Running gear

Abstract

To provide a traveling device in which rails and slide blocks can be small and inspection intervals do not need to be shortened. [Solution] The traveling device 10 comprises a shaft member 12, a rail 15, a slide block 16, a moving plate 13, and an accessory member 40, and allows the moving plate 13 and the accessory member 40 to travel along a horizontal axis 11 relative to the shaft member 12. The traveling device 10 is further provided with a fall prevention mechanism 20 that prevents the moving 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 moving plate 13 or the accessory member 40, and the tip of this hook member 21 engages with an engaged portion 30 provided on the shaft member 12 with gaps C1 to C3 remaining.

Description

[Technical Field]

[0001] The present invention relates to a traveling device for linearly traveling an accessory member of a small processing robot or the like. [Background technology]

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

[0003] Although Patent Document 1 does not disclose in detail the mounting structure of the moving plate relative to the horizontal linear shaft, it is presumed that the mounting structure is as follows. That is, a rail is laid on a horizontal linear axis, a slide block is fitted onto the rail, and a moving plate is attached to the slide block.

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

[0005] Patent Document 2 will be explained with reference to the following figure. FIG. 8 is a diagram illustrating a conventional mounting structure of a moving plate to a horizontal linear axis. As shown in Figure 8, rails 103 are laid on a base frame 101, which corresponds to a horizontal linear axis, via auxiliary plates 102. Slide blocks 104 with a U-shaped cross section are fitted onto these rails 103. Moving plates 105 are attached to the upper and lower slide blocks 104. The base frame 10 and the rail 103 are stationary members, and the slide block 104 and the moving plate 105 are moving members, so that the moving plate 105 can move in both directions in the drawing.

[0006] Because the rail 103 is a stationary member and the slide block 104 is a moving member, the sliding surfaces of the two gradually wear out. Therefore, the presence and extent of wear should be checked periodically or at any time, 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 come off the rail 103 during that interval. If inspection intervals are shortened to prevent this problem, the inspection man-hours will increase, and the inspection costs for the running gear will rise.

[0008] Even if the inspection interval is shortened, if an excessive external force is applied to the moving plate 105 in the direction in which the slide block 104 comes off the rail 103 (from left to right in FIG. 8), the slide block 104 will come off the rail 103. To prevent this problem, the rail 103 and slide block 104 are made larger to increase their resistance to external forces, but this increases the weight of the rail 103 and slide block 104 and their manufacturing costs, which in turn increases the procurement costs of the traveling device.

[0009] However, for this type of traveling device, it is required to reduce procurement costs and inspection costs. For this reason, a traveling device is desired in which the rail 103 and slide block 104 can be small and inspection intervals do not need to be shortened. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] International Publication No. 2016 / 141494 [Patent Document 2] Patent No. 6088351 Summary of the Invention [Problem to be solved by the invention]

[0011] An object of the present invention is to provide a traveling device in which the rails and slide blocks can be small and inspection intervals do not need to be shortened. [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 to the rail, a moving plate fixed to the slide block, and an accessory member attached to the moving plate, A traveling device in which the moving plate and the accessory member are capable of traveling along the horizontal axis relative to the shaft member, The traveling device further includes a fall prevention mechanism that prevents the moving plate and / or the accessory member from falling off the shaft member, the fall prevention mechanism is a hook member extending from the moving plate or the accessory member, The tip of the hook member is engaged with the engaged portion provided on the shaft member with a gap therebetween. And, the accessory member comprises a second shaft member extending along a second horizontal axis that extends horizontally and is perpendicular to the horizontal axis, a second rail attached to the second shaft member, a second slide block movably fitted to the second rail, a second moving plate fixed to the second slide block, a second accessory member attached to the second moving plate, and a second drop prevention mechanism that prevents the second moving 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 moving plate or the second accessory member, The tip of the second hook member is engaged with a second engaged portion provided on the second shaft member with a gap therebetween. It is characterized by: [Effects of the Invention]

[0013] In the invention according to claim 1, the traveling device further comprises a fall prevention mechanism that prevents the moving plate and / or the accessory member from falling off the shaft member. If a fall prevention mechanism is not provided, measures such as increasing the size of the rails and slide blocks to increase their strength, or increasing the frequency of inspections, will be necessary. In contrast, the present invention is equipped with a fall prevention mechanism that prevents the moving plate and / or accessory members from falling off the shaft member, so there is no need to increase the size of the rail and slide block, and there is no need to increase the frequency of inspections. That is, the present invention provides a traveling device in which the rails and slide blocks can be small and inspection intervals do not need to be shortened.

