Traveling device

Abstract

The rails and slide blocks can be small, and the running gear does not require shortened inspection intervals. [Solution] The traveling device 10 comprises a shaft member 12, a rail 15, a slide block 16, a movable plate 13, and an accessory member 40, and the movable plate 13 and the accessory member 40 are made capable of traveling along a horizontal axis 11 relative to the shaft member 12. The traveling device 10 is further provided with a fall prevention mechanism 20 to prevent the movable plate 13 and / or the accessory member 40 from falling off the shaft member 12. The fall prevention mechanism 20 is a hook member 21 extending from the movable plate 13 or the accessory member 40, and the tip of this hook member 21 is engaged with an engaging portion 30 provided on the shaft member 12 with a gap C1 to C3.

Description

Technical Field

[0001] The present invention relates to a traveling device for linearly traveling an accessory member such as a small processing robot.

Background Art

[0002] A machine tool loading device is known in which a horizontal linear axis is passed between a pair of left and right columns, a moving plate (carriage) is movably attached to this horizontal linear axis, a bendable arm mechanism is attached to this moving plate, and a tool is attached to the tip of this arm mechanism, and this tool is moved multidimensionally (see, for example, Patent Document 1 (FIG. 1)).

[0003] Although Patent Document 1 does not show in detail the attachment structure of the moving plate to the horizontal linear axis, it is presumed to be the following attachment structure. That is, a rail is laid on the horizontal linear axis, a slide block is fitted to this rail, and a moving plate is attached to this slide block.

[0004] Such an attachment structure is widely known (see, for example, Patent Document 2 (FIG. 1)).

[0005] Patent Document 2 will be described based on the following figure. FIG. 8 is a diagram for explaining the attachment structure of a moving plate to a conventional horizontal linear axis. As shown in FIG. 8, a rail 103 is laid on a base frame 101 corresponding to a horizontal linear axis via an auxiliary plate 102. A slide block 104 having a U-shaped cross section is fitted to this rail 103. A moving plate 105 is attached to the upper and lower slide blocks 104. Since the base frame 10 and the rail 103 are stationary members and the slide block 104 and the moving plate 105 are moving members, the moving plate 105 can travel in the front-back direction of the drawing.

[0006] Since the rail 103 is a stationary component and the slide block 104 is a moving component, the sliding surfaces of both will gradually wear down. Therefore, the presence and extent of wear should be inspected periodically or as needed, and the rail 103 and slide block 104 should be replaced with new ones as necessary.

[0007] However, if the interval between inspections (hereinafter referred to as the inspection interval) is long, the slide block 104 may detach from the rail 103 during that time. To prevent this malfunction, shortening the inspection interval would increase the inspection workload and thus the inspection cost of the running gear.

[0008] Furthermore, even if the inspection interval is shortened, if an excessive external force is applied to the moving plate 105 in the direction that causes the slide block 104 to detach from the rail 103 (from left to right in Figure 8), the slide block 104 will detach from the rail 103. To prevent this malfunction, if the rails 103 and slide blocks 104 are made larger to increase their resistance to external forces, the weight of the rails 103 and slide blocks 104 will increase, as will their manufacturing costs, thus increasing the procurement cost of the running gear.

[0009] However, with this type of traction device, there is a need to reduce both procurement costs and inspection costs. Therefore, a running gear is desired in which the rail 103 and slide block 104 can be small and there is no need to shorten the inspection interval. [Prior art documents] [Patent Documents]

[0010] [Patent Document 1] International Publication No. 2016 / 141494 [Patent Document 2] Patent No. 6088351 [Overview of the project] [Problems that the invention aims to solve]

[0011] The present invention aims to provide a running device in which the rails and slide blocks can be small and do not require shortened inspection intervals. [Means for solving the problem]

