JP2009030764A - Linear motion device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a linear motion device securing a smooth slide of a slider by surely absorbing this deformation even if any deformation is generated on a movable section. <P>SOLUTION: The linear motion device 1 comprises: a plurality of guide rails 12, 13 arranged in parallel and in line with a fixed internal; a plurality of sliders 22 wherein at least one or more sliders moving on each of the guide rails 12, 13 are arranged on the plurality of guide rails 12, 13; a movable section 80 which bridges the plurality of guide rails 12, 13 and is movable along the plurality of guide rails 12, 13 by being supported by the plurality of sliders 22, and a plurality of first bearings 30 which are respectively arranged between the other slider 22a excluding one slider 22d among the plurality of sliders 22 and the movable section 80 and rotatably support the movable section 80 and the other slider 22a in such a manner that they can move straight in the bridge direction of the movable section 80. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a linear motion device.

As a linear motion device that linearly moves a movable part such as a table on which various kinds of luggage are placed, for example, a plurality of guide rails laid linearly and parallel to the floor surface, etc., and each of the guide rails And a movable part supported by the plurality of sliders and spanned over all of the plurality of guide rails.
With such a configuration, when an external force is applied to the movable portion, the plurality of sliders slide on the guide rail, and the movable portion can move linearly along the guide rail.

By the way, when such a linear guide device is used in an environment with a large temperature difference, thermal deformation occurs in the movable part. Further, when a load placed on the movable part is heavy, load deformation occurs in the movable part.
In particular, when the laying intervals of the plurality of guide rails are large and the total length of the movable part is large, the slider is pressed against the guide rail when the movable part is deformed, and it becomes difficult to slide the slider. Furthermore, the slider or the guide rail may be damaged or broken.

For this reason, generally, with respect to thermal deformation, measures are taken such as cooling the movable part or forming the movable part with a material having a small linear expansion coefficient. For load deformation, measures are taken to improve the rigidity of the movable part.
Further, as disclosed in Patent Document 1, a deformation absorbing mechanism capable of mechanically absorbing the deformation of the movable part is provided between the movable part and the slider so as to cope with both thermal deformation and load deformation, There is a technique for ensuring smooth sliding of the slider.
JP 2004-330449 A

However, in the conventional technology, there is a problem that the cost of the apparatus increases when a cooling device for cooling the movable part is prepared or when the movable part is formed of a material having a small linear expansion coefficient.
Further, when the rigidity of the movable part is improved, the weight increases, which causes problems such as hindering smooth sliding of the slider and increasing the size of the apparatus.
Further, the deformation absorbing mechanism disclosed in Patent Document 1 has a problem that deformation cannot be satisfactorily absorbed unless an appropriate spring or the like is selected according to the amount of deformation of the movable part.

  The present invention has been made in view of the above-described circumstances, and even when thermal deformation or load deformation occurs in a movable portion supported by a plurality of sliders that slide on a plurality of guide rails, An object of the present invention is to provide a linear motion device that can reliably absorb the above and ensure smooth sliding of the slider.

The linear motion apparatus according to the present invention employs the following means in order to solve the above problems.
The linear motion device according to the present invention includes a plurality of guide rails laid in parallel and straight at a predetermined distance, and at least one guide rail is disposed on each of the plurality of guide rails and moves on the guide rails. A plurality of possible sliders, a movable part that is spanned across all of the plurality of guide rails and that is supported by the plurality of sliders and is movable along the plurality of guide rails, and one of the plurality of sliders A plurality of second sliders are arranged between the other sliders excluding the slider and the movable part, and support the movable part and the other slider so that the movable part and the other slider can rotate and move straight in the spanning direction of the movable part. And a single bearing portion.

  As a result, since the other slider and the movable part are supported by the first bearing part so as to be able to rotate and go straight, even if thermal deformation or load deformation occurs in the movable part, The connected first bearing portion operates according to the deformation amount of the movable portion, and the deformation is mechanically absorbed.

  Further, in the case of including the second bearing portion that is disposed between the movable portion and the one slider and rotatably supports the movable portion and the one slider, bending deformation generated in the movable portion, With respect to torsional deformation, the first bearing part and the second bearing part are operated between all the sliders and the movable part, and the deformation is mechanically absorbed.

  In addition, when the first bearing portion includes a spherical bearing, multidirectional bending and torsional deformation generated in the movable portion can be absorbed.

  Further, when the first bearing portion includes a linear mechanism integrally formed with the spherical bearing, it is possible to realize absorption of expansion and contraction in the spanning direction generated in the movable portion and downsizing of the device.

  Further, when the second bearing portion includes a spherical bearing, it can absorb multi-directional bending and torsion deformation generated in the movable portion between all the sliders and the movable portion.

  Further, in the case where the first bearing portion includes a rotary bearing that rotates and supports around an axis orthogonal to the spanning direction and the laying direction of the guide rail, the first bearing portion is perpendicular to the spanning direction and the laying direction generated in the movable portion. Bending and twisting deformation around the axis can be reliably absorbed.