[0014] Additionally, in the present invention, the tip of the hook member engages with the engaged portion with a gap therebetween. 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 undesirable. In this regard, in the present invention, the hook member does not normally come into contact with the engaged portion due to the existence of the gap under normal circumstances (when not dropped), and as a result, no wear occurs between the hook member and the engaged portion. Furthermore, according to the present invention, the second accessory (e.g., a processing robot) can move back and forth and left and right along the horizontal axis and the second horizontal axis for processing, thereby expanding the operating range of the second accessory (e.g., a processing robot) and obtaining an optimal processing posture. Furthermore, the simple configuration can prevent the second accessory member (for example, a processing robot) from falling, thereby improving safety. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1(a) is a perspective view of a traveling device according to the present invention, (b) is a cross-sectional view taken along line bb in (a), and (c) to (e) are diagrams illustrating modified examples of the traveling device. [Figure 2] (a) and (b) are cross-sectional views of the square bar, and (c) and (d) are cross-sectional views of the groove. [Figure 3] FIG. 1(a) is a perspective view of another traveling device according to the present invention, (b) is a cross-sectional view taken along line bb in (a), and (c) to (e) are diagrams illustrating modified examples. [Figure 4] FIG. 10 is a perspective view of a traveling device to which an accessory member having a second fall prevention mechanism is attached. [Figure 5] 10(a) and 10(b) are perspective views showing a traveling device combined with a three-axis positioner. [Figure 6] 10(a) and 10(b) are perspective views showing another traveling device combined with a three-axis positioner. [Figure 7] 10(a) and 10(b) are perspective views showing still another traveling device combined with a three-axis positioner. [Figure 8]10A and 10B are diagrams illustrating a conventional mounting structure of a moving plate to a horizontal linear shaft. DETAILED DESCRIPTION OF THE INVENTION

[0016] An embodiment of the present invention will be described below with reference to the accompanying drawings. [Example]

[0017] [Running gear] As shown in Figure 1(a), the traveling device 10 is a device whose main elements are an axial member 12 extending along a horizontal axis 11, a movable plate 13 attached to the axial 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 taken along line bb in Figure 1(a). As shown in FIG. 1(b), rails 15 are attached to the side surfaces 14 of the shaft members 12, slide blocks 16 are fitted onto the rails 15, and the moving plates 13 are fixed to the upper and lower slide blocks 16.

[0019] In this example, two rails 15 are installed, one above the other, but the number of rails 15 is arbitrary. When the height of the side surface 14 is small, one rail 15 may be used. Also, when the height of the side surface 14 is sufficiently large, three or more rails 15 may be used.

[0020] The rail 15 is a member that has an Ω shape in cross section, and the slide block 16 is a member that has an Ω groove. A lubricant may be interposed between the rail 15 and the slide block 16 so that the slide block 16 slides 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 moving plate 13 and the accessory member 40 are able to move relative to the shaft member 12 along the horizontal axis (FIG. 1(a), reference numeral 11). However, if a lubricant is interposed between the rail 15 and the slide block 16, the rail 15 and the slide block 16 come into contact with each other, and the contact surfaces inevitably wear. Also, if a steel ball is interposed between the rail 15 and the slide block 16, the surface of the steel ball inevitably wears. Although this wear is very slight, over long periods of use, the amount of wear accumulates and causes what is known as "play" between the rail 15 and the slide block 16. If this play is left unattended, the slide block 16 will eventually fall off the rail 15.

[0022] 1(a), the accessory 40 may come into contact with an external obstacle. Particularly during the test run stage, an obstacle may remain near the accessory 40. 1(b), the slide block 16 may come off the rail 15. Then, the moving plate 13 and / or the accessory member 40 may fall off the shaft member 12.

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

[0024] As shown in FIG. 1(b), the fall prevention mechanism 20 is a hook member 21 extending from the moving plate 13. In an emergency, the hook member 21 engages (gets caught on) an engaged portion 30 provided on the shaft member 12, thereby preventing the device from falling.