[0012] The invention according to claim 1 comprises a shaft member extending along a horizontal axis, a rail attached to the shaft member, a slide block movably fitted onto the rail, a movable plate fixed to the slide block, and an accessory member attached to the movable plate. A traveling device wherein the movable plate and the attached member are capable of traveling along the horizontal axis with respect to the shaft member, This travel device is further equipped with a fall prevention mechanism to prevent the moving plate and / or the attached member from falling off the shaft member. The fall prevention mechanism is a hook member extending from the movable plate or the attached member, The tip of this hook member is engaged with the engaging portion provided on the shaft member with a gap between them. [Effects of the Invention]

[0013] The invention according to claim 1 further includes a fall prevention mechanism in the traveling device that prevents the moving plate and / or attached member from falling off the shaft member. If a fall prevention mechanism is not in place, measures such as increasing the size and strength of the rails and slide blocks, or increasing the frequency of inspections, will be necessary. In contrast, the present invention is equipped with a fall prevention mechanism, which prevents the movable plate and / or attached members from falling off the shaft member. Therefore, there is no need to enlarge the rails and slide blocks, nor is there a need to increase the frequency of inspections. In other words, the present invention provides a running device in which the rails and slide blocks can be small and there is no need to shorten the inspection interval.

[0014] In addition, in this invention, the tip of the hook member is engaged with the engaged portion with a gap between them. If there is no gap between the hook member and the engaged portion and the hook member is in contact with the engaged portion, wear will inevitably occur between the hook member and the engaged portion, generating wear powder (iron powder), which is not preferable. In this regard, in the present invention, normally (when not falling), due to the presence of a gap, the hook member is not in contact with the engaged portion. As a result, wear does not occur between the hook member and the engaged portion.

Brief Description of the Drawings

[0015] [Figure 1] (a) is a perspective view of a traveling device according to the present invention, (b) is a cross-sectional view taken along line b-b of (a), and (c) to (e) are diagrams for explaining modified examples of the traveling device. [Figure 2] (a) and (b) are cross-sectional views of a square bar, and (c) and (d) are cross-sectional views of a concave groove. [Figure 3] (a) is a perspective view of another traveling device according to the present invention, (b) is a cross-sectional view taken along line b-b of (a), and (c) to (e) are diagrams for explaining modified examples. [Figure 4] It is a perspective view of a traveling device to which an accessory member having a second fall prevention mechanism is attached. [Figure 5] (a) and (b) are perspective views showing a traveling device combined with a three-axis positioner. [Figure 6] (a) and (b) are perspective views showing another traveling device combined with a three-axis positioner. [Figure 7] (a) and (b) are perspective views showing yet another traveling device combined with a three-axis positioner. [Figure 8] It is a diagram for explaining the attachment structure of a moving plate to a conventional horizontal straight axis.

Modes for Carrying Out the Invention

[0016] Embodiments of the present invention will be described below based on the accompanying drawings.

Examples

[0017] [Traveling Device] As shown in Figure 1(a), the traveling device 10 is a device whose main elements are a shaft member 12 extending along the horizontal axis 11, a movable plate 13 attached to the shaft member 12 so as to be movable along the horizontal axis 11, and an accessory member 40 attached to the movable plate 13.

[0018] [Rails and slide blocks] Figure 1(b) is a cross-sectional view of line bb in Figure 1(a). As shown in Figure 1(b), a rail 15 is attached to the side surface 14 of the shaft member 12, a slide block 16 is fitted onto this rail 15, and a movable plate 13 is fixed to the upper and lower slide blocks 16.

[0019] In this example, two rails 15 are laid vertically, but the number of rails 15 is arbitrary. If the height of the side 14 is small, one rail 15 may be used. Also, if the height of the side 14 is sufficiently large, three or more rails 15 may be used.

[0020] Rail 15 is a component that exhibits an Ω shape in cross-sectional view. Slide block 16 is a component that has an Ω groove. A lubricant may be interposed between the rail 15 and the slide block 16, allowing the slide block 16 to slide relative to the rail 15. Alternatively, a steel ball may be interposed between the rail 15 and the slide block 16, and the slide block 16 may be slid relative to the rail 15.