  In addition, in the case where the first bearing portion includes a rectilinear mechanism including a subrail laid in the spanning direction and a sub-slider movable on the subrail, the expansion and contraction in the spanning direction generated in the movable portion is ensured. Can be absorbed.

  Further, in the case where the second bearing portion includes a rotary bearing that rotates and supports around an axis orthogonal to the spanning direction and the direction in which the guide rail is laid, between the slider and the movable portion, the movable portion It is possible to reliably absorb bending and torsional deformation around an axis perpendicular to the generated spanning direction and laying direction.

  According to the linear motion device according to the present invention, the other slider and the movable portion are supported by the first bearing portion so as to be rotatable and linearly movable, and each of them corresponds to the deformation amount of the movable portion based on one slider. Since the first bearing portion is activated and can absorb the deformation, all of the plurality of sliders arranged on the plurality of guide rails can maintain smooth sliding. Therefore, the movable part can be smoothly moved along the guide rail. Thus, for example, luggage can be transported satisfactorily.

  In addition, a second bearing part is provided between the movable part and one slider so that bending deformation and torsional deformation generated in the movable part are mechanically absorbed between all the sliders and the movable part. Thus, smooth sliding of all the sliders can be maintained more reliably.

Hereinafter, a first embodiment of a linear motion device according to the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram of a linear motion device 1 according to the first embodiment of the present invention.
The direction in which the guide rails 12 and 13 are laid is defined as the X direction, the direction in which the movable portion 80 is bridged is defined as the Y direction, and the direction perpendicular to the floor surface F is defined as the Z direction.

  The linear motion device 1 includes a guide rail unit 10 including two guide rails 12 and 13 extending in the X direction, and two slider units 20 attached to each of the guide rails 12 and 13 (four in total). And a movable part 80 supported by the four slider units 20 and movable along the two guide rails 12 and 13.

  The guide rail unit 10 includes two guide rails 12 and 13 that extend in parallel and linearly along the X direction, and support members 15 and 16 to which the guide rails 12 and 13 are fixed, respectively.

The support members 15 and 16 are members laid in parallel with each other at a predetermined interval (for example, about 10 m) on the floor surface F in a straight line toward the X direction. The length in the X direction is arbitrarily set (for example, about several tens of meters).
The support members 15 and 16 have a rectangular longitudinal cross-sectional shape, and have inner surfaces 15s and 16s that face in the Y direction and are parallel to each other. The guide rails 12 and 13 are fixed to the inner surfaces 15s and 16s, respectively.

The guide rails 12 and 13 have a substantially rectangular cross-sectional shape, and are formed so as to have constricted portions 12a and 13a on short sides facing each other. The guide rails 12 and 13 are fixed to the support members 15 and 16 so that one long side thereof is in close contact with the inner surfaces 15s and 16s and parallel to the floor surface F, respectively.
Therefore, the guide rails 12 and 13 are laid on the support members 15 and 16 so as to have a certain distance in the Y direction and to be parallel and linear to the X direction.
In addition, the length (X direction) of the guide rails 12 and 13 is formed to be the same as or slightly shorter than the support members 15 and 16.

The four slider units 20 (20A to 20D) are configured to be able to slide smoothly on the guide rails 12 and 13, and support the movable portion 80, respectively.
The slider units 20A and 20B are disposed on the guide rail 12, and the slider units 20C and 20D are disposed on the guide rail 13, respectively. Further, the slider units 20A and 20D are arranged on the + X direction side of the slider units 20B and 20C.

Of the four slider units 20A to 20D, the slider units 20A to 20C have the same configuration, and each include a slider 22a and a first bearing portion 30.
On the other hand, the slider unit 20D includes a slider 22d and a second bearing portion 70.

2A and 2B are diagrams showing the slider units 20A to 20C, in which FIG. 2A is a sectional view taken along the line IIa-IIa in FIG. 1, and FIG. 2B is a sectional view taken along the line IIb-IIb in FIG.
As described above, the slider unit 20A includes the slider 22a and the first bearing portion 30 (FIG. 2A).

The slider 22a (other slider) has a substantially C-shaped cross-sectional shape, and is attached to the guide rail 12 so as to cover both the constricted portions 12a of the guide rail 12 and one long side. A slight gap is formed between the guide rail 12 and the slider 22a, and a lubricant such as grease is supplied.
Accordingly, the slider 22a does not move in the Y direction with respect to the guide rail 12, but slides freely and smoothly in the X direction.
The length of the slider 22a in the X direction is, for example, about 10 cm, and the first bearing portion 30 is fixed to the outer surface on the side opposite to the guide rail 12 (the −Y direction side).

The first bearing portion 30 is disposed between the slider 22a and the movable portion 80, and supports the movable portion 80 so as to be rotatable and linearly movable with respect to the slider 22a.
The first bearing portion 30 includes a casing 32 fixed to the slider 22a, a spherical bearing 40 disposed inside the casing 32, and a linear mechanism that is formed integrally with the spherical bearing 40 and fixed to the movable portion 80. 60.

