WO1997004928A1 - Mecanisme de deplacement - Google Patents
Mecanisme de deplacement Download PDFInfo
- Publication number
- WO1997004928A1 WO1997004928A1 PCT/JP1996/002006 JP9602006W WO9704928A1 WO 1997004928 A1 WO1997004928 A1 WO 1997004928A1 JP 9602006 W JP9602006 W JP 9602006W WO 9704928 A1 WO9704928 A1 WO 9704928A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- guide
- pair
- base
- rotating guide
- moving
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18832—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.]
- Y10T74/18848—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.] with pulley
Definitions
- the present invention relates to a movement mechanism, and more specifically, a guide provided on a base and extending in a first direction, a movable body movable in the first direction along each guide, and the movable body And a driving device for moving the motor in a first direction.
- Japanese Patent Application Laid-Open No. 5-31683 discloses a motion mechanism including a guide, a moving body movable along the guide, and a moving device for moving the moving body. There is a movement mechanism.
- a pair of moving bodies 104a, 104b movable in parallel with the racks in the length direction of the pair of racks 102a, 102b;
- a moving body 100 is attached, and both ends are connected to moving bodies 104a and 104b, respectively.
- a pair of moving bodies 100 a and 104 b are provided rotatably on the pair, and a pair of rack gears 102 a and a pair of vinyl gears 108 a respectively engaged with the 102 b. , 1 0 8 b and
- a ball screw 110 and a ball screw 110 are arranged in parallel with the rack and rotatable about a line, and are screwed to at least one of the moving bodies 104b. And a drive motor 1 1 2.
- the pair of pinion gears 108 a and 108 b are fixed to both ends of a shaft 114 rotatably arranged on the connecting body 106.
- the ball screw 110 rotates.
- One moving rest 104b is directly driven by the driving force of the ball screw 110, and the other moving body 104a is a pair of pinion gears 108a, 108b and the shaft 1 Synchronized operation by 14 Since the pair of pinion gears 108a and 108b are combined with the pair of racks 102a and 102b, one moving body 104 The pinion gear 108 b rotates, and the other pinion gear 108 a rotates through the shaft 114. By this rotation, the other moving body 104a on which the other vinyl gear 108a is disposed can be suitably driven synchronously.
- the bending moment applied to the connected body 106 can be converted into the torsional moment of the shaft 114.
- the pair of moving bodies 104a and 104b can be suitably driven synchronously without increasing the weight of the connected body 106, and the kinematics of this moving mechanism can be improved. Can be improved.
- the moving bodies 104a and 104b can be driven synchronously, the members attached to the moving bodies 104a and 104b and the moving bodies 104a and 100b can be precisely formed. Positioning becomes possible.
- the motion mechanism has a pair of racks 102a and 102b and a pair of racks fixed to both ends of the shaft 114. Pinion gears 108 a and 108 b are located.
- the adoption of precision racks 102a, 102b and vinyl gears 108a, 108b complicates the construction and increases the manufacturing cost.
- An object of the present invention is to synchronize a pair of moving bodies with a simple configuration, to perform high-precision positioning, to reduce manufacturing costs, and to reduce noise. It is to provide a mechanism.
- the present invention has the following configuration.
- the first configuration of the motion mechanism according to the present invention is as follows.
- a pair of guides disposed on the substrate and extending in a first direction
- a pair of moving bodies movable in the first direction with respect to each of the guides;
- a tension is applied to the first rotation guide and the second rotation guide and the first rotation guide is rotated around the first rotation guide in a direction opposite to a direction in which one end of the first rotation member is pulled out.
- a second hook-up member that is pulled out of the guide and fixed to the base, the other end of which is drawn out of the second rotating guide in a direction opposite to the one end and fixed to the base;
- a driving device for moving the moving body in a first direction In the first configuration, the pair of moving bodies are connected to each other. May be provided.
- a first hook-up member fixed to the base by pulling out the other end from the second rotating guide in a direction opposite to the one end, and fixed to the base;
- a tension is applied to the first rotation guide and the second rotation guide, and one end of the first rotation guide is directed in a direction opposite to a direction in which one end of the i-th rotation member is pulled out.