[0021] As a result, the movable plate 13 and the attached member 40 can travel along the horizontal axis (Figure 1(a), reference numeral 11) relative to the shaft member 12. Incidentally, if a lubricant is interposed between the rail 15 and the slide block 16, the rail 15 and the slide block 16 will come into contact, and the contact surface will inevitably wear down. Also, if steel balls are interposed between the rail 15 and the slide block 16, the surface of the steel balls will inevitably wear down. Although this wear is very slight, over time, the wear accumulates, creating what is known as "looseness" between the rail 15 and the slide block 16. If this looseness is left untreated, the slide block 16 will eventually detach from the rail 15.

[0022] Alternatively, as shown in Figure 1(a), the accessory member 40 may come into contact with an external obstacle. In particular, during the trial operation phase, obstacles may remain in the vicinity of the accessory member 40. If the attached component 40 hits an obstacle, the slide block 16 may detach from the rail 15 in Figure 1(b). In that case, the movable plate 13 and / or the attached component 40 will fall from the shaft member 12.

[0023] [Fall prevention mechanism] Therefore, in the present invention, the traveling device 10 is equipped with a fall prevention mechanism 20 that prevents the moving plate 13 and / or the attached member 40 from falling off the shaft member 12.

[0024] As shown in Figure 1(b), the fall prevention mechanism 20 is a hook member 21 extending from the movable plate 13. In an emergency, the hook member 21 engages with (hooks onto) an engaging portion 30 provided on the shaft member 12, thereby preventing it from falling.

[0025] [Hook component] The hook member 21 consists of an extension 22 that extends from the movable plate 13 to the shaft member 12, and an engaging portion 23 that is bent at a 90° angle from the tip of the extension 22. The hook member 21 is a very simple L-shaped member, which can be easily manufactured and is inexpensive.

[0026] The extension portion 22 and the engaging portion 23 may be a single unit. In this case, the hook member 21 can be easily manufactured by cutting it from a thick steel plate. Alternatively, it can be easily manufactured by plastic deformation (simple 90° bending) of round or square steel.

[0027] Furthermore, the extension portion 22 and the engaging portion 23 may be manufactured separately and later integrated by welding or bolting. Therefore, the structure and manufacturing method of the hook member 21 are arbitrary.

[0028] Furthermore, while it is preferable to provide the engaged portion 30 and the hook member 21 above and below the shaft member 12, the engaged portion 30 and the hook member 21 may also be provided only above the shaft member 12. This is because providing them on only one side reduces the number of components.

[0029] [Engaged part] The engaged portion 30 is recommended to be a square bar 31 as shown in Figures 2(a) and (b). As shown in Figure 2(a), the square bar 31 is fixed to the shaft member 12 with bolts 32. The bolts 32 are preferably socket head cap screws. Alternatively, as shown in Figure 2(b), the square bar 31 is fixed to the shaft member 12 by a weld bead 33.

[0030] [gap] As shown in Figure 1(b), a gap C1 of a size selected from the range of 0.5 to 2 mm is provided between the side surface of the engaging portion 23 and the side surface of the corner bar 31. Furthermore, a gap C2 of a size selected from the range of 0.5 to 2 mm is provided between the tip (lower end) of the engaging portion 23 and the shaft member 12. Furthermore, a gap C3 of a size selected from the range of 0.5 to 2 mm is provided between the lower surface of the extension 22 and the upper surface of the corner bar 31. The sizes of gaps C1 to C3 can be the same or vary as desired.

[0031] [Another engaged part] The engaged portion 30 may be a groove 34 as shown in Figure 1(c). A gap of a size selected from the range of 0.5 to 2 mm is secured between the groove 34 and the engaged portion 23. As shown in Figure 2(c), the groove 34 is formed by drilling a hole in the shaft member 12. Alternatively, as shown in Figure 2(d), a channel 35 having a groove 34 is prepared and fixed to the shaft member 12 with bolts 32 (or weld beads).

[0032] [Another engaged part] The engaged portion 30 may have a structure as shown in Figure 1(d). In other words, the rail support plate 36 is attached to the shaft member 12 by bolts or welding. The rail 15 is then fixed to the rail support plate 36. The rail support plate 36 is designed so that one edge protrudes from the shaft member 12. This protruding portion 37 becomes the engaged portion 30. A gap of a size selected from the range of 0.5 to 2 mm is secured between the protruding portion 37 and the hook member 21.

