shaped base main body portion 2a and a front surface cover portion 2b provided on the front surface of the base main body portion 2a. The operation / display unit 8 is provided on the front surface cover portion 2b. The upper surface of the base main body portion 2a is a horizontal table setting surface 2c on which the work table 5 is provided with an interposed linear guide 10 described later. The arm portion 4 is disposed directly above the rear end portion of the base main body portion 2a and extends horizontally in the Y-axis direction orthogonal to the X-axis direction. The Y unit 6 is located directly above the rear end portion of the base main body portion 2a and moves horizontally in the Y-axis direction along the arm portion 4.

[0052] Figure 3 and Figure 4 is a perspective view showing a structure capable of sliding the work table 5, and Figure 1 , Figure 2 the column portion 3, the arm portion 4, the Y unit 6, etc. shown are not illustrated. In addition, the work table 5 is illustrated in a transparent manner using a double-dashed line. Figure 1 , Figure 3 , Figure 5 shows a state in which the sliding movement of the work table 5 has reached the vicinity of the rearmost position. Figure 2 , Figure 4 , Figure 6 shows a state in which the sliding movement of the work table 5 has reached the vicinity of the foremost position. In Figure 5 and Figure 6Among them, multiple threaded holes are shown in the figure, but in the screw S, for one fixing part, the representative figure shows only one screw S.

[0053] Referring to Figures 1 to 6 , the robot 1 includes: a drive mechanism 9 that drives the workpiece table 5 in the front-rear direction; and a linear guide 10 that supports the workpiece table 5 so as to be linearly movable in the front-rear direction with respect to the base 2.

[0054] A recess 2d that is recessed downward is provided on the table setting surface 2c of the base main body portion 2a. The recess 2d is located at the center portion in the left-right direction of the table setting surface 2c and extends linearly in the front-rear direction. The drive mechanism 9 is disposed in the recess 2d. The drive mechanism 9 includes: a drive motor (not shown), a drive pulley 9a that rotates by the drive motor ( Figure 5 ), a driven pulley 9b, and a toothed belt 9c wound around the drive pulley 9a and the driven pulley 9b. The drive pulley 9a is disposed at the rear end portion of the recess 2d, and the driven pulley 9b is disposed at the front end portion of the recess 2d. The drive pulley 9a and the driven pulley 9b rotate about a central axis extending in the up-down direction. The drive motor is disposed, for example, inside the base main body portion 2a below the recess 2d. The side surface portion of the belt 9c moves in the front-rear direction when the belt 9c is rotated by the drive motor.

[0055] As Figure 5 shown, the workpiece table 5 includes: an X table portion 5a mounted on the linear guide 10, and a table main body 5b fixed to the upper surface of the X table portion 5a. The X table portion 5a is a rectangular plate. The table main body 5b is a rectangular plate whose length in the front-rear and left-right directions is longer than that of the X table portion 5a. The table main body 5b is fastened to the X table portion 5a by a plurality of screws S inserted through the table main body 5b from above. The screws S are respectively fastened to the four corners of the X table portion 5a. The front portion of the table main body 5b is fixed to the X table portion 5a, and the rear portion of the table main body 5b extends rearward with respect to the X table portion 5a.

[0056] The X table portion 5a includes a belt connection portion 5d that extends downward from the lower surface of the X table portion 5a ( Figure 5 ). The workpiece table 5 is connected to the side surface portion of the belt 9c via the belt connection portion 5d. The rotation of the drive motor is converted into a linear motion of the belt 9c via the drive pulley 9a and the driven pulley 9b, so that the belt connection portion 5d fixed to the belt 9c moves in the front-rear direction. The workpiece table 5 moves back and forth by receiving the driving force of the drive motor via the belt connection portion 5d.

[0057] The linear guide 10 includes a plurality of linear guides arranged in parallel with each other. Each linear guide includes: a guide rail portion extending linearly, and a slider portion slidably supported on the guide rail portion. Specifically, the linear guide 10 includes: a first linear guide 11, and a pair of second linear guides 21A and 21B which are the remaining linear guides. The first linear guide 11 is disposed at the left and right central portions of the base main body portion 2a. The second linear guide 21A is disposed on the left side with respect to the first linear guide 11. The second linear guide 21B is disposed on the right side with respect to the first linear guide 11. The first linear guide 11, the second linear guide 21A, and the second linear guide 21B extend in the front-rear direction in parallel with each other.

