JP2013086921A - Conveying apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveying apparatus that improves the accuracy of a track of an object to be conveyed conveyed along a main axis.SOLUTION: The conveying apparatus 1 includes a sub-axial frame 3 extending along a sub-axis, and holding a laser machining head 2 movably along the sub-axis, and a pair of main-axial frames 4a, 4b extending along the main axis crossing the sub-axis, and holding the sub-axial frame 3 movably along the main axis, and conveys the laser machining head 2 along the main axis and sub-axis. The conveying apparatus further includes a counterweight 6 which is held on the sub-axial frame 3 movably along the sub-axis, and moves in a direction opposite from the sub-axial movement of the laser machining head 2 at a position on the opposite side from the laser machining head 2 across a center line CC of the sub-axial frame 3 along the sub-axis and on the opposite side of the sub-axial frame 3 along the main axis.

Description

  The present invention relates to a transport apparatus. Specifically, the present invention relates to a transport device that transports an object to be transported in a main axis direction and a sub-axis direction.

Conventionally, there is a technique disclosed in Patent Document 1 as a transport device that transports an object to be transported in a main axis direction and a sub-axis direction.
The technique disclosed in Patent Document 1 drives both ends of a sub-shaft unit on which a head (conveyed object) is placed, by two belts that are independently driven along the left and right main shaft base portions. At that time, each of the belt drive pulleys at both ends of these two belts is driven by a spindle drive servo motor, and the positions and speeds of both ends of the auxiliary shaft unit are detected by linear encoders attached to the left and right spindle bases. The linear encoder and the servo motor are arranged so as to be controlled by a fully closed loop, and the two belts are driven synchronously.

JP-A-7-202488

  However, in the technique disclosed in Patent Document 1, the sub-shaft unit is located on the left and right main shaft bases in a state where the head (conveyed object) is located near one of the sub-shaft units. When moving on the part in the main axis direction, a difference occurs in the inertia weight at both ends of the sub axis unit in the sub axis direction. As a result, a moment is generated in the countershaft unit moving in the main shaft direction, and the countershaft unit vibrates or twists. Then, the head trajectory becomes unstable. For example, if a head equipped with a laser processing apparatus that requires accuracy in the head trajectory is used as a head, there is a problem that the processing accuracy of laser processing is lowered. Arise.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a transport device that improves the accuracy of the trajectory of a transported object transported in the main axis direction.

  (1) A sub-axis frame (for example, a sub-shaft frame 3 to be described later) that extends in the sub-axis direction and holds an object to be transported (for example, a laser processing head 2 to be described later) movably in the sub-axis direction; A pair of spindle frames (for example, spindle frames 4a and 4b described later) extending in a principal axis direction orthogonal to the axial direction and movably holding the auxiliary shaft frame in the principal axis direction; A conveying device that conveys in a main axis direction and a sub axis direction, is held by the sub axis frame so as to be movable in the sub axis direction, and the object to be conveyed sandwiches a center line in the sub axis direction of the sub axis frame. Counterweights (for example, counterweights 6, 6a, 6b described later) that move in the opposite direction to the movement of the conveyed object in the auxiliary axis direction at positions opposite to each other in the main axis direction of the auxiliary axis frame. Prepared Conveying apparatus according to claim (e.g., 1, 1a conveying apparatus described later, 1b, 1c).

According to the invention of (1), the sub-shaft frame is held so as to be movable in the sub-axis direction and is opposite to the conveyed object across the center line in the sub-axis direction of the sub-shaft frame and in the main shaft direction of the sub-shaft frame A counterweight is provided that moves in a direction opposite to the movement of the conveyed object in the sub-axis direction at a position on the opposite side. As a result, when the sub-shaft frame moves in the main shaft direction on the pair of main shaft frames in a state where the object to be conveyed is located near one of the sub-shaft direction ends of the sub-shaft frame, The difference in inertia weight at both ends in the sub-axis direction can be reduced. Thereby, the moment of the countershaft frame moving in the main shaft direction can be reduced, the countershaft frame can be prevented from vibrating or twisting, and the trajectory of the conveyed object is stabilized. Accordingly, it is possible to improve the accuracy of the trajectory of the object to be transported in the main axis direction. Therefore, for example, when a laser processing apparatus or the like that requires accuracy in the trajectory of the transported object is mounted as the transported object, the processing accuracy of laser processing can be improved.
In particular, when machining acceleration is increased, the inertial force applied to both ends of the sub-axis frame in the sub-axis direction increases, but the difference in inertia weight at both ends of the sub-axis frame in the sub-axis direction can be reduced. Since the moment of the countershaft frame that moves in the main axis direction can be reduced, it is advantageous in that the machining accuracy is improved.
In the present invention, the object to be conveyed and the counterweight are positioned on opposite sides of the center line in the sub-axis direction of the sub-shaft frame. The center line in the sub-axis direction is the sub-axis of the sub-shaft frame. It means not the center line of the length in the direction but the center line (in other words, the center of gravity) of the weight in the sub-axis direction of the sub-axis frame. It goes without saying that the center line (in other words, the center of gravity) of the countershaft frame in the minor axis direction may coincide with the centerline of the minor axis frame in the minor axis direction.

