JPH0811337B2 - Multiple type two-dimensional motion mechanism - Google Patents

Description

TECHNICAL FIELD The present invention relates to a multiplex type two-dimensional motion mechanism in which a plurality of two-dimensional motion mechanisms are arranged in multiple layers.

(Background Art) As a two-dimensional movement mechanism for moving a moving body to an arbitrary position in a plane, US Pat.
There is a technique disclosed in Japanese Patent Laid-Open No. 191533.

In addition, the present inventor also used the same type of 2 as Japanese Patent Application No. 63-134209.
I have applied for a dimensional movement mechanism. In any of the two-dimensional movement mechanisms, a tool for tooling, a robot head, a work or the like is attached to a moving body, and the moving body is two-dimensionally moved to change the machining or the position of a workpiece. The movement of the moving body is controlled by the computer.

However, for example, when the moving body is moved so as to draw the loci shown in FIGS. 3 and 4, the computer program for controlling becomes very complicated,
There is an economic problem that a large capacity computer is required and the cost of the entire apparatus increases.

In addition, when trying to multiplex a two-dimensional motion mechanism having a rectangular frame and having a suitable motion mechanism, if the two-dimensional motion mechanisms are simply stacked, the entire device becomes thick and the motion function of the two-dimensional motion mechanism is impaired. There is a problem of being lost.

Therefore, an object of the present invention is to thinly and suitably multiplex a two-dimensional motion mechanism having a rectangular frame and having a suitable motion function without deteriorating the motion function thereof, and to control a computer even for complicated operations. It is to provide a multiple type two-dimensional motion mechanism that can facilitate programming.

(Problems to be Solved by the Invention) In order to solve the above problems, the present invention has the following configuration.

That is, the present invention provides a rectangular frame, two sets of X-axis guide means arranged in the rectangular frame in parallel with the length direction, a rectangular frame arranged in parallel with the rectangular frame in the length direction, and the X-axis. Two sets of Y-axis guide means orthogonal to the guide means in substantially the same plane, and two X-axis drive bodies movable by the respective X-axis guide means in the length direction of the X-axis guide means. Two Y-axis driving bodies which are movable in the length direction of the Y-axis guiding means by the respective Y-axis guiding means, and both ends thereof are connected to the X-axis driving bodies so as to be parallel to the Y-axis guiding means. The X-axis rod is provided, and both ends of the X-axis rod are connected to the Y-axis driving body.
The Y-axis rod provided in parallel to the axis guide means, the X-axis rod and the Y-axis rod are inserted, and the Y-axis rod is movably provided on the X-axis rod and the Y-axis rod and in the rectangular frame. Two two-dimensional motion mechanisms having a moving body, one of which is an inner two-dimensional motion mechanism built in the other,
The other is an outer two-dimensional movement mechanism, and the moving body of the outer two-dimensional movement mechanism is formed in a rectangular frame shape so that the inner two-dimensional movement mechanism is built in the outer two-dimensional movement mechanism in the same plane. An inner two-dimensional movement mechanism is provided in the frame-shaped moving body.

(Operation) The operation will be described.

According to the present invention, the inner two-dimensional movement mechanism is provided in the rectangular frame-shaped moving body of the outer two-dimensional movement mechanism. In this way, since the two-dimensional motion mechanism having the rectangular frame and having a suitable motion function can be multiplexed in the same plane, the entire device can be formed thin and the motion function of the two-dimensional motion mechanism is not impaired. Can be formed.

Then, the moving body of the inner two-dimensional movement mechanism and the inner side 2
The two-dimensional movement mechanism synthesizes the movement of the attached outer two-dimensional movement mechanism with other moving bodies, resulting in the inner two-dimensional movement mechanism.
The movement of the moving body of the dimensional movement mechanism can be made more complicated. Therefore, the tool, robot head, work, etc. attached to the moving body of the inner two-dimensional movement mechanism can be easily moved without compromising the advantages of the two-dimensional movement mechanism having the rectangular frame.