[0058] The first linear guide 11 includes: a first guide rail portion 12 mounted on the base main body portion 2a, and a first slider portion 13 mounted on the workpiece table 5. The second linear guides 21A and 21B respectively include: a second guide rail portion 22 mounted on the workpiece table 5, and a second slider portion 23 mounted on the base main body portion 2a. The base 2 of the present embodiment includes a fixing block 24 mounted on the base main body portion 2a, and the second slider portion 23 is mounted on the fixing block 24.

[0059] The first guide rail portion 12 of the first linear guide 11 is disposed in the recess 2d of the base main body portion 2a and fixed to the upper surface of the recess 2d. The first guide rail portion 12 is fastened to the recess 2d by screws S respectively inserted through the front end portion and the rear end portion of the first guide rail portion 12 from above. The belt 9c is disposed on the outer side (right side) with respect to the first guide rail portion 12 within the recess 2d.

[0060] The first slider portion 13 is fixed to the front, rear, left, and right central portions of the lower surface of the X table portion 5a. The first slider portion 13 is fastened to the X table portion 5a by a plurality of screws S inserted through the X table portion 5a from above. The first slider portion 13 has a guide groove extending in the front-rear direction on the lower surface, and is mounted on the first guide rail portion 12 by being inserted into the first guide rail portion 12 through the guide groove. The first slider portion 13 slides in the front-rear direction on the first guide rail portion 12 via the guide groove. The first slider portion 13 slides smoothly via a plurality of balls (not shown) interposed between the first slider portion 13 and the first guide rail portion 12.

[0061] The second guide rail portion 22 of the second linear guide 21A on the left side is fixed to the lower surface of the left end portion of the table main body 5b of the workpiece table 5. The second guide rail portion 22 of the second linear guide 21B on the right side is fixed to the lower surface of the right end portion of the table main body 5b of the workpiece table 5. The front-rear length of the second guide rail portion 22 is substantially the same as the front-rear length of the first guide rail portion 12. Each second guide rail portion 22 is fastened to the table main body 5b by a plurality of screws S inserted through the table main body 5b from above.

[0062] The fixing block 24 is a rectangular block that is longer in the front - rear direction than in the left - right direction. At the front end portion and the rear end portion of the fixing block 24, a pair of long holes 24a that penetrate the fixing block 24 vertically are arranged side - by - side in the left - right direction. The long holes 24a are holes that are long in the front - rear direction. The fixing block 24 is fastened to the table - setting surface 2c of the base main body portion 2a by screws S inserted through the long holes 24a from above.

[0063] In the fixing block 24, a slider fixing portion 24c for fixing the second slider portion 23 is provided at an intermediate portion between the long hole 24a at the front end portion and the long hole 24a at the rear end portion. The second slider portion 23 is placed on the upper surface of the slider fixing portion 24c. The second slider portion 23 is fixed to the fixing block 24 by a plurality of screws S inserted through the slider fixing portion 24c from below.

[0064] Since the long holes 24a are long in the front - rear direction, by moving the fixing block 24 in the front - rear direction relative to the screws S through the long holes 24a, the front - rear position of the second slider portion 23 can be adjusted. That is, the long holes 24a constitute an adjustment mechanism that can change the mounting position of the second slider portion 23 relative to the table - setting surface 2c in the direction (front - rear direction) in which the second guide rail portion 22 extends. The second slider portion 23 is mounted on the rear end portion of the table - setting surface 2c with the fixing block 24 interposed therebetween.

[0065] The second slider portion 23 has a guiding groove extending in the front - rear direction on its upper surface, and is mounted on the second guide rail portion 22 by being inserted into the second guide rail portion 22 through the guiding groove. The second guide rail portion 22 slides in the front - rear direction on the second slider portion 23 through the guiding groove. The second guide rail portion 22 slides smoothly via a plurality of balls (not shown) existing between the second guide rail portion 22 and the second slider portion 23.