[0033] [Another hook component] In Figures 1(b) to 1(d), the hook member 21 is shown extending from the movable plate 13, but it may take a different form. In other words, as shown in Figure 1(e), the hook member 21 may extend from the accessory member 40 to the engaged portion 30. For example, a suitable auxiliary member 38 may be attached to the accessory member 40, and the hook member 21 may be fixed to this auxiliary member 38 with a bolt.

[0034] The auxiliary member 38 may be integrally formed with the accessory member 40 by extending a part of the accessory member 40. Alternatively, the auxiliary member 38 may be integrally formed with the extension 22 of the hook member 21.

[0035] [Operation of the running gear] As shown in Figure 1(b), gaps C1 to C3 are secured, so in Figure 1(a), the movable plate 13 and the attached member 40 are supported by the shaft member 12 and move smoothly back and forth along the horizontal axis 11. In other words, under normal conditions (when not falling), the hook member 21 is not in contact with the engaged portion 30, so movement is smooth. As a result, a traveling device 10 is provided in which the movable plate 13 and the attached member 40 can travel along the horizontal axis 11 relative to the shaft member 12.

[0036] [Function of the fall prevention mechanism] In Figure 1(b), if the slide block 16 detaches from the rail 15 for any reason, the gap C1 becomes smaller. When the gap C1 becomes zero, the corner bar 31 restricts the movement of the hook member 21. This restriction prevents the moving plate 13 and the attached member 40 from falling from the shaft member 12. The same applies to Figures 1(c) and 1(e).

[0037] In addition, in Figure 1(e), if the attached member 40 is about to detach from the movable plate 13 for any reason, the hook member 21 and the corner bar 31 prevent the attached member 40 from falling.

[0038] The accessory component 40 is often bolted to the movable plate 13. These bolts can loosen or break, though this is not entirely impossible. In this case, as shown in Figures 1(b) to (d), it is not possible to prevent the attachment 40 from falling. In contrast, Figure 1(e) has the advantage of preventing the attached component 40 from falling.

[0039] [Shaft member] The structure of the shaft member 12 is arbitrary, but as shown in Figure 1(b), it is more preferable that the shaft member 12 has a rectangular cross-section. Since the rail 15 and the engaging portion 30 are provided on two different surfaces centered around the corner of the rectangular cross-section, even if the rail 15 comes off, the hook member 21 can quickly engage with the engaging portion 30. By engaging the pair of hook members 21 so as to sandwich both sides of the shaft member 12, the object can be stably prevented from falling. The hook member 21 engages with the slide block 16 in a direction that causes it to detach from the rail 15, thus ensuring reliable fall prevention.

[0040] By the way, in Figure 1(a), the rail 15 is laid on the side surface 14 of the shaft member 12, but the rail 15 can also be laid on the bottom surface of the shaft member 12. A specific example of this will be explained below.

[0041] [Traction system (example of modification)] As shown in Figure 3(a), the traveling device 10 is a device whose main elements are a shaft member 12 extending along the horizontal axis 11, a movable plate 13 attached to the shaft member 12 so as to be movable along the horizontal axis 11, and an accessory member 40 attached to the movable plate 13.

[0042] [Rails and slide blocks] Figure 3(b) is a cross-sectional view of line bb in Figure 3(a). As shown in Figure 3(b), a rail 15 is attached to the bottom surface 17 of the shaft member 12, a slide block 16 is fitted onto this rail 15, and the movable plate 13 is fixed to the left and right slide blocks 16. The fall prevention mechanism 20 is a hook member 21 extending from the movable plate 13. This hook member 21 engages with (hooks onto) an engaging portion 30 provided on the shaft member 12, thereby preventing the object from falling.