  (2) The weight of the counterweight and the position of the countershaft frame in the subaxial direction are determined by the relationship between the weight of the conveyed object and the position of the countershaft frame in the subaxial direction. (1) The conveying apparatus according to (1), characterized in that, when moving in the direction, the difference in inertia weight at both ends of the auxiliary shaft frame in the auxiliary axis direction is reduced.

  According to the invention of (2), the countershaft frame moves in the main shaft direction on the pair of main shaft frames in a state where the object to be conveyed is in a position deviated near one of the sub shaft direction ends of the sub shaft frame. In this case, it is possible to reduce the difference in inertia weight between the opposite end portions of the auxiliary shaft frame in the auxiliary axis direction. As a result, the moment of the countershaft frame moving in the main shaft direction can be reduced, and the countershaft frame can be effectively prevented from vibrating or twisting, and the trajectory of the conveyed object is further stabilized. Accordingly, it is possible to further improve the accuracy of the trajectory of the object to be transported in the main axis direction. In addition, when the machining acceleration is increased, the inertial force applied to both ends of the sub-axis frame in the sub-axis direction is increased, so that the trajectory of the conveyed object that is conveyed in the main axis direction is particularly effective. Can be improved.

  (3) An endless belt (for example, endless belts 5 and 8 to be described later) that circulates on the countershaft frame and to which the conveyed object and the counterweight are fixed is provided (1) or ( 2) the transfer device.

  According to the invention of (3), with a simple configuration, the sub-shaft frame is held so as to be movable in the sub-axis direction, and is positioned on the opposite side to the conveyed object across the center line in the sub-axis direction of the sub-shaft frame. Thus, it is possible to provide a counterweight that moves in the opposite direction to the movement of the conveyed object in the sub-axis direction.

  ADVANTAGE OF THE INVENTION According to this invention, the conveying apparatus which improves the precision of the locus | trajectory of the to-be-conveyed object conveyed in a main axis direction can be provided.

It is an upper surface schematic diagram which shows schematic structure of the conveying apparatus which concerns on the 1st Embodiment of this invention. It is an upper surface schematic diagram which shows operation | movement of the conveying apparatus which concerns on 1st Embodiment. It is a schematic diagram which shows the subject of a conveying apparatus. It is a schematic diagram which shows the effect of the conveying apparatus which concerns on 1st Embodiment. It is an upper surface schematic diagram which shows schematic structure of the conveying apparatus which concerns on 2nd Embodiment. It is an upper surface schematic diagram which shows schematic structure of the conveying apparatus which concerns on 3rd Embodiment. The schematic structure of the conveying apparatus which concerns on 4th Embodiment is shown, (a) is an upper surface schematic diagram, (b) is DD sectional drawing of (a). It is a schematic diagram which shows the model of the countershaft frame part of the conveying apparatus which concerns on the modification of this invention.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a schematic top view showing a schematic configuration of a transport apparatus 1 according to the first embodiment of the present invention.
In FIG. 1, a conveying apparatus 1 conveys a laser processing head 2 as an object to be conveyed in the XY direction, that is, the sub-axis direction that is the X direction and the main axis direction that is the Y direction.
The laser processing head 2 is a head on which a laser processing apparatus is mounted, and moves on a plane in a sub-axis direction and a main axis direction by a control signal from a control device (not shown) to cut a predetermined shape from the iron plate or the like. The laser is irradiated to process.

  The conveying device 1 includes a countershaft frame 3 that holds the laser processing head 2 and the counterweight 6 so as to be movable in the subaxis direction, and a pair of spindle frames 4a and 4b that hold the countershaft frame 3 so as to be movable in the main axis direction. And an endless belt 5 wound around the side surfaces of the countershaft frame 3 and the pair of main shaft frames 4a and 4b, and servo motors M1 and M2 for driving the endless belt 5. The laser processing head 2 and the counterweight 6 are respectively fixed to the endless belt 5 and move with the movement of the endless belt 5.