[0066] The left and right second linear guide members 21A and second linear guide members 21B are mounted on the workpiece table 5 outside (at the outer edge portion side in the workpiece table 5) relative to the first linear guide member 11. In the present embodiment, the second linear guide members 21A and second linear guide members 21B are located at the left and right end portions of the workpiece table 5. In addition, the left and right second guide rail portions 22 and second guide rail portions 22 extend from the front end portion to the rear end portion of the workpiece table 5. Thus, through the left and right second guide rail portions 22 and second guide rail portions 22, the left and right end portions of the workpiece table 5 can be strengthened in a long front - rear range, and the rigidity of the workpiece table 5 can be improved.

[0067] The Y unit 6 is a tool moving unit that moves the tool T relative to the workpiece in a direction (left - right direction) intersecting the direction (front - rear direction) in which the first guide part 12 and the second guide part 22 extend. That is, the Y unit 6 moves the tool T in the Y - axis direction orthogonal to the X - axis direction. The robot 1 moves the tool T in the left - right direction through the Y unit 6 and moves the tool T up and down through the Z unit 7, thereby performing operations on the workpiece on the workpiece table 5 disposed below the tool T.

[0068] In Figure 1 , Figure 2 , Figure 5 and Figure 6 , the workable area 30 where the movement locus of the tool T in plan view is projected directly downward toward the workpiece table 5 side is shown shaded. The workable area 30 is an area where the workpiece can be operated on by the tool T and is located at the rear end part of the table setting surface 2c.

[0069] Since the tool T can only move in the left - right direction in plan view, the workable area 30 becomes a linear shape extending in the left - right direction directly below the movement locus of the tool T. The robot 1 slides the workpiece table 5 in the front - rear direction to send the workpiece to the position of the workable area 30. That is, by combining the left - right direction (and up - down direction) movement of the tool with the front - rear direction movement of the workpiece table, a three - dimensional relative movement between the tool and the workpiece is achieved. The second slider parts 23, 23 disposed on the left and right of the table setting surface 2c are located in the workable area 30. In addition, the left second slider part 23 is located at the left end part of the workable area 30, and the right second slider part 23 is located at the right end part of the workable area 30. The rear end part of the first guide part 12 is located in the workable area 30.

[0070] As Figure 2 , Figure 4 and Figure 6 shown, in the state where the workpiece table 5 slides to the most forward position (hereinafter referred to as the front - end position state), the workpiece W2 is located in the workable area 30 and the workpiece W2 can be operated on by the tool T.

[0071] In the front position state, the left and right second slider portions 23, 23 are located in the workable area 30 and support the rear end portion of the second guide portion 22. Further, in the front position state, the first slider portion 13 is located at the front end portion of the table setting surface 2c and is supported by the front end portion of the first guide portion 12. In the front position state, the workpiece table 5 is supported by the first slider portion 13 located at the front end portion of the table setting surface 2c and the second slider portions 23, 23 located at the rear end portion of the table setting surface 2c. Therefore, the first slider portion 13 and the second slider portions 23, 23, which are the support portions of the workpiece table 5, are located within the wide range in the sliding direction (front-rear direction) of the workpiece table 5, so that the support rigidity of the workpiece table 5 is increased.

[0072] Further, in the front position state, the left and right second slider portions 23, 23 located in the workable area 30 directly below the tool T can directly bear the load acting on the workpiece table 5 from the tool T, so that the support rigidity of the workpiece table 5 can be improved. Furthermore, the left and right second slider portions 23, 23 are provided at both ends in the left-right direction of the workable area 30, so that the workpiece table 5 can be supported within a wide range in the left and right directions, and the support rigidity of the workpiece table 5 is increased.

[0073] As Figure 1 , Figure 3 and Figure 5 shown, in the state where the workpiece table 5 slides to the rearmost position (hereinafter referred to as the rear position state), the workpiece W1 is located in the workable area 30, and the workpiece W1 can be worked on by the tool T.