The casing 32 is a substantially cup-shaped bottomed cylindrical member, and is fixed with the bottom thereof in close contact with the outer surface of the slider 22a so that the center axis thereof is along the Y direction.
A cylindrical internal space having an inner peripheral surface 32 s is formed in the casing 32, and communicates with the outside through a circular hole 32 a formed on one (−Y direction side) end surface. The outer ring 42 of the spherical bearing 40 is fitted to the inner peripheral surface 32s.
The casing 32 is configured to be divided into two in the Y direction, and the inner space of the spherical bearing 40 can be inserted and fitted when divided.

The spherical bearing 40 includes an outer ring 42 having a concave spherical inner surface 42s and an inner ring 44 having a convex spherical outer surface 44s, and the concave spherical inner surface 42s and the convex spherical outer surface 44s are slidably fitted to each other, so An inner ring 44 is held so as to be rotatable in any direction with respect to 42.
The outer ring 42 of the spherical bearing 40 is fitted to the inner peripheral surface 32 s of the casing 32, and one side end surface is attached to the end portion where the circular hole 32 a is formed, and the other side end surface is attached to the inner peripheral surface 32 s. The snap rings 45 are in contact with each other and fixed to the casing 32.
Further, the inner ring 44 is formed with a through-hole penetrating in the Y direction, and a part (shaft 62a) of the connecting member 62 connected to the movable portion 80 is fitted to the inner peripheral surface 44t of the through-hole. It is like that.
As a result, the spherical bearing 40 supports the connecting member 62 (and consequently the movable portion 80) so as to be rotatable with respect to the casing 32 (slider 22a) in respective rotational directions around the X, Y, and Z axes. ing.

The rectilinear mechanism 60 includes an inner ring 44 of the spherical bearing 40 and a connecting member 62 having a shaft 62a. That is, the rectilinear mechanism 60 and the spherical bearing 40 are integrally configured with the inner ring 44 as a common component.
The connecting member 62 is formed of a cylindrical shaft 62a and a flange 62f formed at one end thereof. The shaft 62a is fitted to the inner peripheral surface 44t of the inner ring 44 so as to be slidable in the insertion direction (Y direction), while the flange 62f is fixed to the movable portion 80 by a bolt (not shown) or the like.
As a result, the rectilinear mechanism 60 supports the connecting member 62 (and hence the movable portion 80) so as to be linearly movable in the Y direction with respect to the casing 32 (slider 22a).

Therefore, the slider unit 20A can rotate the movable portion 80 in the respective rotation directions around the X, Y, and Z axis directions with respect to the slider 22a by the first bearing portion 30 (the spherical bearing 40 and the rectilinear advance mechanism 60), and , And is supported so as to be able to go straight in the Y direction.
Similarly, the slider unit 20B supports the movable portion 80 with respect to the slider 22a by the first bearing portion 30 so that the movable portion 80 can rotate in each rotational direction around the X, Y, and Z axis directions and can advance straight in the Y direction. To do.
Further, as shown in FIG. 2B, the slider unit 20C has the same structure as the slider unit 20A and 20B, but only the mounting direction is different. The movable portion 80 is supported with respect to the slider 22a so as to be rotatable in each rotation direction around the X, Y, and Z axis directions and to be linearly movable in the Y direction.

FIG. 3 is a view showing the slider unit 20D and is a cross-sectional view taken along the line III-III in FIG.
As described above, the slider unit 20D includes the slider 22d and the second bearing portion 70.
The slider 22d (one slider) is the same as the slider 22a in the slider units 20A to 20C.

The second bearing portion 70 is disposed between the slider 22d and the movable portion 80, and supports the movable portion 80 so as to be rotatable only with respect to the slider 22d.
The second bearing portion 70 includes a casing 32 fixed to the slider 22d, a spherical bearing 40 disposed inside the casing 32, and a connecting member fixed to the movable portion 80 and connected to the inner ring 44 of the spherical bearing 40. 63.
The casing 32 and the spherical bearing 40 are the same as the casing 32 and the spherical bearing 40 in the slider units 20A to 20D.

The connecting member 63 is a member having the same shape as the connecting member 62 of the first bearing portion 30 described above, and is formed of a columnar shaft 63a and a flange 63f. Further, a screw hole (not shown) is formed on the tip surface of the shaft 63a.
In the connecting member 63, the shaft 63a is fitted and inserted into the inner peripheral surface 44t of the inner ring 44, and the flange 63f is fixed to the movable portion 80 by a bolt or the like (not shown).
Further, a snap ring 72 is attached to the root portion of the shaft 63a, and a fixed disk 73 having a diameter slightly larger than that of the shaft 63a is attached to the front end surface of the shaft 63a with a bolt.

As a result, the inner ring 44 of the spherical bearing 40 is fixed to the shaft 63a with one side end face abutting on the snap ring 72 and the other side end face contacting the fixed disc 73 in a state of being fitted to the shaft 63a. The In other words, the shaft 63a (the connecting member 63) is fixed to the inner ring 44 of the spherical bearing 40 and cannot slide in the Y direction.
Therefore, the slider unit 20D supports the movable portion 80 only with respect to the slider 22d by the spherical bearing 40 so as to be rotatable in the respective rotation directions around the X, Y, and Z axis directions.