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

[0026] The extension portion 22 and the engagement portion 23 may be integral. In this case, the hook member 21 can be easily manufactured by cutting it out from a thick steel plate. It can also be easily manufactured by subjecting round steel or square steel to plastic processing (simple 90° bending).

[0027] Alternatively, the extension portion 22 and the engagement portion 23 may be fabricated separately and then integrated together by welding or bolting. Therefore, the structure and manufacturing method of the hook member 21 are arbitrary.

[0028] Furthermore, although it is preferable to provide the engaged portion 30 and the hook member 21 on both the top and bottom of the shaft member 12, the engaged portion 30 and the hook member 21 may be provided only on the top of the shaft member 12. This is because providing them on only one side allows for a reduction in the number of components.

[0029] [Engaged part] The engaged portion 30 is preferably a square bar 31 as shown in FIGS. 2(a) and 2(b). As shown in Fig. 2(a), the square bar 31 is fixed to the shaft member 12 by a bolt 32. The bolt 32 is preferably a hexagon socket head bolt. Alternatively, as shown in FIG. 2( b ), the square bar 31 is fixed to the shaft member 12 by a weld bead 33 .

[0030] [gap] As shown in FIG. 1(b), a gap C1 having 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 square bar 31. Furthermore, a gap C2 having 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. In addition, a gap C3 having a size selected from the range of 0.5 to 2 mm is provided between the lower surface of the extension portion 22 and the upper surface of the corner bar 31. The sizes of the gaps C1 to C3 may be set to the same size or may be different from each other.

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

[0032] [Another engaged part] The engaged portion 30 may have a structure as shown in FIG. 1(d). That is, the rail support plate 36 is attached to the shaft member 12 by bolts or welding. The rail 15 is fixed to the rail support plate 36. One edge of the rail support plate 36 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 member] In FIGS. 1(b) to (d), the hook member 21 is extended from the moving plate 13, but it may have a different form. 1(e), the hook member 21 may be extended from the accessory member 40 to the engaged portion 30. For example, an appropriate auxiliary member 38 may be attached to the accessory member 40, and the hook member 21 may be fixed to the auxiliary member 38 with a bolt.

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

[0035] [Operation of the running gear] 1(a) , the moving plate 13 and the accessory member 40 are supported by the shaft member 12 and move back and forth smoothly along the horizontal shaft 11, because the gaps C1 to C3 shown in FIG. 1(b) are secured. That is, normally (when not falling), the hook member 21 is not in contact with the engaged portion 30, and therefore the movement is smooth. As a result, the traveling device 10 is provided in which the moving plate 13 and the attachment member 40 can travel along the horizontal axis 11 relative to the shaft member 12.

[0036] [Fall prevention mechanism function] 1(b), if the slide block 16 comes off the rail 15 for some reason, the gap C1 becomes smaller. When the gap C1 becomes zero, the movement of the hook member 21 is restricted by the corner bar 31. This restriction prevents the moving plate 13 and the accessory member 40 from falling off the shaft member 12. This is similar to Figure 1(c) and Figure 1(e).

[0037] In addition, in FIG. 1(e), if the accessory member 40 is about to come off the moving plate 13 for some reason, the hook member 21 and the corner bar 31 prevent the accessory member 40 from falling.

[0038] In many cases, the attachment member 40 is connected to the moving plate 13 with bolts. These bolts can sometimes become loose or break. In this case, the attachment member 40 cannot be prevented from falling in the cases shown in FIGS. In contrast, the arrangement shown in FIG. 1(e) has the advantage that the accessory member 40 can be prevented from falling off.

[0039] [Shaft member] The shaft member 12 may have any structure, but it is more preferable that the shaft member 12 has a rectangular cross section as shown in FIG. 1(b). Since the rail 15 and the engaged portion 30 are provided on two different surfaces around the corner of the rectangular cross section, the hook member 21 can be quickly engaged with the engaged portion 30 even if the rail 15 side comes off. By engaging the pair of hook members 21 so as to sandwich both sides of the shaft member 12, it is possible to stably prevent it from falling. The hook member 21 engages with the slide block 16 in the direction in which the slide block 16 is disengaged from the rail 15, thereby ensuring reliable prevention of the slide block 16 from falling.