[0074] In the rear position state, the left and right second slider portions 23, 23 are located in the workable area 30 and support the front end portion of the second guide portion 22. Further, in the rear position state, the first slider portion 13 is located at the rear end portion of the table setting surface 2c and is supported by the rear end portion of the first guide portion 12. In the rear position state, the first slider portion 13 is located in the workable area 30 between the left and right second slider portions 23, 23, and the first slider portion 13 and the left and right second slider portions 23, 23 are in a state of being arranged horizontally in the left-right direction. In the rear position state, the left and right second slider portions 23, 23 and the first slider portion 13 located in the workable area 30 directly below the tool T can directly bear the load acting on the workpiece table 5 from the tool T, so that the support rigidity of the workpiece table 5 can be improved.

[0075] In addition, in a state midway through the sliding movement from the front-end position state to the rear-end position state, the first slider portion 13 moves forward away from the left and right second slider portions 23 and the second slider portions 23. Therefore, in a state midway through the sliding movement from the front-end position state to the rear-end position state, the first slider portion 13, the second slider portions 23, and the second slider portions 23, which are the support portions of the worktable 5, are located within a wide range in the sliding direction (front-rear direction) of the worktable 5, so that the support rigidity of the worktable 5 is increased. In addition, regardless of which position the worktable 5 is in from the front-end position state to the rear-end position state, the left and right second slider portions 23 and the second slider portions 23 are located in the workable area 30. Therefore, regardless of the sliding position of the worktable 5, the left and right second slider portions 23 and the second slider portions 23 can effectively bear the load acting on the worktable 5 from the tool T.

[0076] When the worktable 5 slides, since it slides relative to the second slider portion 23 fixed to the table setting surface 2c, in the rear-end position state, as Figure 1 and Figure 3 shown, the second guide portion 22 extends rearward relative to the table setting surface 2c. For example, referring to Figure 4 , in a structure in which the guide portion is provided on the table setting surface 2c and the slider portion is provided on the worktable 5 in the second linear guide members 21A and 21B, in the Figure 3 rear-end position state, it is necessary to extend the guide portion rearward corresponding to the slider portion that moves further rearward than the table setting surface 2c, and the table setting surface 2c also extends rearward, resulting in an increase in the size of the robot. In contrast, in the present embodiment, the second guide portion 22 slides integrally with the worktable 5 relative to the fixed second slider portion 23, so it is not necessary to extend the table setting surface 2c, and the base body portion 2a can be made small in the front-rear direction. In addition, since the first linear guide member 11 is located between the left and right second slider portions 23 and the second slider portions 23, even in a structure in which the second guide portion 22 extends rearward relative to the second slider portions 23 and the second slider portions 23, the worktable 5 can be supported with good left-right balance, and the worktable 5 can be supported appropriately.

[0077] In addition, the robot 1 includes an elongated hole 24a as an adjustment mechanism capable of changing the position where the second slider portion 23 is mounted on the base body portion 2a in the front-rear direction. According to the above structure, the position of the second slider portion 23 can be changed in the front-rear direction through the elongated hole 24a corresponding to changes in conditions of the tool T such as the shape or position of the tool T. Therefore, the support rigidity of the worktable 5 can be increased corresponding to changes in the conditions of the tool T.

[0078] Next, referring to Figure 7A second embodiment of the robot of the present invention will be described. In the second embodiment, the same reference numerals are assigned to and the description thereof is omitted for parts having the same configuration as those in the first embodiment. In the second embodiment, a fixing block 224 is provided instead of the fixing block 24 in the first embodiment.

[0079] Figure 7 FIG. is an exploded perspective view showing a structure capable of sliding the workpiece table 5 in the second embodiment. The fixing block 224 is a rectangular block having a length in the front-rear direction longer than that in the left-right direction. The fixing block 224 includes long holes 24a at its front end portion and rear end portion. In the upper surface of the fixing block 224, a groove portion 224c extending in the left-right direction is provided at the front-rear intermediate portion. The left and right end surfaces of the groove portion 224c are open in the left-right direction.