[0043] A square bar 31 is recommended for the engaged portion 30. Furthermore, as shown in Figure 3(c), the engaged portion 30 may be a groove 34. Furthermore, as shown in Figure 3(d), the engaged portion 30 may be the protruding portion 37 of the rail support plate 36.

[0044] Alternatively, as shown in Figure 3(e), an auxiliary member 38 may be provided on the downward-extending accessory member 40, a hook member 21 may be provided on this auxiliary member 38, and this hook member 21 may be engaged with the engaged portion 30. Other detailed structures and functions are the same as those described in Figures 1(a)-(e) and 2(a)-(d), so their explanation is omitted.

[0045] [Another travel device] Sometimes a higher-dimensional travel device 10 is required than the travel device 10 shown in Figures 1(a) and 3(a). To meet this need, the present invention conceived of combining the traveling device 10 shown in Figure 1(a) and the traveling device 10 shown in Figure 3(a). The traveling device 10 based on this concept will be explained with reference to Figure 4.

[0046] As shown in Figure 4, the traveling device 10 comprises a shaft member 12 extending along a horizontal axis 11, a rail 15 attached to the shaft member 12, a slide block 16 movably fitted onto the rail 15, a movable plate 13 fixed to the slide block 16, and an accessory member 40 attached to the movable plate 13, and further comprises a fall prevention mechanism 20 to prevent the movable plate 13 and / or accessory member 40 from falling off the shaft member 12.

[0047] Furthermore, the accessory member 40 consists of a second shaft member 42 extending along a second horizontal shaft 41 that extends horizontally while being perpendicular to the horizontal shaft 11, a second rail 43 attached to the second shaft member 42, a second slide block (Figure 3(b), reference numeral 44) movably fitted onto the second rail 43, a second movable plate 45 fixed to the second slide block 44, a second accessory member 46 attached to the second movable plate 45, and a second fall prevention mechanism 50 that prevents the second movable plate 45 or the second accessory member 46 from falling off the second shaft member 42.

[0048] The second fall prevention mechanism 50 is a second hook member 51 extending from the second movable plate 45 or the second accessory member 46, the tip of which is engaged with a second engaged portion 55 provided on the second shaft member 42 with a gap C1 to C3 between them.

[0049] The second hook member 51 may be the same as the hook member 21 described in Figures 1(b) and 3(b). Furthermore, the second engaged portion 55 may be the same as the engaged portion 30 described in Figures 1(b) to (d) or Figures 3(b) to (d). Therefore, a description of the structure of the second hook member 51 and the second engaged portion 55 will be omitted.

[0050] In such a traveling device 10, the second accessory member 46 can be moved to any position along the horizontal axis 11 and the second horizontal axis 41, thereby increasing the precision of positioning the second accessory member 46. Furthermore, the fall of the accessory component 40 is prevented by the fall prevention mechanism 20, and the fall of the second accessory component 46 is prevented by the second fall prevention mechanism 50.

[0051] [Combination of a traveling device and a 3-axis positioner] The traveling device 10 according to the present invention becomes more beneficial when combined with a three-axis positioner 60. A specific example will be explained based on Figures 5(a), (b), 6(a), (b), and 7(a), (b).

[0052] [3-axis positioner] As shown in Figure 5(a), the 3-axis positioner 60 comprises a frame 61, a ball screw 62 arranged vertically in the frame 61, a lifting motor 63 that rotates the ball screw 62, a lifting plate 64 that is raised and lowered via the ball screw 62 by the lifting motor 63, a swivel plate 65 that is rotatably supported on the lifting plate 64, a swivel motor 66 that rotates the swivel plate 65, a swivel arm 67 with one end fixed to the swivel plate 65 and extending along the second horizontal axis 41, a rotating plate 68 provided on the swivel arm 67, and a rotary motor 69 that rotates the rotating plate 68.

[0053] A workpiece, or object to be processed, is placed on the rotating plate 68. The workpiece 71 placed on top is rotated by the rotary motor 69 and the rotary plate 68. In addition, the workpiece 71 is rotated by the slewing motor 66 and the slewing plate 65 around an orthogonal axis 73 that is perpendicular to the vertical axis 72.