[0040] 1(a), the rails 15 are laid on the side surfaces 14 of the shaft member 12, but the rails 15 can also be laid on the bottom surface of the shaft member 12. A specific example of this will be described below.

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

[0042] [Rails and slide blocks] The cross section of FIG. 3(a) taken along line bb is shown in FIG. 3(b). As shown in FIG. 3(b), rails 15 are attached to the bottom surface 17 of the shaft member 12, slide blocks 16 are fitted onto the rails 15, and the moving plates 13 are fixed to the left and right slide blocks 16. The fall prevention mechanism 20 is a hook member 21 extending from the moving plate 13. This hook member 21 engages (gets caught on) an engaged portion 30 provided on the shaft member 12, thereby preventing the shaft member 12 from falling.

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

[0044] 3(e), an auxiliary member 38 may be provided on the accessory member 40 extending downward, and 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 operations are the same as those explained in FIGS. 1(a) to 1(e) and 2(a) to 2(d), and therefore will not be explained again.

[0045] [Another running gear] There may be a need for a traveling device 10 with higher dimensions than the traveling device 10 shown in FIG. 1(a) and FIG. 3(a). In order to meet this demand, the present invention has conceived the idea of ​​combining the traveling device 10 shown in Fig. 1(a) with the traveling device 10 shown in Fig. 3(a). The traveling device 10 based on this idea will be described with reference to Fig. 4.

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

[0047] Furthermore, the accessory member 40 comprises a second shaft member 42 extending along a second horizontal axis 41 that extends horizontally and is perpendicular to the horizontal axis 11, a second rail 43 attached to the second shaft member 42, a second slide block (Figure 3(b), symbol 44) movably fitted to the second rail 43, a second moving plate 45 fixed to the second slide block 44, a second accessory member 46 attached to the second moving plate 45, and a second fall prevention mechanism 50 that prevents the second moving 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 moving plate 45 or the second accessory member 46, and the tip of this second hook member 51 engages with a second engaged portion 55 provided on the second shaft member 42 with gaps C1 to C3.

[0049] The second hook member 51 may be the same as the hook member 21 described with reference to FIGS. 1(b) and 3(b). Furthermore, the second engaged portion 55 may be the same as the engaged portion 30 described with reference to FIGS. 1(b) to (d) or 3(b) to (d). Therefore, a description of the structures 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 shaft 11 and the second horizontal shaft 41, so that the positioning of the second accessory member 46 can be performed in a greater number of dimensions. The accessory member 40 is prevented from falling by the fall prevention mechanism 20, and the second accessory member 46 is prevented from falling by the second fall prevention mechanism 50.

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

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

[0053] An object to be machined 71 called a workpiece is placed on the rotating plate 68 . The placed workpiece 71 is rotated by a rotation motor 69 and a rotation plate 68 . In addition, the workpiece 71 is rotated by the rotation motor 66 and the rotation plate 65 around an orthogonal axis 73 perpendicular to the vertical axis 72 .

[0054] Furthermore, the workpiece 71 is raised and lowered along a vertical axis 72 by an elevation motor 63 , a ball screw 62 and an elevation plate 64 . The workpiece 71 is rotated, turned, and raised and lowered. That is, the workpiece 71 is positioned in three axes by the three-axis positioner 60 .

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

[0056] That is, the second accessory member 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 the three-axis positioner 60, and the workpiece 71 is rotated on two axes and moved up and down on the third axis, and a processing robot for welding or the like is moved vertically or horizontally along each rail 15 to perform processing such as welding. Therefore, a small processing robot 75 can be used, resulting in simple equipment.

[0057] Furthermore, the attachment member 40 and the second attachment member 46 may be moved by a motor-driven ball shaft or the like, which allows the processing robot 75 to be further automated.

[0058] As shown in FIG. 5(a), the present invention provides a five-axis machining facility in which two axes of the traveling device 10 are added to the three axes of the three-axis positioner 60.

[0059] Alternatively, as shown in FIG. 5( b ), support columns 74 are erected on both sides of the three-axis positioner 60 . The high-dimensional traveling device 10 is bridged over these support columns 74. That is, the high-dimensional traveling device 10 is disposed above the three-axis positioner 60. The term "upper" means that there is a gap between the upper surface of the three-axis positioner 60 and the traveling device 10 (the same applies below).