The countershaft frame 3 may be a rod-shaped member having a substantially rectangular cross section extending in the countershaft direction.
The pair of main shaft frames 4a and 4b is a base portion extending in the main shaft direction intersecting the sub shaft direction at the sub shaft direction both end portions 33a and 33b of the sub shaft frame 3, and can move the sub shaft frame 3 in the main shaft direction. Hold. The pair of spindle frames 4a, 4b may be a pair of rod-like members having a substantially rectangular cross section extending in the spindle direction, and each spindle frame 4a, 4b is held to be movable in the spindle direction. Grooves are linearly formed in the main axis direction on the inner side surfaces 41a and 41b of the main shaft, and the protrusions provided on the opposite end portions 33a and 33b of the sub shaft frame 3 are loosely fitted in the grooves and guided. Good. The countershaft frame 3 is configured such that the positions of both ends 33a and 33b in the sub-axis direction of the countershaft frame 3 always coincide with the main shaft direction of the pair of mainframe frames 4a and 4b with respect to the pair of mainframe frames 4a and 4b. Has been.
The endless belt 5 includes one side surface 31 on which the laser processing head 2 of the countershaft frame 3 is disposed, the other side surface 32 on which the counterweight 6 is disposed, and both end portions 33 a and 33 b in the subaxial direction of the subshaft frame 3. The inner side surfaces 41a and 41b (the front inner side surfaces 46a and 46b and the rear inner side surfaces 47a and 47b) and the outer side surfaces 42a and 42b of the pair of main shaft frames 4a and 4b arranged in the vicinity of each other are hung in an H shape. ing.
The laser processing head 2 held on one side surface 31 of the countershaft frame 3 can be moved in the subaxis direction along one side surface 31 by the endless belt 5, and further, the other side surface 32 of the subshaft frame 3. The counterweight 6 held in the position can be moved in the sub-axis direction along the other side surface 32 by the endless belt 5. Thereby, the laser processing head 2 and the counterweight 6 are located on the opposite sides of the countershaft frame 3 in the main axis direction.
The servo motors M1 and M2 are disposed at the ends of the pair of spindle frames 4a and 4b in the spindle direction, and drive the endless belt 5. Pulleys 7a and 7b are disposed on the ends in the main shaft direction opposite to the main shaft direction ends of the pair of main shaft frames 4a and 4b on which the servo motors M1 and M2 are disposed. The pulleys 7a and 7b are also disposed on the servo motor M1. The endless belt 5 is smoothly moved by being driven by M2.

By arranging the laser processing head 2 and the counterweight 6 in this manner, the counterweight 6 is opposite to the laser processing head 2 on the opposite side of the center line CC in the sub-axis direction of the sub-axis frame 3 and the counter-axis frame. 3 is fixed to the endless belt 5 so as to move in the opposite direction to the movement of the laser processing head 2 in the sub-axis direction.
Here, the laser processing head 2 and the counterweight 6 are arranged on the opposite side across the center line CC in the sub-axis direction of the sub-axis frame 3, but as described above, the center line CC in the sub-axis direction is This means not the centerline of the length of the subshaft frame 3 in the subaxial direction but the centerline of the weight of the subshaft frame 3 in the subaxial direction (in other words, the center of gravity). The center line CC in the sub-axis direction is preferably coincident with the center line of the length of the sub-axis frame 3 in the sub-axis direction (distance from both ends 33a and 33b in the sub-axis direction of the sub-axis frame 3).
The “weight” and “position of the countershaft frame 3 in the sub-axis direction” of the counterweight 6 depend on the relationship between “weight” and “position of the subshaft frame 3 in the sub-axis direction” of the laser processing head 2. When the shaft frame 3 moves in the main shaft direction, it is preferable that the inertia weight is set so that there is no difference between the both end portions 33a and 33b in the sub shaft direction of the sub shaft frame 3. For this purpose, the laser processing head 2 and the counterweight 6 are made equal in weight, and the fixing positions of the laser processing head 2 and the counterweight 6 on the endless belt 5 are set so that the laser processing head 2 and the counterweight 6 are attached to the countershaft frame 3. It is preferable to set the center line CC in the sub-axis direction so as to be equidistant from the center line CC in the sub-axis direction and located on the opposite side.
In this embodiment, since the conveying device 1 has a line-symmetric structure with respect to the center line CC in the sub-axis direction, the fixing position of the laser processing head 2 and the counterweight 6 on the endless belt 5 is the total length of the endless belt 5. The position is divided in half. Note that the conveying device 1 is not line-symmetrical with respect to the center line CC in the sub-axis direction, such as a belt tensioner for preventing looseness of the endless belt 5 is provided on one of the pair of spindle frames 4a and 4b. In this case, when the endless belt 5 has different lengths across the center line CC in the sub-axis direction, the fixing position of the laser processing head 2 and the counterweight 6 on the endless belt 5 is the total length of the endless belt 5. The position is not divided in half.