Returning to FIG. 1, the movable portion 80 moves in the X direction along the two guide rails 12 and 13 in a state where a load (not shown) is placed.
The movable portion 80 is spanned between the two parallel main frames 82 and 84 spanned between the guide rails 12 and 13 in the Y direction, and spanned between the main frames 82 and 84, and the like in the Y direction. And five subframes 86 arranged at intervals.
The main frames 82 and 84 and the sub-frame 86 are steel materials such as square, round, H-type, square pipe, round pipe, etc., and the movable part 80 is formed by welding these in combination. Has been.

The slider unit 20A is connected to the + Y side end face of the main frame 82, and the slider unit 20D is connected to the −Y side end face. The slider unit 20B is connected to the + Y side end face of the main frame 84, and the slider unit 20C is connected to the −Y side end face.
Thereby, the movable part 80 can move smoothly in the X direction along the two guide rails 12 and 13.

Next, the operation of the linear motion device 1 having the above configuration will be described.
FIG. 4 is a diagram for explaining a modification of the movable unit 80.
As described above, the linear motion device 1 can carry (move) freely various loads (not shown) on the movable portion 80 in the X direction.

At this time, as shown in FIG. 4A, the movable portion 80 undergoes load deformation that bends in a convex shape in the −Z direction according to the weight of the load. The load deformation amount changes when the load is lifted or lowered.
Further, for example, when a heat source is present on the transport path, when the movable unit 80 passes or stops near the heat source, the movable unit 80 is heated and thermal deformation occurs. Further, the amount of thermal deformation changes when the movable unit 80 moves away from the heat source (that is, is cooled).

As described above, when load deformation or thermal deformation occurs in the movable portion 80, the movable portion 80 is expanded, contracted, bent, or twisted in any direction, and deformed in a compound manner.
However, even if the movable part 80 is deformed in any direction, the first bearing part 30 and the second bearing part 70 provided in the four slider units 20A to 20D to which the movable part 80 is connected are provided. It acts to mechanically absorb the deformation of the movable part 80.
Therefore, since the deformation of the movable portion 80 is not transmitted to the sliders 22 (sliders 22a and 22d) of the slider units 20A to 20D, all the sliders 22 can slide smoothly with respect to the guide rails 12 and 13, Smooth movement of the movable portion 80 in the X direction is maintained.

  For example, as shown in FIG. 4A, when the movable portion 80 is bent in a convex shape or a concave shape in the Z direction, the first bearing portion 30 provided in the slider units 20A to 20D, the second The spherical bearing 40 of the bearing portion 70 is actuated to absorb such bending. That is, the inner ring 44 slightly rotates around the X axis according to the movable part 80 with respect to the outer ring 42 of the spherical bearing 40.

Moreover, when the movable part 80 bends in a convex shape or a concave shape in the Z direction, the apparent length of the movable part 80 in the Y direction is shortened at the same time. Such expansion and contraction is absorbed by the operation of the rectilinear mechanism 60 of the first bearing portion 30 provided in the slider units 20A and 20B. In other words, the shaft 62 a of the linear advance mechanism 60 slightly slides in the Y direction with respect to the inner ring 44.
Since the second bearing portion 70 provided in the slider unit 20D does not have a rectilinear mechanism, all the deformation amounts in the Y direction of the movable portion 80 are all the first bearings provided in the slider units 20A and 20B. It is mechanically absorbed by the part 30 (straight advance mechanism 60). In other words, the movable part 80 can be expanded and contracted in the Y direction with reference to the slider unit 20D.
Thus, the bending (bending) of the movable part 80 in the Z direction is mechanically absorbed.

In addition, when the bending (bending) in the Z direction is eliminated, or when the bending is further increased, the spherical bearing 40 and the rectilinear mechanism 60 of the first bearing portion 30 and the second bearing portion 70 act respectively. The deformation of the movable part 80 is absorbed.
Thus, the smooth movement of the movable part 80 in the X direction is maintained.

Moreover, as shown in FIG.4 (b), it is the same when the movable part 80 bends in a convex shape or a concave shape in the X direction.
That is, the spherical bearings 40 of the first bearing portion 30 and the second bearing portion 70 provided in the slider units 20A to 20D are operated so as to slightly rotate around the Z axis, and such bending is absorbed.
Further, the apparent expansion and contraction of the movable portion 80 in the Y direction is absorbed by the linear movement mechanism 60 of the first bearing portion 30 provided in the slider units 20A and 20B. In addition, the rectilinear mechanism 60 of the first bearing portion 30 provided in the slider unit 20C may also operate.
Further, when the bending (bending) in the Z direction is eliminated or when the bending is increased, the spherical bearing 40 and the rectilinear mechanism 60 of the first bearing portion 30 and the second bearing portion 70 are respectively acted and moved. The deformation of the part 80 is mechanically absorbed.

Further, as shown in FIG. 4C, when the movable portion 80 is bent in the Y direction (is deformed so that the amount of expansion and contraction in the X direction is different at both ends in the Y direction), the slider units 20A to 20D. At the same time as the first bearing portion 30, the spherical bearing 40 of the second bearing portion 70, and the linear movement mechanism 60 are operated, the sliders 22 (sliders 22 a and 22 d) of the slider units 20 A to 20 D are moved to the guide rails 12 and 13. It operates to move slightly in the X direction along.
Thereby, the bending | flexion of the Y direction of the movable part 80 is also absorbed mechanically.