- a second hook-up member that is pulled out of the door and fixed to the base, the other end of which is pulled out from the second rotating guide in the opposite direction to the one end and fixed to the base;
- a pair of second moving bodies movable in the second direction along each second guide, a second connecting body connecting the pair of second moving bodies, and a pair of the second moving bodies;
- a third rotating guide disposed on one of the moving bodies;
- a fourth rotating guide disposed on the other of the pair of second moving bodies; and a third rotating guide provided with tension.
- One end is pulled out from the third rotating guide and fixed to the base, and the other end is connected to the fourth rotating guide and one end from the fourth rotating guide.
- a tension is applied to the third rotation guide and the fourth rotation guide, and one end of the third rotation guide and the fourth rotation guide are pulled out.
- the other end was pulled out from the third rotating guide in the opposite direction and fixed to the base rest, and the other end was pulled out from the fourth rotating guide in the opposite direction to the one end and fixed to the base.
- a fourth hanging member
- a second driving device that moves the second moving body in a second direction; and a moving body that can move on the first connecting body and the second connecting body.
- a third configuration of the movement mechanism according to the present invention is as follows.
- a guide disposed on the substrate and extending in the first direction
- a moving body that is formed to be long in a second direction perpendicular to the first direction and that can move in the first direction by being attached to the guide;
- a first rotating guide provided at one end of the moving body
- a second rotating guide disposed at the other end of the moving body
- a tension is applied to the first rotating guide and the second rotating guide, and one end is pulled out from the first rotating guide and fixed to the base, and the other end is fixed to the second rotating guide.
- a tension is applied to the first image guide and the second rotation guide, and one end of the first image guide and the second rotational guide is moved in a direction opposite to a direction in which one end of the first image drawing member is pulled out.
- a driving device for moving the movable rest in a first direction A driving device for moving the movable rest in a first direction.
- the driving device may use a ball screw that is screwed into the moving body to move and move the movement rest, or may use a rotating device that rotates a rotating guide.
- the first hooking member and the second hooking member are wound around by applying tension to the pair of rotating guides so as to attract each other.
- the first and second Both ends of the member are pulled out in opposite directions and fixed.
- the synchronizing mechanism can be realized with a simple configuration of a rotating guide and a hanging member without using a rack and a pinion gear, and the production cost can be significantly reduced.
- FIG. 1 is a plan view showing a first embodiment of the motion mechanism according to the present invention.
- FIG. 2 is a cross-sectional view taken along a line A—A in FIG.
- FIG. 3 is a sectional view showing details of the pulley portion of the first embodiment
- FIG. 4 is a plan view showing a second embodiment of the motion mechanism according to the present invention.
- FIG. 5 is a cross-sectional view taken along the line B—B in FIG.
- FIG. 6 is a plan view showing a third embodiment of the movement mechanism according to the present invention.
- FIG. 7 is a cross-sectional view taken along the line C--C in FIG.
- FIG. 8 is a plan view showing a fourth embodiment of the motion mechanism according to the present invention.
- FIG. 9 is a sectional view taken along the line D--D of FIG.
- FIG. 10 is a plan view showing a fifth embodiment of the motion mechanism according to the present invention.
- FIG. 11 is a plan view showing a sixth embodiment of the motion mechanism according to the present invention.
- FIG. 12 is a sectional view showing another example of the rotating guide.
- FIG. 13 is a plan view showing a seventh embodiment of the motion mechanism according to the present invention.
- FIG. 14 is a plan view showing an eighth embodiment of the motion mechanism according to the present invention.
- FIG. 15 is a plan view showing a conventional motion mechanism. Example
- FIG. 1 a plan view
- FIG. 2 a sectional view taken along line AA
- FIG. 3 a sectional view showing details of a pulley portion
- the bases 10a and 10b constitute a base portion of the apparatus, and are constituted by two members in the drawing. On each of the bases 10a and 10b, a pair of X guides 12a and 12b extending in the X direction which is the first direction is provided.
- the X guides 12a and 12b are formed in a rail shape and are arranged in parallel.
- the pair of X moving bodies 14a and 14b move in the X direction with respect to the pair of X guides 12a and 12b.
- X mobile object 14a, 14 It is configured so that it can be fitted to the X guides 12a and 12b, respectively, and can slide on the X guides 12a and 12b in the X direction.