[0060] Another embodiment will be described with reference to FIGS. 6(a) and 6(b). As shown in Fig. 6(a), the low-dimensional traveling device 10 described in Fig. 1(a) is fixed to the three-axis positioner 60. Specifically, the shaft member 12 is fixed to the top or front surface of the frame body 61 by bolts or welding. The accessory member 40 is, for example, a processing robot 75 . According to FIG. 6(a), a four-axis machining facility is provided, in which one axis of the traveling device 10 is added to the three axes of the three-axis positioner 60.

[0061] Alternatively, as shown in FIG. 6( b ), support columns 74 are erected on both sides of the three-axis positioner 60 . The low-dimensional traveling device 10 is bridged over these support columns 74. In other words, the low-dimensional traveling device 10 is disposed above the three-axis positioner 60.

[0062] Still another embodiment will be described with reference to FIGS. 7(a) and 7(b). As shown in Fig. 7(a), the low-dimensional traveling device 10 described in Fig. 3(a) is fixed to the three-axis positioner 60. Specifically, the shaft member 12 is fixed to the front surface or front face of the frame body 61 by bolts or welding. The accessory member 40 is, for example, a processing robot 75 . According to FIG. 7(a), a four-axis machining facility is provided, in which one axis of the traveling device 10 is added to the three axes of the three-axis positioner 60.

[0063] Alternatively, as shown in FIG. 7( b ), support columns 74 are erected on both sides of the three-axis positioner 60 . The low-dimensional traveling device 10 is bridged over these support columns 74. In other words, the low-dimensional traveling device 10 is disposed above the three-axis positioner 60.

[0064] Based on the above explanation, the present invention can be summarized as follows. As shown in Figure 1(a) or Figure 3(a), a traveling device 10 comprises an axial member 12 extending along a horizontal axis 11, a rail 15 attached to the axial member 12, a slide block 16 movably fitted on 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 the movable plate 13 and the accessory member 40 are capable of traveling along the horizontal axis 11 relative to the axial member 12. The traveling device 10 further comprises a fall prevention mechanism 20 that prevents the movable plate 13 and / or the accessory member 40 from falling off the axial member 12, and 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 engages with an engaged portion 30 provided on the axial member 12 with gaps 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 powder (iron powder), which is undesirable. In this regard, in the present invention, the hook member 21 is not usually in 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 accessory part (e.g., a processing robot) can be moved to any posture or position for processing, and with a simple configuration, even if the rail, slide block, movable plate, etc. becomes detached, the accessory part (e.g., a processing robot) can be prevented from falling, thereby improving safety.

[0067] Preferably, as shown in FIG. 4, the accessory member 40 comprises a second shaft member 42 extending along a second horizontal shaft 41 that extends horizontally and perpendicular to the horizontal shaft 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 moving plate 45 fixed to the second slide block 44, a second accessory member 46 attached to the second moving plate 45, and a second fall prevention mechanism 50 that prevents the second moving plate 45 or the second accessory member 46 from falling off the second shaft member 42, and the second fall prevention mechanism 50 is a second hook member 51 extending from the second moving plate 45 or the second accessory member 46, and the tip of the second hook member 51 engages with a second engaged portion 55 provided on the second shaft member 42 with a gap (the same gap as the symbols C1 to C3 in FIG. 1(b)).

[0068] With this configuration, the second accessory (e.g., a processing robot) can move back and forth and left and right along the horizontal axis and the second horizontal axis for processing, thereby expanding the operating range of the second accessory (e.g., a processing robot) and achieving an optimal processing posture. Furthermore, the simple configuration can prevent the second accessory member (for example, a processing robot) from falling, thereby improving safety.

[0069] Preferably, as shown in Figures 1(b) to (d) and Figures 3(b) to (d), the engaged portion 30 is one of 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 Figures 3(b) to (d), the second engaged portion 55 is one of 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 angle bar is an element that increases the strength of the shaft member. The grooves can also be formed by drilling grooves in the shaft member itself, which allows the grooves to be easily obtained without the need for additional parts.