When the movable unit 80 simply expands and contracts in the Y direction, the linear movement mechanism 60 of the first bearing unit 30 provided in the slider units 20A to 20C is operated, and this deformation is mechanically absorbed.
Further, when the movable part 80 simply expands and contracts in the X direction, the sliders 22 (sliders 22a and 22d) of the slider units 20A to 20D operate so as to slightly move along the guide rails 12 and 13 in the X direction. This deformation is mechanically absorbed.
Further, even when the movable portion 80 is twisted around the Y axis, the first bearing portion 30 provided in the slider units 20A to 20D, the spherical bearing 40 of the second bearing portion 70, the rectilinear mechanism 60, and the slider The sliders 22 (sliders 22a and 22d) of the units 20A to 20D are operated to mechanically absorb the twist around the Y axis.

  As described above, even when load deformation or thermal deformation occurs in the movable portion 80 and the movable portion 80 is deformed in a complex manner by expanding, contracting, bending, or twisting in any direction, the movable portion 80 is connected. Since the first bearing portion 30 and the second bearing portion 70 provided in the four slider units 20A to 20D act to mechanically absorb the deformation of the movable portion 80, the movable portion 80 in the X direction is absorbed. Smooth movement is maintained.

  In the first embodiment, the case where the second bearing portion 70 that rotationally supports the movable portion 80 is disposed in the slider unit 20D has been described. However, the slider 22d of the slider unit 20D is directly fixed to the movable portion 80. Even so, the smooth movement of the movable portion 80 in the X direction can be maintained. This is because the deformation (expansion / contraction, bending, twisting) based on the slider 22d of the slider unit 20D of the movable unit 80 can be absorbed by the other slider units 20A to 20C.

Next, a second embodiment of the linear motion device according to the present invention will be described with reference to the drawings.
FIG. 5 is a schematic configuration diagram of the linear motion device 101 according to the second embodiment of the present invention.
The linear motion device 101 is provided with a guide rail unit 110 including three guide rails 112, 113, 114 extending in the X direction, and two (6 in total) are attached to each of the guide rails 112, 113, 114. The slider unit 120 and the movable unit 180 supported by the six slider units 120 and movable along the three guide rails 112, 113, and 114 are roughly configured.

  The guide rail unit 110 includes three guide rails 112, 113, 114 that extend in parallel and linearly along the X direction, and support members 115, 116, 117 to which the guide rails 112, 113, 114 are respectively fixed. Consists of

The support members 115, 116, and 117 are members that are laid in parallel to each other on the floor surface F in a straight line toward the X direction and at an equal interval (for example, about 10 m). It is made of a hard material such as concrete. The length in the X direction is arbitrarily set (for example, about several tens of meters).
The support members 115, 116, and 117 have upper surfaces 115 s, 116 s, and 117 s that are formed in a rectangular shape in the longitudinal section and have the same height in the Z direction parallel to the floor surface F. The guide rails 112, 113, and 114 are fixed to the upper surfaces 115s, 116s, and 117s, respectively.

  The guide rails 112, 113, and 114 are the same as the guide rails 12 and 13 in the linear motion device 1 of the first embodiment, and the upper surfaces of the support members 115, 116, and 117 are parallel to each other and linear. 115s, 116s, and 117s.

The six slider units 120 (120A to 120F) are configured to smoothly slide on the guide rails 112, 113, and 114, and support the movable portion 180, respectively.
The slider units 120A and 120B are disposed on the guide rail 112, the slider units 120C and 120F are disposed on the guide rail 113, and the slider units 120D and 120E are disposed on the guide rail 114, respectively.
Further, the slider units 120A, 120F, and 120E are arranged on the + X direction side of the slider units 120B, 120C, and 120D.

Of the six slider units 120A to 120F, the slider units 120A to 120E have the same configuration, and each include a slider 122a and a first bearing portion 130 (see FIG. 6).
On the other hand, the slider unit 120F includes a slider 122f and a second bearing portion 170 (see FIG. 7).

6A and 6B are views showing the slider units 120A to 120E, where FIG. 6A is a cross-sectional view taken along the line VIa-VIa in FIG. 5, and FIG. 6B is a cross-sectional view taken along the line VIb-VIb in FIG.
As described above, the slider unit 120A includes the slider 122a and the first bearing portion 130.
The slider 122a (other slider) is substantially the same as the slider 22a in the linear motion device 1 of the first embodiment, and the first bearing portion 130 is fixed to the upper surface thereof.

The first bearing portion 130 is disposed between the slider 122a and the movable portion 180, and supports the movable portion 180 so that it can rotate in the Z direction and can move straight in the Y direction with respect to the slider 122a.
The first bearing portion 130 includes a rectilinear mechanism 140 disposed on the slider 122 a via an attachment member 131, and a rotating mechanism 160 coupled to the rectilinear mechanism 140 and the movable portion 180.