- an array groove structure may be used.
- the X linked body 16 connects the pair of X moving bodies 14a and 1b.
- the X linked body 16 is not limited to a beam-shaped one as shown in the figure. It may be in the shape of a head or a pipe.
- a pair of pulleys 18a and 18b are disposed on a pair of X moving bodies 14a and 14b, respectively.
- the pulley 18a serves as a first rotating guide
- the pulley 18b serves as a second rotating guide.
- the pulleys 18a, 18b are fixed to a rotating shaft 35, which is rotatably attached to the X-moving bodies 14a, 14b via a hook 34, as shown in FIG. ing. Therefore, the pulleys 18a and 18b are rotatable integrally with the respective rotation shafts 35.
- Each of the pulleys 18a and 18b is formed as a double pulley, and the first belt 20 is wound on the lower side, and the second belt 22 is wound on the upper side. ing.
- the pulleys 18a and 18b have been described as rotating with double pulleys. However, the upper pulley and the lower pulley are separately rotatably provided. You may.
- the first belt 20 is an example of a first loop member.
- the first belt 20 is wound diagonally between a pair of pulleys 18a and 18b in the middle.
- the ends of the first belt 20 extend from pulleys 18a and 18b in opposite directions.
- the first belt 20 is tensioned, and each end is fixed to a base 10a, 10b. That is, in the drawing of FIG. 1, the first belt 20 is wrapped around the lower left portion of the pulley 18a and the upper right portion of the pulley 18b to form a Z shape as a whole. It is stretched.
- One end 20 a of the first belt 20 is fixed to a fixed portion 21 a provided at the upper end of the base 10 a, and the other end 20 b of the first belt 20 is connected to the base 10 a.
- Fixed part provided at the other end of b 2 1 b It is fixed to.
- the distance between the lower end 20 a of the first belt 20 and the pulley — 18 a and the other end 20 b of the first belt 20 and the pulley 18 b are X Guides 12a and 12b are arranged in parallel.
- the second belt 22 is an example of a second loop member. The second belt 22 is skewed between a pair of burries 18a and 18b in the middle.
- the ends of the second belt 22 are drawn out of the pulleys 18a and 18 in opposite directions.
- the second belt 22 is tensioned, and each end is fixed to the base 10a, 10b. That is, in the drawing of FIG. 1, the second belt 22 is wrapped around the upper left portion of the pulley 18a and the lower right portion of the pulley 18b, and as a whole, Is stretched in a Z-shape.
- One end 22 a of the second belt 22 is fixed to a fixing portion 23 a provided at the lower end of the base 10 a, and the other end 22 b of the second belt 22 is connected to the base 10 a. It is fixed to a fixing part 23 b provided on the other end side of b.
- the distance between the upper end 22a of the first belt 22 and the pulley 18a and the distance between the other end 22b of the second belt 22 and the pulley 18b are X Guides 12a and 12b are arranged in parallel.
- the belts 20 and 22 are used as the first and second hanging members.
- the present invention is not limited to this, and the belts can be wound and can be tensioned. If so, a timing belt, a chain, a wire, or the like can be used.
- a timing pulley may be used as a rotating guide.
- a chain use the sprocket as a rotating guide.
- the wire and the rope need only slide sufficiently on the rotating guide, and the rotating guide does not rotate. Is also good.
- the fixing portions 21 a and 21 b can fix the ends 20 a and 20 b by adjusting the tension of the first belt 20.
- the fixing portions 23a and 23b can adjust the tension of the second belt 22 to fix the ends 22a and 22b.
- Fixed part 2 1 a, 21 b, 23 a, 23 b may have a structure in which the ends of the first and second belts 22 are fixed by screws 36 as shown in FIG. 1, for example.
- a method of applying tension to the first belt and the second belt 22 a method of pulling the hanging member with a predetermined force when fixing the hanging member to the base, a method of applying an end of the hanging member to a predetermined
- a mechanism for adjusting the tension at any time may be provided so that the movement of the pair of moving bodies 14a and 14b can be appropriately synchronized in accordance with the load condition.
- the tension of the first belt 20 and the second belt 22 is set to be the same, but a large load is applied only in one direction of the pair of X moving bodies 14a and 14b. In such a case, both tensions may be set differently.
