JPS6347556A - X-type linkage - Google Patents

Abstract

PURPOSE:To improve positioning accuracy as well as to improve durability, by attaching a fulcrum shaft, serving as a movable fulcrum, to a slider to be supported on guide rails locked to a fixed frame and a movable frame free of slide motion via a slide bearing. CONSTITUTION:At the time of telescopic motion in X-linkage, a fulcrum shaft on a slider 10 or movable fulcrums 71 and 72 of each of links 41 and 42 to a fixed frame 2 and a movable frame 3 works on these frames 2 and 3 via the slider 10. Here the slider 10 is being supported on guide rails 8 locked to these frames 2 and 3 via a slide bearing 9. Therefore, play of the slider 10 to these guide rails 8 is restrainable, so that even in case of moving the movable frame 3 in a nonvertical direction, the movable frame 3 can be accurately positioned without any lost motion. And, load acting between the slider 10 and each guide rail 8 is dispersed and absorbed by a lot of bearing balls constituting the slide bearing, thus durability is improved as well.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an X-shaped link device mainly used for parallelly moving a heavy object such as a jig.

(Prior Art) Conventionally, an X-shaped link mechanism is provided between a fixed frame and a movable frame, in which a pair of links are pivotally connected to each other at their midpoints. The fulcrum of the other link relative to the frame is configured as a fixed fulcrum that is immovable relative to the movable frame, and the fulcrum of the other link relative to the fixed frame and one fulcrum of the movable frame are configured to be the fulcrum of the movable frame relative to the eight frames. An X-shaped link device is known in which the movable fulcrum is configured to be movable in a direction perpendicular to the movement direction, and the movable frame is moved in parallel by the expansion and contraction of the link mechanism.
Generally, it consists of a roller shaft of a guide roller inserted into a long hole formed in the frame.

(Problem to be Solved by the Invention) In the above system, the outer peripheral surface of the guide roller is in line contact with the inner surface of the elongated hole, so when a heavy object such as a jig is mounted on the movable frame, the elongated hole and the guide Contact pressure with the roller becomes excessive,
The width of the long hole is made larger than the outer diameter of the guide roller so that the long hole and the guide roller are likely to wear out and the durability deteriorates, and the guide roller can roll smoothly inside the long hole. When the movable frame is moved in a non-vertical direction, there is a problem in that the movable frame becomes loose due to play in the width direction of the elongated hole of the guide roller, resulting in poor positioning accuracy.

By the way, linear guides with excellent durability and no backlash have been known as movable guides for robots and the like, in which a slider is slidably supported on a guide rail via a slide bearing.

An object of the present invention is to provide a device that solves the above problems by using such a linear guide.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides an in which the movable fulcrum of each link relative to the six frames is constituted by a support shaft attached to a slider that is slidably supported via a slide bearing on a guide rail fixed to the six frames. It is characterized by

(Function) When the X-link mechanism expands and contracts, the support shaft on the slider, which is the movable fulcrum of each link relative to the fixed frame and the movable frame, moves relative to the six frames via the slider.

Here, since the slider is supported by a guide rail fixed to the six frames via a slide bearing, play of the slider with respect to the guide rail can be suppressed, and even when moving the movable frame in a non-vertical direction, The movable frame can be accurately positioned without play, and the load acting between the slider and the guide rail is distributed and received by the many bearing balls that make up the slide bearing, improving durability.

(Example) Referring to Fig. 1, (1) is a separate machine, (2) is a separate machine (1
), and (3) is a movable frame on which jigs, etc. are mounted, and between the fixed frame (2) and the movable frame <3),
Pair of links (41) and (42) are pivoted at their midpoints (5
), and the movable frame (3) can be moved in parallel in the substantially horizontal X-axis direction by the expansion and contraction movement of the link mechanism by a drive cylinder (not shown).

The fixed frame and the movable frame (3) each have fixed fulcrums (61) (62) spaced apart in the Y-axis direction perpendicular to the X-axis and immovable with respect to the six frames (2) (3), The 6 frames (2) (3
) A movable fulcrum (71) (72
), one of the first links (41) and (42) is connected to the fixed frame (2) at the fixed branch (61) and the movable frame (2) at the movable fulcrum (72).
3), and the second link (42) is attached to the fixed fulcrum (
62) and the fixed frame (2) at a movable fulcrum (71).

Here, each movable fulcrum (γ1) (72) is, as shown in FIG. ) via a slide bearing (9), and a support shaft 0 attached via a bracket (10a) to a slider cIO which is freely supported via a slide bearing (9). Each link above (4+)
The end of (42) is pivoted.

The slide bearing (9) is attached to the guide rail (8).
A total of four bearings (9) are provided so as to contact the front and rear fillets in the X-axis direction on both sides in the width direction of the slider (IO), as shown in FIG. A Y formed in a portion facing each fillet portion
@A large number of bearing balls (9b) are arranged in a continuous manner in an endless ball transfer groove (9a) in the longitudinal direction of force, and when the slider aO slides, these balls (9b) move into the transfer groove (9a).
a), which is not particularly different from the conventional linear guide described above.

Further, in the illustrated example, the fixed frame (2) is made to be tiltable about the fixed fulcrum (62) with respect to the separate stand (1) by an appropriate tilting mechanism.

According to the above configuration, when the X-link mechanism expands and contracts in the X-axis direction, each movable fulcrum (7,) (72) slides on the guide rail (8) of the slider ('lG), causing play in the Y-axis direction. It moves smoothly without sticking, and the guide rail (8)
The load acting between the slider (IG) and the slider (IG) is distributed and received by the many bearing balls (9b) of the slide bearing (9), and even if heavy objects such as jigs are mounted on the movable frame (3), Wear of the guide rail (8) and slider (IG) is prevented as much as possible.

(Effects of the Invention) As described above, according to the present invention, a support shaft serving as a movable fulcrum is attached to a slider that is movably supported by a guide rail fixed to a fixed frame or a movable frame via a slide bearing, This has the effect of preventing rattling of the movable frame due to play in the movable fulcrum, improving positioning accuracy and improving durability.

[Brief explanation of the drawing]

1 is a side view of one example of the apparatus of the present invention, FIG. 2 is an enlarged cross-sectional view taken along the line 1--2 in FIG. 1, and FIG. 3 is a sectional view taken along the line 2--2 in FIG. (2)... Fixed frame (3)... Movable frame (41) (42)... Link (71) (72)... Movable fulcrum (8)... Guide rail (9)...・Slide bearing (IG...slider (1...support shaft λ Fig. 3)

Claims (1)

[Claims] In an X-shaped link mechanism interposed between a fixed frame and a movable frame, in which a pair of links are pivotally connected to each other at their midpoints,
An X-shaped link characterized in that the movable fulcrum of each link relative to each frame is constituted by a support shaft attached to a slider that is slidably supported via a slide bearing on a guide rail fixed to each frame. Device.