The rectilinear mechanism 140 includes a sub-slider 142 fixed on the slider 122a via the attachment member 131, and a sub-rail 144 extending in the Y direction on the sub-slider 142.
The sub-slider 142 and the sub-rail 144 are slightly different in width and height from the slider 122a and the guide rail 112, but their functions are the same. That is, the sub-slider 142 is mounted so as to cover a part of the sub-rail 144, and the sub-slider 142 slides smoothly with respect to the sub-rail 144.
The rotation mechanism 160 is fixed to the upper surface of the subrail 144.
As a result, the rectilinear mechanism 140 supports the rotating mechanism 160 (and hence the movable portion 180) so as to be linearly movable in the Y direction with respect to the slider 122a.
Note that stoppers (not shown) are provided at both ends of the sub rail 144 so that the sub slider 142 does not fall off the sub rail 144.

The rotating mechanism 160 includes a shaft member 162 fixed to the upper surface of the sub rail 144, a rotating bearing 164 in which an inner ring is fitted to the shaft member 162, an outer ring of the rotating bearing 164, and a bottom surface of the movable portion 180. And a casing 132 to be fixed.
As the rotary bearing 164, a ball bearing, a roller bearing, a cross roller bearing or the like is used.

The shaft member 162 is a columnar member standing upright in the Z direction, and has a main body portion 162a fitted to the inner ring of the rotary bearing 164, a diameter larger than that of the main body portion 162a, and the rotary bearing 164 at one end of the main body portion 162a. A contact portion 162b with which the inner ring can contact and a fixing portion 162c having a diameter larger than the contact portion 162b and closely contacting the upper surface of the subrail 144 are integrally formed in this order.
A threaded portion 162d is formed on the outer periphery on the front end side of the main body 162a, and a bearing retaining nut 158 is screwed onto the threaded portion 162d in a state where the rotary bearing 164 (inner ring) is fitted to the main body 162a. The inner ring of the rotary bearing 164 is sandwiched between the contact portion 162b and the bearing retaining nut 158 and fixed to the shaft member 162.

The casing 132 is a cup-shaped member, and the bottom part is closely attached to the movable part 180 and fixed so that the central axis thereof is along the Z direction.
The casing 132 includes a lower member 132a and an upper member 132b that can be divided into two in the Z direction. Then, the lower member 132a and the upper member 132b are separated from each other, and the outer ring of the rotary bearing 164 is fitted to the inner peripheral surface of the lower member 132a. After that, the lower member 132a and the upper member 132b rotate. Both ends of the outer ring of the bearing 164 are clamped.
Further, the inner space of the casing 132 accommodates the rotary bearing 164, the distal end side of the main body portion 162 a of the shaft member 162, and the bearing retaining nut 158.

The casing 132 (upper member 132b) is inserted into a circular hole formed on the bottom surface of the movable portion 180 and fixed.
As a result, the rotation mechanism 160 supports the movable portion 180 so as to be rotatable around the Z axis with respect to the linear movement mechanism 140 (and thus the slider 122a).

Therefore, the slider unit 120A supports the movable portion 180 with respect to the slider 122a by the first bearing portion 130 (the rectilinear mechanism 140 and the rotating mechanism 160) so that the movable portion 180 can rotate about the Z-axis direction and linearly move in the Y direction. It is supposed to be.
Similarly, the slider units 120B to 120E support the movable portion 180 with respect to the slider 122a by the first bearing portion 130 so that the movable portion 180 can rotate about the Z-axis direction and can go straight in the Y direction. .

7A and 7B are views showing the slider unit 120F, in which FIG. 7A is a sectional view taken along the line VIIa-VIIa in FIG. 5, and FIG. 7B is a sectional view taken along the line VIIb-VIIb in FIG.
As described above, the slider unit 120F includes the slider 122f and the second bearing portion 170.
This slider 122f (one slider) is the same as the slider 122a in the slider units 120A to 120E.

The second bearing portion 170 is disposed between the slider 122f and the movable portion 180, and supports the movable portion 180 only to be rotatable in the Z direction with respect to the slider 122f.
The second bearing portion 170 is composed only of the rotation mechanism 160. In other words, the second bearing portion 170 is different from the second bearing portion 170 in that the rectilinear mechanism 140 is not provided.

Further, the rotation mechanism 160 in the second bearing portion 170 differs from the rotation mechanism 160 in the first bearing portion 130 only in the height (length) in the Z direction.
Specifically, the height in the Z direction of the upper member 132c of the casing 132 is different among the shaft member 162, the rotary bearing 164, the casing 132, and the like constituting the rotation mechanism 160. That is, the upper member 132c is formed longer in the Z direction by the height in the Z direction of the rectilinear mechanism 140 than the upper member 132b of the rotation mechanism 160 in the first bearing portion 130.
Accordingly, the second bearing portion 170 supports the movable portion 180 at the same position (height) in the Z direction as that of the first bearing portion 130.

  Therefore, the slider unit 120F supports the movable portion 180 only with respect to the slider 122f by the second bearing portion 170 (rotating mechanism 160) so as to be rotatable about the Z-axis direction, and cannot move straight in the Y direction or the like. It has become.