- the fixing portions 21a, 21b, 23a, and 23b are provided at each end of the base.
- the end of the loop member can be fixed at an arbitrary position on the base.
- the pair of pulleys 18a and 18b are arranged at intervals in the Y direction orthogonal to the X direction.
- the present invention is not limited to this, and the pools 18a and 18b cross obliquely with respect to the X axis. It may be arranged in the direction in which it does.
- the belts 20 and 22 are simply wrapped around the pulleys 18a and 18b. It is also possible to turn. According to this configuration, it is possible to prevent the hanging member from separating from the rotating guide.
- various driving means can be used as the driving device 11.
- a ball screw 24 driven by a servo motor 28 shown in FIG. 4 or a servo motor 28 rotated and driven by a pulley 18 b shown in FIG. 7 has X moving bodies 14 a and 14 b. At least one of them can be moved directly in the X direction, and with the configuration shown in the present embodiment, the X moving bodies 14a and 14b can be moved synchronously.
- the driving device 11 connects both the pair of X moving bodies 14 a and 14 b to each other. It may be one that moves directly in the X direction, or one that moves the X connector 16 directly in the X direction. That is, the driving device 11 only needs to move at least one of the X movable bodies 14a and 14b and the movable member that moves in the X direction. Regardless of the structure of the driving device 11, the pair of X moving bodies 14a and 1b can be moved synchronously by the tension of the first belt 20 and the second belt 22.
- FIG. 4 plane view
- FIG. 5 BB sectional view
- the X ball screw 24 is arranged in the X direction.
- the X ball screw 24 is rotatable about its own axis, and both ends are held between support members 26a and 26b fixed on the base 10b.
- the X ball screw 24 is screwed into the X movement rest 14 b.
- the X ball screw 2 can hold the current image position while stopped, and can prevent displacement of the X moving bodies 14a and 14b.
- the servo motor 28 constitutes a driving device.
- the servo motor 28 rotates the X ball screw 24.
- the servo motor 28 and the X ball screw 24 are connected by a force bra 27.
- the rotation of X ball screw 24 can be controlled by controlling the number of rotations, rotation direction and amount of rotation of servo motor 28.
- the play of the X moving bodies 14a and 14b is reduced. Removed. Therefore, the members attached to the X moving bodies 14a and 14b and the X moving bodies 14a and 14b can be positioned with high accuracy.
- FIG. 6 plane view
- FIG. 7 CC sectional view
- a rotating device for directly rotating a rotating guide provided on a moving body is employed as the driving device 11.
- the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.
- Servomotor 28 which is an example of a rotating device, is arranged on a support portion 30 provided on a X-force moving body 14b.
- the servomotor 28 and the pulley 18 b rotating shaft 35 are connected by a force bra 27.
- the rotation of the pulley 18b can be controlled by controlling the rotation speed, rotation direction, and rotation amount of the servomotor 28.
- the pulley 18b and the servomotor 28 may be connected via a speed reducer.
- the pulleys 18a and 18b roll on the first belt 20 and the second belt 22.
- the pulley 18b is rotated clockwise, the X moving body 14b moves upward on the drawing of FIG. Then, the portion of the first belt 20 parallel to the X guide 12 b becomes longer, and the portion of the second belt 22 parallel to the X guide 12 b becomes shorter.
- Bridge 18a rotates counterclockwise. Then, the portion of the first belt 20 parallel to the X guide 12 a becomes shorter, and the portion of the second belt 22 parallel to the X guide 12 a becomes longer.
- both the X moving bodies 14a and 14b synchronously move upward on the X guides 12a and 12b with high precision.
- pulley 1 18 Is rotated to the counterclockwise direction
- the pulley over 1 8 a is rotated clockwise
- both X mobile 1 4 a, 1 4 b is moved synchronously downwards with high accuracy £ (Fourth Embodiment)
- FIG. 8 plane view
- FIG. 9 DD cross section
- the configuration in the X direction has substantially the same configuration except that the pair of X rods 36a and 36b serving as the base 50 and the first connector are different from the configuration of the first embodiment.
- the base 50 is formed in a frame shape with a central portion hollowed out.
- a pair of X moving bodies (first moving rests) 14a and 14b are connected to both ends of the pair of X rods 36a and 36b.