[0080] The second slider portion 23 is supported by the fixing block 224 by being fitted into the groove portion 224c. The groove portion 224c can support the second slider portion 23 from below through the bottom surface 224d of the groove portion 224c. The front-rear width of the groove portion 224c is substantially the same as the front-rear width of the second slider portion 23, and the second slider portion 23 abuts against the front wall 224e and the rear wall 224f of the groove portion 224c, thereby restricting movement in the front-rear direction (the extending direction of the second guide portion 22). The second slider portion 23 is not restricted in the left-right direction within the groove portion 224c and can move in the left-right direction along the bottom surface 224d, the front wall 224e, and the rear wall 224f. In addition, although the second slider portion 23 is supported from below by the bottom surface 224d of the groove portion 224c, it is not restricted in the up-down direction and can move in the up-down direction along the front wall 224e and the rear wall 224f.

[0081] As described above, according to the second embodiment, the second slider portion 23 is mounted on the base 2 with the fixing block 224 interposed therebetween. At this time, the movement of the second slider portion 23 in the front-rear direction is restricted by the groove portion 224c of the fixing block 224. Moreover, the second slider portion 23 mounted on the fixing block 224 is allowed to displace in a direction other than the front-rear direction through the groove portion 224c. Therefore, the assembly error of the linear guide 10 is absorbed by the displacement of the second slider portion 23 within the groove portion 224c, and the torsion or deformation of the linear guide 10 can be reduced. Accordingly, the resistance when the workpiece table 5 slides can be suppressed, and the workpiece table 5 can slide smoothly in the front-rear direction. In addition, when a downward force is applied to the workpiece table 5, the second slider portion 23 is supported from below by the bottom surface 224d of the groove portion 224c, so that the deflection of the workpiece table 5 can be suppressed.

[0082] In addition, by using the fixing block 24 of the first embodiment as the fixing block, a table-side groove portion (not shown) extending in the left-right direction similarly to the groove portion 224c may be provided on the lower surface of the X table portion 5a of the worktable 5. In such a case, the table-side groove portion (groove portion) is inserted into the first slider portion 13 from above ( Figure 7 ), and the X table portion 5a is mounted on the first slider portion 13. The worktable 5 mounted by the above structure is placed on the first slider portion 13, and the movement in the front-rear direction (the extending direction of the first guide portion 12) with respect to the first slider portion 13 is restricted by the table-side groove portion. That is, the worktable 5 can be supported from below by the first slider portion 13 with the table-side groove portion interposed therebetween, and the worktable 5 can be supported in the front-rear direction by the first slider portion 13 with the table-side groove portion interposed therebetween. Therefore, the worktable 5 can slide well in the front-rear direction. In the table-side groove portion, displacement of the first slider portion 13 in a direction other than the front-rear direction is allowed. Therefore, the assembly error of the linear guide 10 is absorbed by the displacement of the first slider portion 13 in the table-side groove portion, and the torsion or deformation of the linear guide 10 can be reduced. Therefore, the resistance when the worktable 5 slides can be suppressed, and the worktable 5 can slide smoothly in the front-rear direction.

[0083] Next, Figure 8 a third embodiment of the robot of the present invention will be described. In the third embodiment, the same reference numerals are given to the parts having the same configuration as those in the first embodiment, and the description thereof is omitted.

[0084] Figure 8 FIG. is a perspective view showing a structure capable of sliding the worktable 5 in the third embodiment. In the third embodiment, a fixing block 324 obtained by extending the fixing block 24 forward is provided. On the upper surface of the fixing block 324, a second slider portion 23 and a second slider portion 23a located in front of the second slider portion 23 are arranged in the front-rear direction. The second guide portion 22 is supported by two second slider portions 23 and 23a arranged in the front-rear direction. The second slider portion 23 and the second slider portion 23a have the same shape. The front second slider portion 23a is provided at a position rearward of the first slider portion 13 in the front-end position state shown in Figure 8 .

[0085] According to the third embodiment, a plurality of second slider portions 23 and 23a are arranged in the second guide portion 22. According to the above structure, even if the front-rear interval between the second slider portion 23 and the second slider portion 23a provided in the second guide portion 22 is not ensured, the support rigidity can be further improved. Therefore, high rigidity and miniaturization can be achieved at the same time. In addition, as long as a plurality of slider portions are provided in at least one of the plurality of first linear guides 11, the second linear guides 21A, and the second linear guides 21B.