Returning to FIG. 5, the movable unit 180 moves in the X direction along the three guide rails 112, 113, 114 in a state where a load (not shown) is placed, and according to the first embodiment. It has substantially the same configuration and shape as the movable portion 80 of the linear motion device 101.
That is, two parallel main frames 182 and 184 spanned between the guide rails 112 to 114 in the Y direction and the main frames 182 and 184 are spanned and arranged at equal intervals in the Y direction. 5 sub-frames 186. It is formed by combining and welding various steel materials.

The slider unit 120A is connected to the bottom surface of the + Y side end of the main frame 182, the slider unit 120F is connected to the bottom surface of the center portion, and the slider unit 120E is connected to the bottom surface of the −Y side end portion. Further, the slider unit 120B is connected to the bottom surface of the + Y side end of the main frame 184, the slider unit 120C is connected to the bottom surface of the center portion, and the slider unit 120D is connected to the bottom surface of the −Y side end portion.
Thereby, the movable part 180 can move smoothly in the X direction along the three guide rails 112, 113, and 114.

Next, the operation of the linear motion device 101 having the above configuration will be described.
FIG. 8 is a diagram for explaining a modification of the movable unit 180.
The linear motion device 101 can carry (move) freely in the X direction by placing various loads (not shown) on the movable portion 180.
At this time, for example, if there is a heat source on the conveyance path, if the movable part 180 passes or stops near the heat source, the movable part 180 is heated and thermal deformation occurs. The amount of thermal deformation changes when the movable part 180 moves away (cools) from the heat source.

Thus, when thermal deformation occurs in the movable part 180, the movable part 180 bends as shown in FIG. 8A or expands and contracts as shown in FIG. 8B. Further, it simply expands and contracts in the Y direction and the X direction. Further, these deformations are combined to be deformed in combination.
However, even if the movable part 180 is deformed in this way, the first bearing part 130 and the second bearing part 170 provided on the six slider units 120A to 120F to which the movable part 180 is connected act. The mechanical deformation of the movable part 180 is absorbed.
Accordingly, since the deformation of the movable portion 180 is not transmitted to the sliders 122 of the slider units 120A to 120F, all the sliders 122 (sliders 122a and 122f) can smoothly slide with respect to the guide rails 112, 113, and 114. Yes, the smooth movement of the movable part 180 in the X direction is maintained.

  For example, as shown in FIG. 8A, when the movable portion 180 is bent in a convex shape or a concave shape in the X direction, the rotation mechanism of the first bearing portion 130 provided in the slider units 120A to 120F. 160 is activated to absorb such bends. That is, the rotation bearing 164 of the rotation mechanism 160 is activated, and the casing 132 is slightly rotated around the Z axis with respect to the shaft member 162 in accordance with the deformation of the movable portion 180.

Thus, when the movable part 180 bends in a convex shape or a concave shape in the X direction, the apparent length of the movable part 180 in the Y direction is shortened at the same time. Such expansion and contraction is absorbed by operation of the rectilinear mechanism 140 of the first bearing portion 130 provided in the slider units 120A, 120B, 120D, and 120E. That is, the sub rail 144 of the rectilinear mechanism 140 slightly moves in the Y direction with respect to the sub slider 142 in accordance with the deformation of the movable portion 180.
Since the second bearing portion 170 provided in the slider unit 120F does not have a rectilinear mechanism, all of the deformation amount in the Y direction of the movable portion 180 is the same as that of each of the remaining slider units 120A to 120E. It is mechanically absorbed by one bearing portion 130 (straight advance mechanism 140). In other words, the movable part 180 can be expanded and contracted in the Y direction with reference to the slider unit 120F.
Thus, the bending of the movable part 180 in the X direction is mechanically absorbed.

In addition, when the bending in the X direction is eliminated or when the bending is further increased, the rotating mechanism 160 and the rectilinear mechanism 140 of the first bearing portion 130 and the second bearing portion 170 act to move the movable portion. 180 deformations are absorbed.
In this way, the smooth movement of the movable part 180 in the X direction is maintained.

Further, as shown in FIG. 8B, when the movable portion 180 is bent in the Y direction (is deformed so that the amount of expansion and contraction in the X direction is different at both ends in the Y direction), the slider units 120A to 120F. The first bearing portion 130, the rotation mechanism 160 of the second bearing portion 170, and the rectilinear mechanism 140 are operated, and at the same time, the sliders 122 (sliders 122a and 122f) of the slider units 120A to 120F are guided by the guide rails 112, 113, Actuate a slight movement in the X direction along 114.
Thereby, the bending | flexion of the Y direction of the movable part 180 is also absorbed mechanically.

When the movable portion 180 simply expands and contracts in the Y direction, the linear movement mechanism 140 of the first bearing portion 130 provided in the slider units 120A, 120B, 120D, and 120E operates, and this deformation is mechanically performed. Absorbed.
When the movable portion 180 simply expands and contracts in the X direction, the sliders 122 (sliders 122a and 122f) of the slider units 120A to 120F slightly move in the X direction along the guide rails 112, 113, and 114. This deformation is mechanically absorbed.