- the X rods do not need to be in a pair, but may be one, three or more, and may be in a pipe shape or the like.
- the X guides 12a and 12b shown in the first embodiment are the first guide, and the X drive device 11a is the first drive device.
- a pair of Y guides (second guides) 52 a and 52 b extending in the Y direction perpendicular to the X direction are provided on the base 50.
- the pair of Y moving bodies (second moving bodies) 54a and 54b move in the Y direction by rubbing on the pair of Y guides 52a and 52b.
- a pair of Y rods (second connected bodies) 56a and 56b connect a pair of Y mobile bodies 54a and 5b.
- the number of Y ports does not need to be one pair, and may be one or three or more, or may be in a pipe shape or the like.
- Pulleys 58a and 58b serving as a third rotating guide and a fourth rotating guide are provided on each of the Y moving bodies 54a and 54b, respectively. ing. Each of the pulleys 58a and 58b is formed as a double pulley, and a third belt (third hanging member) 60 is wound on the lower side and a fourth belt is placed on the upper side. (Fourth loop member) 62 is looped.
- the third belt 60 is drawn midway along the pulleys 58a and 58b, and the ends are drawn in opposite directions.
- the third belt 60 is tensioned so that each end is fixed to the base rest 50.
- the fourth belt 62 is wrapped around a pair 58a, 58b in the middle so as to attract each other with the third belt 60, and the ends are drawn in opposite directions. A tension is applied to the fourth belt 62, and each end is fixed to the base 50.
- the fixing portions 61a and 61b adjust the tension of the third belt 60 to fix the ends.
- the fixing portions 63 a and 63 b adjust the tension of the fourth belt 62 to fix the ends.
- the moving body 70 has a pair of X rods 36a and 36b and a pair of Y rods 56a and 56b inserted therethrough, and is orthogonal to the inside.
- the moving body 70 can move in the Y direction on the pair of X rods 36a and 36b, and can move in the X direction on the pair of Y rods 56a and 56b. You.
- the moving body 70 is formed in a block body.
- An upper groove portion through which the first belt 20 and the second belt 22 can pass is formed on the upper surface side of the moving body 70, and a third belt 60 and a third belt portion orthogonal to the upper groove portion are formed on the lower surface side.
- a pair of X-holes 36a and 36b are inserted in the upper part of the moving body 70 in the Y direction, and a pair of through holes are formed in the lower part of the moving body 70.
- a pair of through holes into which the pads 56a56b are inserted are formed in the X direction. Work robot heads, tools, works, etc. can be mounted on the moving body 70.
- the X driving device 11a for moving and driving the X moving body in the X direction and the Y driving device for moving and moving the Y moving body in the Y direction (second driving device) If 1 b is used, the moving body 7 0 Can be moved two-dimensionally in the X-Y direction with high accuracy.
- synchronously moving the Y moving bodies 54a and 54b by the Y driving device 11b that directly moves at least one of the Y moving bodies 54a and 54b in the Y direction. can be.
- the Y driving device 11b may directly move both of the pair of Y moving bodies 54a and 54b in the Y direction, or the Y rods 56a and 56b May be moved directly in the Y direction.
- at least one movable member that moves in the Y direction may be moved by the Y driving device 11b.
- the pair of Y moving bodies 54 a and 54 b can be moved synchronously by the tension of the third belt 60 and the fourth belt 62.
- the X drive 11a and the Y drive 11b may move the moving body 70 directly in the X and Y directions.
- the movement of the pair of X moving bodies 14a and 14b in the X direction is synchronized by the tension of the first belt 20 and the second belt 22 so that the third The movements of the pair of Y moving bodies 54 a and 54 b in the Y direction are synchronized by the tension of the belt 60 and the fourth belt 62.
- the moving body 70 can move with high accuracy.
- the fifth embodiment is an embodiment in which a mechanism for holding a ball screw is specifically employed as the X and Y driving devices 11a and 11b of the fourth embodiment.
- the X drive device of the fifth embodiment has the same configuration as that of the X drive device of the second embodiment, and the same components as those of the second embodiment are denoted by the same reference numerals and description thereof is omitted.
- the Y driving device has the same configuration as the X driving device except that the direction is different from that of the X driving device, the description of the operation and the like is omitted.