Next, the operation of the transport apparatus 1 will be described with reference to FIG.
FIG. 2 is a schematic top view illustrating the operation of the conveying device 1 according to the present embodiment, in which a indicates a state in which the laser processing head 2 moves to the right side of the auxiliary shaft frame 3 in the auxiliary axis direction, and b Shows a state in which the laser processing head 2 moves to the left side of the sub-axis frame 3 in the sub-axis direction, and c shows a state in which the sub-axis frame 3 moves forward (moves upward in the figure) that is a movement in the main axis direction. D shows a state in which the countershaft frame 3 moves backward (moves downward in the figure), which is movement in the main axis direction.
The conveyance device 1 can freely perform the movements a to d described above by controlling the rotations of the two servo motors M1 and M2 in combination.

a shows a state in which the laser processing head 2 is moved to the right side of the auxiliary axis frame 3 in the auxiliary axis direction. In order to move the laser processing head 2 to the right side of the countershaft frame 3 in the countershaft direction, the two servo motors M1 and M2 are rotated counterclockwise at the same speed. As a result, the endless belt 5 rotates counterclockwise, and the laser processing head 2 moves to the right side of the countershaft frame 3 in the countershaft direction on one side surface 31 of the countershaft frame 3. The other side surface 32 of the countershaft frame 3 moves to the left side of the countershaft frame 3 in the countershaft direction.
At this time, since the two servo motors M1 and M2 are rotated counterclockwise at the same speed, the supply speed of the endless belt 5 from the outer side surface 42b to the front inner side surface 46b and the endless from the front inner side surface 46a to the outer side surface 42a The discharge speed of the belt 5 is equal (similarly, the supply speed of the endless belt 5 from the outer side surface 42a to the rear inner side surface 47a is equal to the discharge speed of the endless belt 5 from the rear inner side surface 47b to the outer side surface 42b). The countershaft frame 3 does not move with respect to the pair of mainframe frames 4a and 4b. That is, the laser processing head 2 does not move in the main axis direction.

b shows a state in which the laser processing head 2 is moved to the left side of the auxiliary shaft frame 3 in the auxiliary axis direction. In order to move the laser processing head 2 to the left side of the countershaft frame 3 in the countershaft direction, the two servo motors M1 and M2 are rotated clockwise at the same speed. As a result, the endless belt 5 rotates clockwise, and the laser processing head 2 moves to the left side of the countershaft frame 3 in the countershaft direction on one side surface 31 of the countershaft frame 3, and at the same time, the counterweight 6 The other side surface 32 of the shaft frame 3 moves to the right side of the countershaft frame 3 that is the subshaft direction.
At this time, since the two servo motors M1 and M2 are rotated clockwise at the same speed, the supply speed of the endless belt 5 from the outer side surface 42a to the front inner side surface 46a and the endless belt from the front inner side surface 46b to the outer side surface 42b. 5 is equal (similarly, the supply speed of the endless belt 5 from the outer side surface 42b to the rear inner side surface 47b is equal to the discharge speed of the endless belt 5 from the rear inner side surface 47a to the outer side surface 42a). The shaft frame 3 does not move with respect to the pair of main shaft frames 4a and 4b. That is, the laser processing head 2 does not move in the main axis direction.

c shows a state in which the countershaft frame 3 moves forward (moves upward in the figure), which is movement in the main axis direction. In order to advance the countershaft frame 3 in the main axis direction, the left servo motor M1 is rotated counterclockwise at a predetermined speed, and the right servomotor M2 is rotated clockwise at the same predetermined speed. As a result, the endless belt 5 is supplied from the outer side surfaces 42a and 42b to the rear inner side surfaces 47a and 47b at a predetermined speed, and the endless belt 5 is discharged from the front inner side surfaces 46a and 46b to the outer side surfaces 42a and 42b at the same speed. Therefore, the countershaft frame 3 moves forward (moves upward) in the main axis direction.
At this time, the supply speed of the endless belt 5 from the outer side surface 42a to the rear inner side surface 47a is equal to the supply speed of the endless belt 5 from the outer side surface 42b to the rear inner side surface 47b (similarly, from the front inner side surface 46a to the outer side surface). The discharge speed of the endless belt 5 to 42 a is equal to the discharge speed of the endless belt 5 from the front inner side surface 46 b to the outer side surface 42 b), and the laser processing head 2 and the counterweight 6 are Does not move in the direction.

d shows a state in which the countershaft frame 3 moves backward (moves downward in the figure), which is movement in the main axis direction. To retract the countershaft frame 3 in the main axis direction, the left servo motor M1 is rotated clockwise at a predetermined speed, and the right servo motor M2 is rotated counterclockwise at the same predetermined speed. Thereby, the endless belt 5 is supplied from the outer side surfaces 42a and 42b to the front inner side surfaces 46a and 46b at a predetermined speed, respectively, and the endless belt 5 is discharged from the rear inner side surfaces 47a and 47b to the outer side surfaces 42a and 42b at the same speed, respectively. Therefore, the countershaft frame 3 moves backward (moves downward) in the main axis direction.
At this time, the supply speed of the endless belt 5 from the outer side surface 42a to the front inner side surface 46a is equal to the supply speed of the endless belt 5 from the outer side surface 42b to the front inner side surface 46b (similarly, from the rear inner side surface 47a to the outer side surface). The discharge speed of the endless belt 5 to 42 a is equal to the discharge speed of the endless belt 5 from the rear inner side surface 47 b to the outer side surface 42 b), and the laser processing head 2 and the counterweight 6 are Does not move in the direction.