[0054] Furthermore, the workpiece 71 is raised and lowered along the vertical axis 72 by a lifting motor 63, a ball screw 62, and a lifting plate 64. The workpiece 71 is subjected to rotation, swivel, and vertical movement. In other words, the workpiece 71 is positioned in three axes by the three-axis positioner 60.

[0055] As shown in Figure 5(a), the high-dimensional traveling device 10 described in Figure 4 is fixed to such a three-axis positioner 60. The method of fixing is arbitrary, but the shaft member 12 is fixed to the top or front (side) surface of the frame 61 with bolts or welding. The second accessory component 46 is, for example, a processing robot 75. The term "processing robot 75" is a general term encompassing welding robots equipped with a welding gun at their tip, drilling robots equipped with a drill at their tip, and grinding robots equipped with a grinding wheel at their tip.

[0056] In other words, the second auxiliary component 46 may be a multi-axis robot equipped with a processing machine (such as a welding gun). In this case, a large workpiece 71 is placed on a 3-axis positioner 60, the workpiece 71 is rotated on two axes and moved up and down on the third axis, and a processing robot such as a welding machine is moved vertically or horizontally along each rail 15 to perform welding and other processing. Therefore, a small processing robot 75 can be used, resulting in a simpler setup.

[0057] Furthermore, the auxiliary member 40 and the second auxiliary member 46 may be moved by a motor-driven ball shaft or the like. This enables further automation of the processing robot 75.

[0058] As shown in Figure 5(a), the present invention provides a 5-axis machining facility in which the 3 axes of the 3-axis positioner 60 are combined with the 2 axes of the traveling device 10.

[0059] Alternatively, as shown in Figure 5(b), support columns 74 are erected on both sides of the 3-axis positioner 60. A high-dimensional travel device 10 is placed across these support columns 74. In other words, the high-dimensional travel device 10 is positioned above the 3-axis positioner 60. "Upper" refers to a configuration where there is a gap between the upper surface of the 3-axis positioner 60 and the traveling device 10 (the same applies hereafter).

[0060] Another form will be explained based on Figures 6(a) and 6(b). As shown in Figure 6(a), the low-dimensional traveling device 10 described in Figure 1(a) is fixed to the three-axis positioner 60. Specifically, the axis member 12 is fixed to the top or front surface of the frame 61 with bolts or welding. The auxiliary component 40 is, for example, a processing robot 75. According to Figure 6(a), a 4-axis machining facility is provided, which adds one axis of the traveling device 10 to the three axes of the 3-axis positioner 60.

[0061] Alternatively, as shown in Figure 6(b), support columns 74 are erected on both sides of the 3-axis positioner 60. The lower-dimensional travel device 10 is placed across these support columns 74. In other words, the lower-dimensional travel device 10 is positioned above the 3-axis positioner 60.

[0062] Further variations will be explained based on Figures 7(a) and 7(b). As shown in Figure 7(a), the low-dimensional traveling device 10 described in Figure 3(a) is fixed to the three-axis positioner 60. Specifically, the axis member 12 is fixed to the front or front of the frame 61 with bolts or welding. The auxiliary component 40 is, for example, a processing robot 75. According to Figure 7(a), a 4-axis machining facility is provided, which adds one axis of the traveling device 10 to the three axes of the 3-axis positioner 60.

[0063] Alternatively, as shown in Figure 7(b), support columns 74 are erected on both sides of the 3-axis positioner 60. The lower-dimensional travel device 10 is placed across these support columns 74. In other words, the lower-dimensional travel device 10 is positioned above the 3-axis positioner 60.

[0064] Based on the above description, the present invention can be summarized as follows. As shown in Figure 1(a) or Figure 3(a), the traveling device 10 comprises a shaft member 12 extending along a horizontal axis 11, a rail 15 attached to the shaft member 12, a slide block 16 movably fitted to the rail 15, a movable plate 13 fixed to the slide block 16, and an accessory member 40 attached to the movable plate 13, wherein the movable plate 13 and the accessory member 40 are able to travel along the horizontal axis 11 relative to the shaft member 12. The traveling device 10 is further provided with a fall prevention mechanism 20 to prevent the movable plate 13 and / or the accessory member 40 from falling off the shaft member 12, wherein the fall prevention mechanism 20 is a hook member 21 extending from the movable plate 13 or the accessory member 40, and the tip of the hook member 21 is engaged with an engaging portion 30 provided on the shaft member 12 with a gap C1 to C3, as shown in Figure 1(b).