[0072] Although rails may be laid on the shaft members, the degree of freedom in mounting the rails is increased by attaching a rail support plate to the shaft members and then mounting the rails to this rail support plate. Furthermore, by using the protruding portion of the rail support plate as 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 a three-axis positioner 60 or disposed above the three-axis positioner 60. The three-axis positioner 60 has a pivoting arm 67 that moves up and down along a vertical axis 72 and pivots around an orthogonal axis 73 that is perpendicular to the vertical axis 72, and a rotating plate 68 that is attached to the tip of the pivoting arm 67 and rotates the workpiece 71.

[0074] By disposing the traveling device 10 on the three-axis positioner 60, a four-axis or five-axis machining facility can be easily obtained. When the traveling device 10 is fixed directly to the three-axis positioner 60, there is an 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 pillars 74 erected on either side of the three-axis positioner 60.

[0076] By providing the support pillars 74, the weight of the traveling device 10 is not applied to the three-axis positioner 60. This reduces the weight of the frame 61, which is the main element of the three-axis positioner 60. Another advantage is that the traveling device 10 can be made larger.

[0077] It is preferable that the traveling device 10 of the present invention is used together with the three-axis positioner 60, but it may also be used for other purposes. [Industrial Applicability]

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

[0079] 10...traveling device, 11...horizontal shaft, 12...shaft member, 13...moving plate, 15...rail, 16...slide block, 20...fall prevention mechanism, 21...hook member, 30...engaged portion, 31...corner bar, 34...groove, 36...rail support plate, 37...protruding portion, 40...accessory member, 41...second horizontal shaft, 42...second shaft 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 portion, 60...three-axis positioner, 64...lifting plate, 65...swivel plate, 67...swivel arm, 68...rotating plate, 71...workpiece, 72...vertical shaft, 73...orthogonal shaft, 74...support, C1 to C3...gaps.

Claims

1. The apparatus comprises a shaft member extending along a horizontal axis, a rail attached to the shaft member, a slide block movably fitted to the rail, a moving plate fixed to the slide block, and an accessory member attached to the moving plate, A traveling device in which the moving plate and the accessory member are capable of traveling along the horizontal axis relative to the shaft member, the traveling device is further provided with a fall prevention mechanism that prevents the moving plate and / or the accessory member from falling off the shaft member, the fall prevention mechanism is a hook member extending from the moving plate or the accessory member, The tip of the hook member is engaged with the engaged portion provided on the shaft member with a gap therebetween, The accessory member comprises a second shaft member extending along a second horizontal axis that extends horizontally and is perpendicular to the horizontal axis, a second rail attached to the second shaft member, a second slide block movably fitted to the second rail, a second moving plate fixed to the second slide block, a second accessory member attached to the second moving plate, and a second drop prevention mechanism that prevents the second moving 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 moving plate or the second accessory member, A traveling device characterized in that the tip of this second hook member engages with a second engaged portion provided on the second shaft member with a gap therebetween.

2. The traveling device according to claim 1, A traveling device characterized in that the engaged portion is one of 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.

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

4. The traveling device according to claim 1, The traveling device is fixed to the three-axis positioner or disposed 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 while rotating around an orthogonal axis perpendicular to the vertical axis, and a rotating plate provided at the tip of the rotating arm that rotates the workpiece.

5. The traveling device according to claim 4, This traveling device is characterized in that it is supported by two supports erected on both sides of the three-axis positioner, and is disposed above the three-axis positioner.

6. A device comprising an axial member extending along a horizontal axis, a rail attached to the axial member, a slide block movably fitted to the rail, a movable plate fixed to the slide block, and an accessory member attached to the movable plate; A traveling device in which the moving plate and the accessory member are capable of traveling along the horizontal axis relative to the shaft member, the traveling device is further provided with a fall prevention mechanism that prevents the moving plate and / or the accessory member from falling off the shaft member, the fall prevention mechanism is a hook member extending from the moving plate and / or the accessory member, A traveling device characterized in that the tip of this hook member engages with an engaged portion provided on a surface of the shaft member different from the side surface to which the rail is attached, adjacent to the side surface, with a gap therebetween.

7. A running device according to claim 6, A traveling device characterized in that an auxiliary member having an L-shape in cross section is attached to the accessory member, and the hook member is fixed to this auxiliary member.

8. A running device according to claim 6, A traveling device characterized in that an auxiliary member is integrally formed with the accessory member, and the hook member is fixed to or integrally formed with the auxiliary member.

Images