The transport apparatus 1 according to the present embodiment not only performs the above-described a to d alone, but also simultaneously performs a and c to move the laser processing head 2 to the right side of the sub-axis frame 3 that is the sub-axis direction. Advancing in the main axis direction (moving upward), or simultaneously performing a and d, moving the laser processing head 2 to the right side of the auxiliary shaft frame 3 which is the auxiliary axis direction and retracting in the main axis direction (to the lower side) Or the laser processing head 2 is moved to the left side of the sub-axis frame 3 that is the sub-axis direction and is moved forward (moved upward), or b and d. The laser processing head 2 can be moved to the left side of the auxiliary shaft frame 3 that is the auxiliary axis direction, and can be retracted (moved downward) in the main axis direction.
For example, in order to perform a and c at the same time and move the laser processing head 2 to the right side of the sub-shaft frame 3 that is the sub-axis direction and advance (move upward) in the main-axis direction, the operating conditions for a "Servo motors M1 and M2 are rotated counterclockwise at the same speed", that is, "servo motor M1 speed = s, servo motor M2 speed = s (counterclockwise direction is + direction)" and c Is “the servo motor M1 is rotated counterclockwise at a predetermined speed and the servo motor M2 is rotated clockwise at the same predetermined speed”, that is, “servo motor M1 speed = t, servo motor M2 speed = -T (counterclockwise direction is + direction) "may be added in a vector manner. That is, the conveying device 1 may be operated for a predetermined time under an operating condition of “servo motor M1 speed = s + t, servo motor M2 speed = s−t (counterclockwise direction is + direction)”.
Similarly, in other cases, the operation may be performed under the operating condition added in vector.

The transport device 1 described above has the following effects.
First, as shown in FIG. 3, a conveying apparatus 100 that does not have a counterweight for comparison will be described. In the conveying apparatus 100, the countershaft frame 3 is moved in the main shaft direction on the pair of main shaft frames 4a and 4b in a state where the laser processing head 2 is in a position deviated near the left sub-axis direction end portion 33a of the sub shaft frame 3. The inertial weight on the left side becomes heavy as shown by the arrows in the secondary axis direction end portions 33a and 33b of the countershaft frame 3, and the right side inertia weight becomes light on the contrary, between the opposite end portions 33a and 33b in the secondary axis direction. There is a difference in inertia weight. As a result, a moment is generated in the countershaft frame 3 that moves in the main axis direction, and the countershaft frame 3 vibrates or twists, so that the locus of the laser machining head 2 becomes unstable and the machining accuracy decreases. .
FIG. 4 is a diagram illustrating an effect of the transport device 1 according to the present embodiment. In the conveyance device 1, the conveyance device 1 is held by the auxiliary shaft frame 3 so as to be movable in the auxiliary axis direction, and is opposite to the laser processing head 2 across the center line CC in the auxiliary axis direction of the auxiliary shaft frame 3. In addition, since the counterweight 6 moves in the opposite direction to the movement of the laser machining head 2 in the auxiliary axis direction at a position opposite to the main axis direction of the auxiliary axis frame 3, the laser machining head 2 is provided with the countershaft frame 3. When the auxiliary shaft frame 3 moves in the main shaft direction on the pair of main shaft frames 4a and 4b in a state of being biased near either one of the opposite end portions 33a and 33b of the auxiliary shaft direction, The difference in inertia weight can be eliminated as shown by the arrows in the axial ends 33a and 33b. Thereby, the moment of the countershaft frame 3 moving in the main shaft direction can be eliminated, and the countershaft frame 3 can be prevented from vibrating or twisting. For this reason, the trajectory of the laser processing head 2 can be stabilized without shaking, and the accuracy of the trajectory of the laser processing head 2 conveyed in the main axis direction can be improved. Thereby, the processing accuracy of laser processing by the laser processing head 2 can be improved.
In particular, when the machining acceleration is increased, the inertial force applied to the opposite end portions 33a and 33b of the auxiliary shaft frame 3 is increased, but the opposite end portions 33a and 33b of the auxiliary shaft frame 3 are increased. This is advantageous in that the machining accuracy can be improved because the difference in inertia weight can be reduced and the moment of the countershaft frame 3 moving in the main axis direction can be eliminated.