- the Y ball screws 64 are arranged in the Y direction.
- the Y ball screw 64 is rotatable about its own axis.
- the Y ball screw 64 is held between support members 66 a and 66 b fixed on the base 50.
- the Y ball screw 64 is screwed to the Y moving body 54b.
- the servo motor 68 rotates the Y ball screw 64.
- Servo motor 68 and Y ball screw 64 are connected by force bra 67,
- the pair of X moving bodies 14a and 14b and the pair of Y moving bodies 54a and 54b can be moved synchronously, the mobility of the moving body 70 can be improved and the moving body 70 can be moved.
- X-It is possible to perform high-precision two-dimensional movement in the Y direction.
- the ball screw 24 and the Y-ball screw 64 are used as the driving device, the positioning accuracy can be remarkably improved.
- the moving body 70 can be supported by the four sides via the X ⁇ rod and the Y rod, the moving body 70 can be stably moved.
- the sixth embodiment will be described with reference to FIG. 11 (plan view).
- the sixth embodiment is different from the fourth embodiment in that the X and Y drive units 11a and 11b are directly rotated by pulleys arranged on the X moving body and the Y moving body. This is an embodiment using an apparatus.
- the X drive device of the sixth embodiment has the same configuration as that of the X drive device of the third embodiment, and the same components as those of the third embodiment are denoted by the same reference numerals. Omitted.
- both the X moving bodies 14a and 14b can be synchronously moved on the X guides 12a and 12b in the X direction with high precision, as in the third embodiment.
- the Y drive device has the same configuration as the X drive device except for the direction, the description of the operation and the like is omitted.
- a servomotor 68 as a second rotating device of the Y drive device is disposed on a support portion 80 provided on the Y moving body 54b.
- the axes of the servomotor 68 and the pulley 58b are connected by a force bra.
- the pulley 58b and the servomotor 68 may be connected via a speed reducer.
- both the Y moving bodies 54a and 54b can be synchronously moved on the Y guides 52a and 52b in the Y direction with high precision, as in the fifth embodiment. Therefore, in the present embodiment, the same effects as those of the fifth embodiment can be obtained, the configuration is further simplified, and the manufacturing cost can be further reduced.
- the phases of the timing belts may be shifted from each other.
- the upper and lower sections 72 and 74 of the double pulley rotate independently on the rod 78 fixed to the moving body 76.
- tension it is possible to suitably apply tension to each of the timing belts 80 and 82.
- a chain is used as a hanging member, instead of using a double pulley, What is necessary is just to use the double sprocket which can rotate a step part and a lower part independently.
- the configuration in the X direction or the Y direction is a configuration in which a pair of guides and a pair of moving bodies are provided.
- the seventh embodiment is a movement mechanism that includes one guide and one moving body, and can move the moving body while keeping the posture of the moving body on the guide in an appropriate state.
- the seventh embodiment is shown in FIG. 13 (plan view).
- the same components as those of the preceding embodiment are denoted by the same reference numerals, and description thereof is omitted.
- the posture of the moving body 90 with respect to the guide 92 is held by the first bell I: 20 and the second belt 22 to which tension is applied.
- the moving body 90 can smoothly move along the guide 92 on the base body 10 while maintaining a predetermined posture. It is possible.
- FIG. 14 (plan view). Note that this embodiment is based on the first embodiment, and the same components as those in the first embodiment are denoted by the same reference numerals and description thereof will be omitted.
- the exercise mechanism of the present embodiment is provided with tension adjusting mechanisms 99A and 99B for adjusting the tension of each hanging member.
- tension adjusting mechanisms 99A and 99B for adjusting the tension of each hanging member.
- the cylinder device 94A is fixed to an end of the base 10a.
- One end 20a of the first belt 20 is connected to the end of the extendable rod 94a of the cylinder device 94A.
- the cylinder device 94B is fixed to an end of the base 10b.
- One end 22a of the second belt 22 is connected to the end of the extendable rod 94b of the cylinder device 94B.
- a regulator 98 A is provided in the middle of the flow channel 96 A, which supplies compressed air, which is an example of pressure flow, to the cylinder device 94 A from the compressor 97 A. Have been.
- a regulator 98B is provided in the middle of a flow path 96B for supplying compressed air to the cylinder device 94B from the compressor 97B.