  As described above, the six slider units 120A to 120F to which the movable part 180 is connected are connected even when thermal deformation or the like occurs in the movable part 180 and the movable part 180 is deformed in combination by expansion and contraction or bending. Since the first bearing portion 130 and the second bearing portion 170 provided on the surface act to mechanically absorb the deformation of the movable portion 180, smooth movement of the movable portion 180 in the X direction is maintained.

  In the second embodiment, the case where the second bearing portion 170 that rotatably supports the movable portion 180 is disposed in the slider unit 120F has been described. However, the slider 122f of the slider unit 120F is directly fixed to the movable portion 180. Even so, the smooth movement of the movable portion 180 in the X direction can be maintained. This is because the other slider units 120A to 120E can absorb deformation (expansion / contraction, bending) based on the slider 122f of the slider unit 120F of the movable portion 180.

  Note that the operation procedure shown in the above-described embodiment, various shapes and combinations of the constituent members, and the like are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

For example, the mechanism for guiding the movable parts 80 and 180 in the X direction is not limited to the linear slider mechanism including the guide rail 12 and the slider 22 and the like. For example, a ball screw mechanism including a screw shaft and a nut may be used.
Moreover, the case where the guide rail 12 grade | etc., Slider 22 grade | etc., Comprises a linear motor may be sufficient.
Alternatively, the guide rail 12 and the slider 22 and the like may be supported in a non-contact manner (air levitation or the like). This is because if the distance between the guide rail and the slider (air floating amount) changes due to the deformation of the movable parts 80 and 180, the guide rail and the slider may come into contact with each other, making it difficult to move.

  Further, the number of guide rails 12 and the like and the number of slider units 20 and the like are not limited to the case in the above-described embodiment. That is, there may be a case where there are four or more guide rails or there are, for example, 10 sets of slider units.

  Further, the arrangement of the slider units 20D and 120F (that is, the slider unit that only supports the movable portions 80 and 180 in rotation) is not limited to the above-described embodiment. The arrangement may be arbitrarily set according to design conditions and the like.

  Furthermore, although the case where the movable part 80 is configured by combining a plurality of steel materials (such as a square steel pipe and a round steel pipe) has been described, the present invention is not limited thereto. You may comprise with a flat table member. Moreover, not only steel but aluminum etc. and nonmetallic materials may be sufficient.

In the above-described embodiment, the case where deformation occurs in the movable parts 80 and 180 has been described with respect to load deformation on which a load or the like is placed, or thermal deformation due to heating / cooling, but is not limited thereto.
For example, a tool such as a drill may be mounted on the movable parts 80 and 180, and the movable parts 80 and 180 may be moved toward the workpiece and machined. Even in such a case, the movable parts 80 and 180 are deformed by an external force applied thereto, and the movable parts 80 and 180 can be smoothly moved by mechanically absorbing this.

1 is a schematic configuration diagram of a linear motion device 1 according to a first embodiment of the present invention. It is a figure which shows slider units 20A-20C. It is a figure which shows slider unit 20D. It is a figure explaining the modification of the movable part. It is a schematic block diagram of the linear motion apparatus 101 which concerns on 2nd embodiment of this invention. It is a figure which shows slider units 120A-120E. It is a figure which shows the slider unit 120F. It is a figure explaining the modification of the movable part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,101 ... Linear motion mechanism 12, 13, 112, 113, 114 ... Guide rail 22a, 122a ... Slider (other sliders)
22d, 122f ... slider (one slider)
DESCRIPTION OF SYMBOLS 30,130 ... 1st bearing part 40 ... Spherical bearing 60,140 ... Linear motion mechanism 70,170 ... 2nd bearing part 80,180 ... Movable part 164 ... Rotary bearing

Claims (8)

A plurality of guide rails laid in parallel and straight at a certain distance;
A plurality of sliders arranged on each of the plurality of guide rails and movable on the guide rails;
A movable part that is bridged over all of the plurality of guide rails and is supported by the plurality of sliders and movable along the plurality of guide rails;
Each of the plurality of sliders is arranged between another slider excluding one slider and the movable portion, so that the movable portion and the other slider can be rotated in the spanning direction of the movable portion. A plurality of first bearing portions that support the linear movement;
A linear motion device comprising:   The linear motion according to claim 1, further comprising a second bearing portion that is disposed between the movable portion and the one slider and rotatably supports the movable portion and the one slider. apparatus.   The linear motion device according to claim 1, wherein the first bearing portion includes a spherical bearing.   The linear motion device according to claim 3, wherein the first bearing portion includes a linear movement mechanism configured integrally with the spherical bearing.   The linear motion device according to claim 3, wherein the second bearing portion includes a spherical bearing.   3. The linear motion device according to claim 1, wherein the first bearing portion includes a rotary bearing that rotates and supports around an axis orthogonal to the spanning direction and a laying direction of the guide rail. 4.   The linear motion device according to claim 6, wherein the first bearing portion includes a rectilinear mechanism including a subrail laid in the crossing direction and a subslider movable on the subrail.   8. The linear motion device according to claim 6, wherein the second bearing portion includes a rotary bearing that rotatably supports an axis orthogonal to the spanning direction and a direction in which the guide rail is laid.

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