In the present embodiment, “weight” and “position of the countershaft frame 3 in the sub-axis direction” of the counterweight 6 are “weight” and “position of the subshaft frame 3 in the sub-axis direction” of the laser processing head 2. Therefore, when the countershaft frame 3 moves in the main axis direction, the inertia weight at the both ends of the subshaft frame 3 in the subaxis direction is set so as not to vary.
That is, in this embodiment, the laser processing head 2 and the counterweight 6 have the same weight, and the fixing position of the laser processing head 2 and the counterweight 6 on the endless belt 5 is such that the laser processing head 2 and the counterweight 6 are fixed. It is a position that is equidistant from the center line CC in the sub-axis direction and located on the opposite side across the center line CC in the sub-axis direction of the sub-axis frame 3.
According to the present embodiment, when the countershaft frame 3 moves in the main shaft direction on the pair of main shaft frames 4a and 4b, the difference in inertia weight between the opposite end portions 33a and 33b of the subshaft frame 3 can be eliminated. . Thereby, the moment of the countershaft frame 3 moving in the main axis direction can be eliminated, and the countershaft frame 3 can be more effectively suppressed from vibrating or twisting, and the locus of the laser machining head 2 is further stabilized. . Therefore, the accuracy of the trajectory of the laser processing head 2 conveyed in the main axis direction can be further improved. In addition, when the machining acceleration is increased, the inertial force applied to the opposite end portions 33a and 33b of the opposite shaft frame 3 is increased, so that the laser processing is more effectively carried in the main shaft direction. The accuracy of the trajectory of the head 2 can be improved.

  In the present embodiment, as described above, the endless belt 5 that circulates on the countershaft frame 3 and to which the laser processing head 2 and the counterweight 6 are fixed is provided. The laser processing head 2 is held so as to be movable in the axial direction, and the laser processing head 2 is positioned on the opposite side of the center axis CC in the sub-axis direction of the sub-axis frame 3 with respect to the movement in the sub-axis direction. A counterweight 6 can be provided that moves in the opposite direction.

(Second Embodiment)
Next, a second embodiment will be described. In the present embodiment, the description of the matters described in the first embodiment will be omitted, and the characteristic portions will be described.
FIG. 5 is a schematic top view illustrating a schematic configuration of the transport apparatus according to the second embodiment.
The transport apparatus 1a shown in FIG. 5 includes three endless belts 8, 9, and 10 wound around the side surface of the countershaft frame 3 and the side surfaces of the pair of main shaft frames 4a and 4b.

The endless belt 8 is wound around one side 31 and the other side 32 of the countershaft frame 3. The laser processing head 2 and the counterweight 6 are fixed to the endless belt 8 and move with the movement of the endless belt 8.
The countershaft frame 3 holds the laser processing head 2 on one side surface 31 of the subshaft frame 3 and is movable in the subaxis direction along the one side surface 31 by the endless belt 8. 3 is held on the other side surface 32 and can be moved in the sub-axis direction along the other side surface 32 by the endless belt 8.
The endless belt 9 is wound around the inner side surface 41a and the outer side surface 42a of the spindle frame 4a. The endless belt 10 is wound around the inner side surface 41b and the outer side surface 42b of the spindle frame 4b. The countershaft frame 3 is connected to both endless belts 9 and 10, and by rotating both endless belts 9 and 10, the countershaft frame 3 can be moved in the main shaft direction.
The servo motors M3 and M4 are respectively disposed at both ends 33a and 33b in the sub-axis direction of the sub-shaft frame 3 and drive the endless belt 8. Servo motors M3 and M4 having the same weight are provided at both ends 33a and 33b of the countershaft frame 3 so that the weights of the both ends 33a and 33b of the countershaft frame 3 are not different. ing.
The servo motors M5 and M6 are disposed at the ends in the main shaft direction of the pair of main shaft frames 4a and 4b, respectively, and drive the endless belts 9 and 10, respectively. Pulleys 7a and 7b are arranged at the ends in the main shaft direction opposite to the main shaft direction ends of the pair of main shaft frames 4a and 4b in which the servo motors M5 and M6 are arranged. The pulleys 7a and 7b are also arranged in the servo motor M5. , M6 drives the endless belts 9 and 10 smoothly.

By arranging the laser processing head 2 and the counterweight 6 in this way, the counterweight 6 is placed on the opposite side of the laser processing head 2 and the countershaft frame 3 with respect to the center line CC in the subaxis direction and on the countershaft frame 3. It is located on the opposite side in the main axis direction and moves in the opposite direction to the movement of the laser processing head 2 in the sub axis direction.
The “weight” and “position of the countershaft frame 3 in the sub-axis direction” of the counterweight 6 depend on the relationship between “weight” and “position of the subshaft frame 3 in the sub-axis direction” of the laser processing head 2. When the shaft frame 3 moves in the main shaft direction, it is preferable that the inertia weight is set so that there is no difference between the both end portions 33a and 33b in the sub shaft direction of the sub shaft frame 3. In particular, the laser processing head 2 and the counterweight 6 are equal in weight, and the fixing position of the laser processing head 2 and the counterweight 6 on the endless belt 8 is set so that the laser processing head 2 and the counterweight 6 are the countershafts of the subshaft frame 3. It is preferably set so as to be located on the opposite side from the center line CC in the sub-axis direction across the center line CC in the direction.