[0065] If there is no gap between the hook member 21 and the engaged portion 30, and the hook member 21 is in contact with the engaged portion 30, wear will inevitably occur between the hook member 21 and the engaged portion 30, generating wear particles (iron powder), which is undesirable. In this respect, in the present invention, the hook member 21 does not normally come into contact with the engaged portion 30 due to the presence of a gap. As a result, no wear occurs between the hook member 21 and the engaged portion 30.

[0066] Therefore, according to the configuration of the present invention, an attached component (e.g., a processing robot) can be moved to any posture and position for processing, and with a simple configuration, even if any part such as the rail, slide block, or moving plate comes off, the attached component (e.g., a processing robot) can be prevented from falling, thus improving safety.

[0067] Preferably, as shown in Figure 4, the accessory member 40 comprises a second shaft member 42 extending along a second horizontal axis 41 that extends horizontally perpendicular to the horizontal axis 11, a second rail 43 attached to the second shaft member 42, a second slide block 44 movably fitted to the second rail 43, a second movable plate 45 fixed to the second slide block 44, a second accessory member 46 attached to the second movable plate 45, and a second fall prevention mechanism 50 that prevents the second movable plate 45 or the second accessory member 46 from falling off the second shaft member 42. The second fall prevention mechanism 50 is a second hook member 51 extending from the second movable plate 45 or the second accessory member 46, and the tip of this second hook member 51 engages with a second engaging portion 55 provided on the second shaft member 42 with a gap (similar to the gaps shown in Figure 1(b), reference numeral C1 to C3).

[0068] With this configuration, the second auxiliary member (e.g., a machining robot) can move forward, backward, left, and right along the horizontal axis and the second horizontal axis to perform machining, thus expanding the range of motion of the second auxiliary member (e.g., a machining robot) and allowing for the acquisition of an optimal machining position. Furthermore, since the second accessory component (for example, a processing robot) can be prevented from falling with a simple configuration, safety is improved.

[0069] Preferably, as shown in Figures 1(b) to (d) and 3(b) to (d), the engaged portion 30 is one of the following: a square bar 31 laid on the shaft member 12, a groove 34 formed in the shaft member 12, and a protruding portion 37 of a rail support plate 36 interposed between the shaft member 12 and the rail 15.

[0070] Preferably, as shown in Figures 1(b) to (d) and 3(b) to (d), the second engaged portion 55 is one of the following: a square bar 31 laid on the second shaft member 42, a groove 34 formed in the second shaft member 42, and a protruding portion 37 of a rail support plate 36 interposed between the second shaft member 42 and the second rail 43.

[0071] The square bar serves to increase the strength of the shaft member. Furthermore, the groove can be formed by drilling a groove into the shaft member itself. By drilling a groove, the groove can be easily obtained without adding any parts.

[0072] Alternatively, rails could be laid on the shaft members, but attaching rail support plates to the shaft members and then attaching the rails to these rail support plates offers greater flexibility in rail installation. Furthermore, by applying the protruding portion of the rail support plate to the engaged portion, the engaged portion can be easily obtained without adding any additional parts.

[0073] Preferably, as shown in Figures 5(a), (b), 6(a), (b), and 7(a), (b), the traveling device 10 is fixed to the 3-axis positioner 60 or positioned above the 3-axis positioner 60. The three-axis positioner 60 has a swivel arm 67 that moves up and down along the vertical axis 72 and rotates around an orthogonal axis 73 perpendicular to the vertical axis 72, and a rotating plate 68 provided at the tip of the swivel arm 67 that rotates the workpiece 71.