(Examples) Hereinafter, preferred examples of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows (a) a plan view and (b) a partially cutaway front view of the multiplex type two-dimensional motion mechanism of this embodiment.

In the figure, 10 is an inner two-dimensional movement mechanism, and a slider 12, which is a moving body, can be moved to an arbitrary position within a rectangular plane 14. The movement of the slider 12 is caused by rotation of motors 16 and 18 controlled by a computer (not shown). FIG. 2 shows the internal structure of the inner two-dimensional movement mechanism.

In FIG. 2, reference numeral 20 denotes a frame, which is a rectangular frame with the center removed.

22 and 24 are X-axis ball screws which are X-axis guide means,
They are arranged parallel to each other in the same plane. The X-axis ball screw 22 is directly driven by a motor 16 which is an X-axis driving means to rotate. The rotational force of the motor 16 is transmitted to the X-axis ball screw 24 via the first transmission mechanism including the curved bevel gears 26 and 28 and the transmission shaft 30. The motor 16 is connected to a gear shaft 34 via a gear mechanism 32 and is arranged above the X-axis ball screw 22 (see FIG. 1).

36 and 38 are couplers. The tip portions (left end portion in the drawing) of the X-axis ball screws 22 and 24 are pivotally supported by appropriate support frames 40 ....

42 and 44 are Y-axis ball screws which are Y-axis guide means,
Parallel to each other, in the same plane, and the X-axis ball screws 22 and 24
Both are arranged so as to be orthogonal to each other in substantially the same plane. The Y-axis ball screw 42 is directly driven and rotated by a motor 18 which is a Y-axis driving means. The rotational force of the motor 18 is transmitted to the Y-axis ball screw 44 via a second transmission mechanism including curved bevel gears 46 and 48 and a transmission shaft 50. The motor 18 is connected to a gear shaft 54 via a gear mechanism 52 and is arranged above the Y-axis ball screw 42 (see FIG. 1). Both the motor 16 and the motor 18 described above are prevented from projecting laterally of the frame 20 through the gear mechanisms 32 and 52. This is to prevent interference between the moving body of the outer two-dimensional movement mechanism described later and the motors 16 and 18.

56 and 58 are couplers. In addition, Y-axis ball screws 42, 44
Support frame 60 at the tip (bottom end in the drawing) of
・ ・ Supported by

62 and 64 are X-axis driving bodies, respectively, X-axis ball screw
Since the X-axis ball screws 22 and 24 are screwed into the shafts 22 and 24 and are prevented from rotating by an X-axis rod described later, the X-axis ball screws 22 and 24 can move simultaneously in the X-axis direction by rotating in the same direction.

66 and 68 are Y-axis driving bodies, and each is a Y-axis ball screw.
Since the Y-axis ball screws 42 and 44 are screwed into the shafts 42 and 44 and are prevented from rotating by a Y-axis rod described later, the Y-axis ball screws 42 and 44 can move in the Y-axis direction at the same time by rotating in the same direction.

Reference numeral 70 denotes an X-axis rod, which is arranged parallel to the Y-axis, is inserted into the slider 12 as a moving body, and both ends thereof are fixed to the X-axis driving bodies 62 and 64, respectively. This causes the slider 12 to
An X-axis drive body 62 whose rotation is blocked by the X-axis rod 70,
It moves in the X-axis direction as 64 moves in the X-axis direction.

Reference numeral 72 denotes a Y-axis rod, which is arranged parallel to the X-axis, is inserted into the slider 12 as a moving body, and both ends thereof are fixed to Y-axis driving bodies 66 and 68, respectively. Therefore, the Y-axis rod 72 is orthogonal to the X-axis rod 70 inside the slider 12. Slider 12
A Y-axis drive body 66 whose rotation is blocked by a Y-axis rod 72,
As 68 moves in the Y-axis direction, it also moves in the Y-axis direction. The combination of the movements in the X-axis direction and the Y-axis direction enables the slider 12 to move to an arbitrary position within the rectangular plane 14. The X-axis rod 70 and the Y-axis rod 72 are preferably metal rods having appropriate rigidity and elasticity.