In the transport apparatus 1a according to the present embodiment, the endless belt 8 is rotated by driving the servo motors M3 and M4 in the same clockwise or counterclockwise direction at the same speed, and the laser processing head 2 is rotated in the sub-axis direction. It can be moved to the right side of the shaft frame 3 or can be moved to the left side of the auxiliary shaft frame 3. At this time, the counterweight 6 moves in the sub-axis direction opposite to the laser machining head 2.
Further, by driving both servomotors M5 and M6 at the same speed, one of the servomotors M5 and M6 is rotated clockwise and the other is counterclockwise, the both endless belts 9 and 10 are rotated in opposite directions, The countershaft frame 3 can be moved forward or backward, which is movement in the main axis direction. Here, the speeds of both endless belts 9 and 10 may be monitored by a linear encoder or the like so that the speeds of both endless belts 9 and 10 are not different from each other.
Also in this embodiment, the same effect as the first embodiment can be obtained.

(Third embodiment)
Next, a third embodiment will be described. In the present embodiment, the description of the matters described in the first and second embodiments will be omitted, and the characteristic portions will be described.
FIG. 6 is a schematic top view illustrating a schematic configuration of a transport apparatus according to the third embodiment.
The transport apparatus 1b shown in FIG. 6 includes two endless belts 8 and 9 respectively wound around the side surface of the countershaft frame 3 and the side surface of one of the pair of main shaft frames 4a and 4b. Unlike the second embodiment, an endless belt is not wound around the side surface of the spindle frame 4b.

The endless belt 8 is wound around one side 31 and the other side 32 of the countershaft frame 3. The laser processing head 2 and the counterweight 6 are fixed to the endless belt 8 and move with the movement of the endless belt 8.
The countershaft frame 3 holds the laser processing head 2 on one side surface 31 of the subshaft frame 3 and is movable in the subaxis direction along the one side surface 31 by the endless belt 8. 3 is held on the other side surface 32 and can be moved in the sub-axis direction along the other side surface 32 by the endless belt 8.
The endless belt 9 is wound around the inner side surface 41a and the outer side surface 42a of the spindle frame 4a. The countershaft frame 3 is connected to the endless belt 9 on the inner side surface 41a. By rotating the endless belt 9, the countershaft frame 3 can be moved in the main shaft direction. On the other hand, the countershaft frame 3 is held so as to be movable in the main shaft direction with respect to the main shaft frame 4b, and the subshaft frame 3 is moved between the main shaft frames 4a and 4b only by rotating the endless belt 9 of the main shaft frame 4a. Thus, it can move in the main axis direction while maintaining a state parallel to the sub axis direction.
The servo motors M7 and M8 are respectively disposed at both end portions 33a and 33b in the sub-axis direction of the sub-shaft frame 3 and drive the endless belt 8. Servo motors M7 and M8 having the same weight are provided at the opposite end portions 33a and 33b of the auxiliary shaft frame 3 so that the weights of the opposite end portions 33a and 33b of the auxiliary shaft frame 3 are not different. ing.
The servo motor M9 is disposed at the main shaft direction end of the main shaft frame 4a and drives the endless belt 9. A pulley 7a is arranged at the end in the main shaft direction opposite to the main shaft direction end of the main shaft frame 4a where the servo motor M9 is arranged, and the pulley 7a is also driven by the servo motor M9 to move the endless belt 9. It is smooth.

By arranging the laser processing head 2 and the counterweight 6 in this way, the counterweight 6 is disposed on the opposite side of the center line in the sub-axis direction of the laser processing head 2 and the countershaft frame 3 and the main shaft of the subshaft frame 3. It is located on the opposite side in the direction and moves in the opposite direction to the movement of the laser processing head 2 in the sub-axis direction.
The “weight” and “position of the countershaft frame 3 in the sub-axis direction” of the counterweight 6 depend on the relationship between “weight” and “position of the subshaft frame 3 in the sub-axis direction” of the laser processing head 2. When the shaft frame 3 moves in the main shaft direction, it is preferable that the inertia weight is set so that there is no difference between the both end portions 33a and 33b in the sub shaft direction of the sub shaft frame 3. In particular, the laser processing head 2 and the counterweight 6 are equal in weight, and the fixing position of the laser processing head 2 and the counterweight 6 on the endless belt 8 is set so that the laser processing head 2 and the counterweight 6 are the countershafts of the subshaft frame 3. It is preferable to set so as to be located on the opposite side from the center line in the sub-axis direction across the center line in the direction.