[0074] By placing the traveling device 10 on the 3-axis positioner 60, a 4-axis or 5-axis machining facility can be easily obtained. If the traveling device 10 is directly fixed to the 3-axis positioner 60, there is the advantage that the support column 74 can be eliminated.

[0075] Preferably, as shown in Figures 5(b), 6(b), and 7(b), the traveling device 10 is positioned above the three-axis positioner 60 by being supported by two support columns 74 erected on either side of the three-axis positioner 60.

[0076] By providing the support columns 74, the load of the traveling device 10 is not applied to the three-axis positioner 60. This allows for a reduction in the weight of the frame 61, which is the main element of the three-axis positioner 60. Furthermore, it has the advantage of allowing for a larger traveling device 10.

[0077] While it is preferable to use the traveling device 10 of the present invention together with the 3-axis positioner 60, it may be used for other purposes as well. [Industrial applicability]

[0078] The travel device of the present invention is preferably used in conjunction with a three-axis positioner. [Explanation of symbols]

[0079] 10...Traveling device, 11...Horizontal axis, 12...Axis member, 13...Moving plate, 15...Rail, 16...Slide block, 20...Fall prevention mechanism, 21...Hook member, 30...Engaged part, 31...Square bar, 34...Recessed groove, 36...Rail support plate, 37...Protruding part, 40...Accessory member, 41...Second horizontal axis, 42...Second axis member, 43...Second rail, 44...Second slide block, 45...Second moving plate, 46...Second accessory member, 50...Second fall prevention mechanism, 51...Second hook member, 55...Second engaged part, 60...3-axis positioner, 64...Lifting plate, 65...Swivel plate, 67...Swivel arm, 68...Rotating plate, 71...Workpiece, 72...Vertical axis, 73...Orthogonal axis, 74...Support column, C1~C3...Gap.

Claims

1. It comprises a shaft member extending along a horizontal axis, a rail attached to the shaft member, a slide block movably fitted onto the rail, a movable plate fixed to the slide block, and an accessory member attached to the movable plate. A traveling device wherein the movable plate and the attached member are capable of traveling along the horizontal axis with respect to the shaft member, This traveling device is further equipped with a fall prevention mechanism to prevent the moving plate and / or the attached member from falling off the shaft member. The fall prevention mechanism is a hook member extending from the movable plate or the attached member, A traveling device characterized in that the tip of the hook member engages with the engaging portion provided on the shaft member with a gap between them.

2. A traveling device according to claim 1, The aforementioned accessory member comprises a second shaft member extending along a second horizontal axis that extends horizontally perpendicular to the aforementioned horizontal axis, a second rail attached to the second shaft member, a second slide block movably fitted onto the second rail, a second movable plate fixed to the second slide block, a second accessory member attached to the second movable plate, and a second fall prevention mechanism that prevents the second movable plate or the second accessory member from falling off the second shaft member. The second fall prevention mechanism is a second hook member extending from the second movable plate or the second accessory member, A traveling device characterized in that the tip of the second hook member is engaged with a second engaging portion provided on the second shaft member with a gap between them.

3. A traveling device according to claim 1, The running gear is characterized in that the engaged portion is one of the following: a square bar laid on the shaft member, a groove formed in the shaft member, and a protruding portion of a rail support plate interposed between the shaft member and the rail.

4. A traveling device according to claim 2, The running gear is characterized in that the second engaged portion is one of the following: a square bar laid on the second shaft member, a groove formed in the second shaft member, and a protruding portion of the second rail support plate interposed between the second shaft member and the second rail.

5. A traveling device according to claim 1 or claim 2, This traveling device is fixed to a three-axis positioner or positioned above the three-axis positioner. The three-axis positioner is a traveling device characterized by having a rotating arm that moves up and down along a vertical axis and rotates around an orthogonal axis perpendicular to the vertical axis, and a rotating plate provided at the tip of the rotating arm for rotating the workpiece.

6. A traveling device according to claim 5, This traveling device is characterized by being positioned above the three-axis positioner, supported by two support columns erected on either side of the three-axis positioner.

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