74 ... is a gear box provided at each corner of the frame 20 (see FIG. 1), and the curved bevel gears 26, 2
It houses 8, 46, 48, etc. (see Fig. 1).

 Subsequently, returning to FIG. 1, description will be made.

Reference numeral 76 denotes an outer two-dimensional movement mechanism, and the inner two-dimensional movement mechanism 10 is attached to a slider 80 which is another moving body that can move to an arbitrary position within a rectangular plane 78. Slider 80
Is formed in the shape of a rectangular frame with a hollowed-out center, and the inner two-dimensional movement mechanism 10 is fixed in the hollowed-out space by appropriate means such as bolting. The movement of the slider 80 within the rectangular plane 78 is caused by the rotation of motors 82 and 84 controlled by a computer (not shown). The structure of the outer two-dimensional movement mechanism 76 is that the inner two-dimensional movement mechanism 10 is mounted in the slider 80, two X-axis rods 86 and 88 are provided, and two Y-axis rods 90 and 92 are provided. The inner two-dimensional movement mechanism 10 except that the motor 82 for rotating the X-axis ball screw and the motor 84 for rotating the Y-axis ball screw are provided so as to project from the side surface of the gear box 94.
It has the exact same structure as.

Although the inner two-dimensional movement mechanism 10 is arranged inside the slider 80, the moving surface 14 of the slider 12 of the inner two-dimensional mechanism 10 and the moving surface 78 of the slider 80 of the outer two-dimensional movement mechanism 76 are The heights match, but they do not necessarily have to match.

In the multiplex type two-dimensional motion mechanism (double type in the above embodiment) configured as described above, for example, the slider 12
When the tool 96 is attached to the and the tool 96 is caused to move along the locus shown in FIG. 3, a program of a computer (not shown) moves the slider 12 as shown in FIG. When the tool 96 is moved as shown in (b), the movement of the tool 96 is a combination of the movements of both sliders 12 and 80, and the trajectory of FIG. 3 can be drawn. Similarly, when the tool 96 is caused to move along the locus shown in FIG. 4, the slider 12 may be moved as shown in FIG. 6A and the slider 80 may be moved as shown in FIG. As described above, since the individual movements of the sliders 12 and 80 are simple movements, the computer program for controlling is also simple.

 Next, application examples will be described.

The pitch of the ball screw of the outer two-dimensional movement mechanism 76 is set large, and the pitch of the ball screw of the inner two-dimensional movement mechanism 10 is set small. As a result, first the outer two-dimensional movement mechanism
The slider 80 can move the slider 80 at high speed, and then the inner two-dimensional movement mechanism 10 can move the slider 12 at low speed but precisely. As a result, the tool 96 and the like can be moved at high speed and precisely. Further, a large movement can be performed at high speed, and the work after the movement can be performed by a precise movement. By the way, the driving of the sliders 12 and 80 is not limited to the ball screw, and the timing belt may be driven by a motor as another driving mechanism. Even when driven by the timing belt, the same effect as the above effect can be obtained by changing the pitch of the timing belt.

These two-dimensional movement mechanisms differ in drive mechanism, but they are common in that the moving body can be supported within four sides of the rectangular frame and substantially in the same plane and can be moved within the rectangular frame. . Since the moving body can be supported by the four sides in this manner, the moving body can be stably two-dimensionally moved. In addition, the moving body is in a rectangular frame (rectangular plane 14, which is a hollow space,
Since it can be moved (inside 78), there is also an advantage that tooling tools and the like can be attached to the moving body under few restrictions. That is, a tool or the like can be easily attached and wiring can be performed by utilizing both front and back surfaces of the moving body. Further, in the present invention, since the above-mentioned two-dimensional movement mechanism is preferably multiplexed as described above, the advantage of the two-dimensional movement mechanism is not impaired. A suitable exercise can be performed.