- compressed air is used as the pressure fluid, but liquid or gas may be used.
- a pump may be used to supply the fluid to the cylinder devices 94A and 94B.
- Regulators 98 A and 98 B adjust the pressure of the compressed air. The adjustment may be performed remotely. By adjusting the pressure with the regulators 98 A and 98 B, the tension of the first and second belts 20 and 22 can be adjusted.
- the tension adjusting mechanisms 99 A and 99 B are connected to one end of each of the belts 20 and 22, but both ends are connected to the tension adjusting mechanism. They may be connected. If both ends of each belt 20 and 22 are connected to the tension adjusting mechanism, the tension can be adjusted more precisely.
- the pressure of the compressed air supplied to the cylinder devices 94A and 94B is adjusted via the regulators 98A and 98B and set individually. With this pressure adjustment, the tension of the first belt 20 and the second belt 22 can be individually adjusted.
- the X linked body 16 connecting the X moving bodies 14a and 14b can be adjusted with respect to the X guides 12a and 12b. It can be set at right angles with high precision.
- the provision of the tension adjustment mechanisms 99A and 99B allows the first belt 2 to be mounted even when one of the pair of X moving bodies 14a and 14b is subjected to a large load during operation.
- the tension of 0 and the second belt 22 can be adjusted appropriately.
- the inertia force is increased by increasing the tension between the first belt 20 and the second belt 22 when stopping the movement of the pair of X moving bodies 14 a and 14 b and the X linked body 16. Can be absorbed. By absorbing the inertial force even in a sudden stop operation, vibration is suppressed and the movable member can be positioned with high accuracy.
- the movement mechanism for driving the pair of X moving bodies 14a and 14b connected to the X connecting body 16 has been described.
- the tension adjuster tru is used in each of the above embodiments. Can be.
- the fourth embodiment see FIG. 8 having a moving body that moves on the X-connected body and the Y-connected body, if a tension adjusting mechanism is provided for each of the configuration in the X direction and the configuration in the Y direction. Good.
- the tension adjusting mechanism is not limited to the mechanism including the above-described cylinder devices 94A and 94B, but may be constituted by a mechanism including a solenoid screw, for example. .
- the servo motor is used as the drive source of the drive device.
- a cylinder device or the like can be used as the drive source.
- a drive mechanism using a ball screw or a drive mechanism directly connected to a servomotor as a drive device a drive mechanism using a rotation of a lever, a link mechanism, and the like can be used.
- the motion mechanism according to the present invention can be installed vertically or diagonally. can do.
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU64701/96A AU6470196A (en) | 1995-07-27 | 1996-07-17 | Moving mechanism |
DE19681515T DE19681515T1 (de) | 1995-07-27 | 1996-07-17 | Antriebssystem |
KR1019970701956A KR970706480A (ko) | 1994-09-30 | 1996-07-17 | 공초점 광학장치 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7/191882 | 1995-07-27 | ||
JP19188295 | 1995-07-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997004928A1 true WO1997004928A1 (fr) | 1997-02-13 |
Family
ID=16282037
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1996/002006 WO1997004928A1 (fr) | 1994-09-30 | 1996-07-17 | Mecanisme de deplacement |
Country Status (5)
Country | Link |
---|---|
US (1) | US5804932A (ja) |
CN (1) | CN1057245C (ja) |
AU (1) | AU6470196A (ja) |