[0086] As described above, embodiments of the present invention have been illustrated, but the present invention is not limited to the specific embodiments involved. As long as there is no special limitation in the above description, various modifications and changes can be made within the scope of the gist of the present invention described in the claims. In addition, the effects in the above embodiments are only examples of the effects produced by the present invention, and do not mean that the effects based on the present invention are limited to the above effects.

[0087] For example, the workpiece table 5 is provided by assembling the X-stage portion 5a and the table main body 5b, but is not limited thereto, and the X-stage portion 5a and the table main body 5b may also be integrally formed. In addition, in the above embodiment, the first linear guide 11, the second linear guide 21A, and the second linear guide 21B are arranged corresponding to the structure in which the workable area 30 is provided at the rear end of the base main body portion 2a, but the present invention is not limited thereto. For example, when the workable area 30 is provided on the more forward side, the positional relationship between the first linear guide 11, the second linear guide 21A, and the second linear guide 21B may also be changed corresponding to the position of the workable area 30.

[0088] In addition, in the above embodiment, the first linear guide 11, the second linear guide 21A, and the second linear guide 21B are provided, but the present invention is not limited thereto. For example, the first linear guides 11 may be arranged on the left and right sides with the drive mechanism 9 therebetween, and the second linear guide 21A may be arranged on the left outer side of the left first linear guide 11, and the second linear guide 21B may be arranged on the right outer side of the right first linear guide 11. Further, multiple second linear guides 21A and 21B on the left and right sides may also be provided respectively. In addition, one of the second linear guides 21A and 21B on the left and right sides may be provided as one, and the other may be provided as multiple.

[0089] In addition, in the above embodiment, the cross-sections of the first guide rail portion 12 and the second guide rail portion 22 are rectangular, and the so-called rolling linear guide using balls is used, but other linear guides may also be used. For example, it may be a linear guide in which the cross-section of the guide rail portion is circular (also called a linear bush), or a so-called sliding linear guide in which no ball is interposed between the guide rail portion and the slider portion.

Claims

1. A robot that moves a tool and a workpiece relative to each other and uses the tool to perform work on the workpiece, the robot comprising: Pedestal; A workpiece table, supporting the workpiece; as well as A plurality of linear guides are arranged in parallel and support the work table so that the work table can move linearly relative to the base. The plurality of linear guides each include a rail portion extending linearly and a slider portion slidably supported on the rail portion. At least one of the plurality of linear guides is a first linear guide in which the slider portion is mounted on the workpiece stage and the guide rail portion is mounted on the base. The remaining part of the plurality of linear guides is a second linear guide in which the rail portion is mounted on the workpiece stage and the slider portion is mounted on the base.

2. The robot according to claim 1, wherein: The second linear motion guide is installed on the outside of the work stage relative to the first linear motion guide. 3 . The robot according to claim 1 , further comprising an adjustment mechanism capable of changing a position at which the slider portion of the second linear motion guide is mounted on the base in a direction in which the guide rail portion of the second linear motion guide extends.

4. The robot according to claim 1, comprising a tool moving portion that moves the tool relative to the workpiece in a direction intersecting with a direction in which the guide rail portion of the second linear guide extends, The slider portion of the second linear motion guide is located directly below a movement trajectory of the tool.

5. The robot according to claim 1, wherein: In at least one of the plurality of linear motion guides, a plurality of the slider portions are arranged on the guide rail portion.

6. The robot according to claim 1, wherein: The slider portion of the second linear guide is mounted relative to the base by a groove portion. The groove portion supports the slider portion of the second linear motion guide from below, and restricts movement of the slider portion of the second linear motion guide in a direction in which the guide rail portion of the second linear motion guide extends.

7. The robot according to claim 1, wherein: The installation of the slider portion of the first linear guide relative to the workpiece table is achieved by a groove portion. The groove portion is placed on the slider portion of the first linear motion guide, and restricts movement of the slider portion of the first linear motion guide in a direction in which the guide rail portion of the first linear motion guide extends.

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