Further, as another application example, the slider 12 of the embodiment of FIGS. 1 and 2 may be provided obliquely with respect to the slider 80. That is, the X-axis rod 70 of the inner two-dimensional movement mechanism 10
The Y-axis rod 72 and the Y-axis rod 72 may be provided to be inclined with respect to the X-axis rods 86, 88 and the Y-axis rods 90, 92 of the outer two-dimensional movement mechanism 76 in a plane.

Although various preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and the type and inner side of the drive mechanism of the two-dimensional motion mechanism may be changed depending on the usage.
The shape of the moving body of the dimensional movement mechanism can be appropriately selected. Further, it is needless to say that many modifications can be made without departing from the spirit of the invention, for example, a two-dimensional movement mechanism may be provided three or more times.

(Effect of the Invention) According to the present invention, since the inner two-dimensional movement mechanism is provided in the rectangular frame-shaped moving body of the outer two-dimensional movement mechanism, the entire apparatus can be formed thin and the two-dimensional movement mechanism having the rectangular frame is provided. The advantageous effect is that it is possible to suitably multiplex without impairing the motor function of.

The use of the multiplexed two-dimensional movement mechanism according to the present invention has the following operational effects. It is possible to synthesize the moving loci of the moving body having the inner two-dimensional movement mechanism and the moving body having the intention of the outer two-dimensional movement. That is, the moving locus of the moving body of the inner two-dimensional movement mechanism is a combined locus of both moving bodies. Therefore, even if the moving trajectory of the moving body of the inner two-dimensional movement mechanism is complicated, it can be decomposed into the movements of the moving body of the inner two-dimensional movement mechanism and the moving body of the outer two-dimensional movement mechanism. The traveled path can be simplified. As a result, the control program of the computer for controlling the movement of each moving body can be simplified, so that the capacity of the computer can be reduced, and the labor and cost for program development can be reduced. Further, since the moving body of the inner two-dimensional movement mechanism has a smaller mass than the moving body of the outer two-dimensional movement mechanism, even if the moving body of the inner two-dimensional movement mechanism is swung, the inertia is small and the occurrence of vibration can be suppressed. There is an effect.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of a multiplex type two-dimensional motion mechanism according to the present invention, (b) a partially cutaway front view, and FIG. 2 is a plan view showing the structure of its inner two-dimensional motion mechanism. FIGS. 3, 3 and 4 are diagrams showing movement patterns of a moving body, and FIGS. 5 and 6 show patterns when the movement patterns of FIGS. 3 and 4 are disassembled into two. Fig. 10 …… Inner two-dimensional movement mechanism, 12 …… Slider, 14 …… Rectangular plane, 76 …… Outside two-dimensional movement mechanism, 78 …… Rectangular plane, 80 …… Slider.

Claims (1)

[Claims] 1. A rectangular frame, two sets of X-axis guide means arranged in parallel to the rectangular frame in the length direction, and a pair of X-axis guide means arranged in parallel to the rectangular frame in the length direction,
Two sets of Y-axis guide means that are orthogonal to each other in the substantially same plane as the axis-guide means, and two X-axis drive bodies that can be moved in the length direction of the X-axis guide means by the respective X-axis guide means. , Two Y-axis driving bodies that can be moved in the length direction of the Y-axis guiding means by the respective Y-axis guiding means, and both ends are connected to the X-axis driving bodies and are parallel to the Y-axis guiding means. An X-axis rod provided on the Y-axis, a Y-axis rod having both ends connected to the Y-axis drive body and provided in parallel with the X-axis guide, and the X-axis rod and the Y-axis rod being inserted. , An inner two-dimensional movement mechanism in which one is built in with respect to the other two two-dimensional movement mechanism having a moving body provided on the X-axis rod and the Y-axis rod and movably in the rectangular frame. And the other is the outer two-dimensional movement mechanism, and the inner two-dimensional movement mechanism The movable body of the outer two-dimensional movement mechanism is formed in a rectangular frame shape so as to be built in the outer two-dimensional movement mechanism in the same plane, and the inner two-dimensional movement mechanism is provided in the rectangular frame-shaped movable body. Characteristic multiple type two-dimensional motion mechanism.