DE (1) | DE19681515T1 (ja) |
WO (1) | WO1997004928A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6139245A (en) * | 1997-07-11 | 2000-10-31 | Brooks Automation Inc. | Robot arm relocation system |
JPH11300557A (ja) * | 1998-04-15 | 1999-11-02 | Thk Co Ltd | 移動テーブル装置 |
TW514333U (en) * | 2001-01-19 | 2002-12-11 | Avision Inc | Drive belt fixture structure for scanner |
JP2003245879A (ja) * | 2002-02-25 | 2003-09-02 | Takeshi Yanagisawa | 天井空間移動装置 |
US6626479B1 (en) | 2002-09-11 | 2003-09-30 | Steve Skoug | Device for positioning container in cargo space of vehicle |
SE0300637D0 (sv) * | 2003-03-10 | 2003-03-10 | Kahlman Produkter Ab | Transfer arrangement |
SE0300638D0 (sv) * | 2003-03-10 | 2003-03-10 | Kahlman Produkter Ab | Load hoist arrangement |
DE10341109A1 (de) * | 2003-09-05 | 2005-04-14 | Siemens Ag | Vorrichtung zur Übergabe von Stückgut |
US7546929B2 (en) * | 2005-10-31 | 2009-06-16 | Marine Travelift, Inc. | Powered auxiliary hoist mechanism for a gantry crane |
US7128356B2 (en) * | 2005-03-01 | 2006-10-31 | Bassett Brenda J | Cargo box assembly and method of use thereof |
FI120920B (fi) * | 2006-12-12 | 2010-04-30 | Abb Oy | Menetelmä ja järjestelmä materiaaliradan kireysmittauksen yhteydessä |
US8181799B2 (en) * | 2009-11-30 | 2012-05-22 | GM Global Technology Operations LLC | Actuation system configured for moving a payload |
US20120291356A1 (en) * | 2011-05-17 | 2012-11-22 | First Dome Corporation | Synchronous drive device for slide cover mechanism |
US11331789B2 (en) | 2014-05-30 | 2022-05-17 | James Douglass Penn | Positioning system |
KR102426054B1 (ko) * | 2014-05-30 | 2022-07-27 | 제임스 더글라스 펜 | 위치설정 시스템 |
JP6456149B2 (ja) * | 2015-01-13 | 2019-01-23 | 株式会社トプコン | 測量機器 |
FR3088236B1 (fr) * | 2018-11-14 | 2022-01-21 | Nimitech Innovation | Effecteur de machine de nappage 2d, machine a systeme de pilotage et procede de realisation de structure composite 3d |
JP6866430B2 (ja) * | 2019-07-31 | 2021-04-28 | 本田技研工業株式会社 | 位置変更装置 |
US11938677B2 (en) * | 2020-05-14 | 2024-03-26 | John Martin Harra | Positioning system |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0355177A (ja) * | 1989-07-24 | 1991-03-08 | Canon Inc | 直交2軸移動装置 |
JPH0531683A (ja) * | 1991-07-25 | 1993-02-09 | Takeshi Yanagisawa | 運動機構 |
JPH0616395A (ja) * | 1992-07-06 | 1994-01-25 | Teijin Seiki Co Ltd | 昇降台の水平保持装置 |
JPH06206623A (ja) * | 1993-01-12 | 1994-07-26 | Amada Co Ltd | 板材加工機の製品搬出装置およびその装置を用いた搬出方法 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3926061A (en) * | 1974-10-02 | 1975-12-16 | Hewlett Packard Co | Differential drive rotating disc impact printer |
US4544061A (en) * | 1983-10-11 | 1985-10-01 | Rexnord Inc. | Belt press |
-
1996
- 1996-07-17 WO PCT/JP1996/002006 patent/WO1997004928A1/ja not_active Application Discontinuation
- 1996-07-17 DE DE19681515T patent/DE19681515T1/de not_active Ceased
- 1996-07-17 CN CN96195786A patent/CN1057245C/zh not_active Expired - Fee Related
- 1996-07-17 AU AU64701/96A patent/AU6470196A/en not_active Abandoned
- 1996-07-24 US US08/685,865 patent/US5804932A/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0355177A (ja) * | 1989-07-24 | 1991-03-08 | Canon Inc | 直交2軸移動装置 |
JPH0531683A (ja) * | 1991-07-25 | 1993-02-09 | Takeshi Yanagisawa | 運動機構 |
JPH0616395A (ja) * | 1992-07-06 | 1994-01-25 | Teijin Seiki Co Ltd | 昇降台の水平保持装置 |
JPH06206623A (ja) * | 1993-01-12 | 1994-07-26 | Amada Co Ltd | 板材加工機の製品搬出装置およびその装置を用いた搬出方法 |
Also Published As
Publication number | Publication date |
---|---|
CN1057245C (zh) | 2000-10-11 |
CN1191502A (zh) | 1998-08-26 |
DE19681515T1 (de) | 1998-12-03 |
AU6470196A (en) | 1997-02-26 |
US5804932A (en) | 1998-09-08 |
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