In the transport apparatus 1b according to the present embodiment, the endless belt 8 is rotated by driving the servo motors M7 and M8 in the same clockwise or counterclockwise direction at the same speed, and the laser processing head 2 is rotated in the sub-axis direction. It can be moved to the right side of the shaft frame 3 or can be moved to the left side of the auxiliary shaft frame 3. At this time, the counterweight 6 moves in the sub-axis direction opposite to the laser machining head 2.
Further, by driving the servo motor M9 clockwise or counterclockwise, the endless belt 9 can be rotated, and the countershaft frame 3 can be moved forward or backward as movement in the main shaft direction. Here, the main shaft frame 4b holds the sub shaft frame 3, but does not hinder the movement of the sub shaft frame 3 in the main shaft direction.
Also in this embodiment, the same effect as the first embodiment can be obtained.

(Fourth embodiment)
Next, a fourth embodiment will be described. In the present embodiment, the description of the matters described in the first to third embodiments will be omitted, and the characteristic portions will be described.
FIG. 7: shows schematic structure of the conveying apparatus which concerns on 4th Embodiment, a is an upper surface schematic diagram, b is DD sectional drawing of a.
The transport device 1c shown in FIG. 7 includes two endless belts 8 and 11 wound around the side surface of the countershaft frame 3 and the side surface of the main shaft frame 4c. Unlike the above embodiment, only one spindle frame is provided, not a pair.

The endless belt 8 is wound around one side 31 and the other side 32 of the countershaft frame 3. The laser processing head 2 and the counterweight 6 are fixed to the endless belt 8 and move with the movement of the endless belt 8.
The countershaft frame 3 holds the laser processing head 2 on one side surface 31 of the subshaft frame 3 and is movable in the subaxis direction along the one side surface 31 by the endless belt 8. 3 is held on the other side surface 32 and can be moved in the sub-axis direction along the other side surface 32 by the endless belt 8.
The main shaft frame 4c is a base portion that extends in the main shaft direction intersecting the sub shaft direction at the center portion in the sub shaft direction of the sub shaft frame 3, and holds the sub shaft frame 3 so as to be movable in the main shaft direction. The main shaft frame 4c may be a pair of rod-like members having a substantially rectangular cross section extending in the main shaft direction, and the main shaft contacting the lower portion of the sub shaft frame 3 in order to hold the sub shaft frame 3 movably in the main shaft direction. A configuration is possible in which a single protrusion 43 is formed linearly in the main axis direction on the upper portion of the frame 4c, and the single protrusion 45 is guided by straddling a bifurcated guide 34 provided at the lower portion of the subshaft frame 3.
The endless belt 11 is wound around both side surfaces 44a and 44b of the spindle frame 4c. The countershaft frame 3 is connected to the endless belt 11 at either the side surface 44a or the side surface 44b. By rotating the endless belt 11, the countershaft frame 3 can be moved in the main axis direction.
The servo motor M <b> 10 is disposed at the auxiliary shaft direction end portion 33 a of the auxiliary shaft frame 3 and drives the endless belt 8. A pulley 7c is disposed at the counter-axis direction end portion 33b opposite to the counter-axis direction end portion 33a of the counter-shaft frame 3 on which the servo motor M10 is disposed, and the pulley 7c is also endless by being driven by the servo motor M10. The movement of the belt 8 is made smooth. By providing the servo motor M10 and the pulley 7c having the same weight at both ends 33a and 33b in the sub-axis direction of the sub-shaft frame 3, there is no difference in the weight of the both ends 33a and 33b in the sub-axis direction of the sub-shaft frame 3. I have to.
The servo motor M11 is disposed at the main shaft direction end of the main shaft frame 4c and drives the endless belt 11. A pulley 7d is disposed on the end in the main shaft direction opposite to the main shaft direction end of the main shaft frame 4c on which the servo motor M11 is disposed. The pulley 7c is also driven by the servo motor M11 to move the endless belt 11. It is smooth.

By arranging the laser processing head 2 and the counterweight 6 in this way, the counterweight 6 is disposed on the opposite side of the center line in the sub-axis direction of the laser processing head 2 and the countershaft frame 3 and the main shaft of the subshaft frame 3. It is located on the opposite side in the direction and moves in the opposite direction to the movement of the laser processing head 2 in the sub-axis direction.
The “weight” and “position of the countershaft frame 3 in the sub-axis direction” of the counterweight 6 depend on the relationship between “weight” and “position of the subshaft frame 3 in the sub-axis direction” of the laser processing head 2. When the shaft frame 3 moves in the main shaft direction, it is preferable that the inertia weight is set so that there is no difference between the both end portions 33a and 33b in the sub shaft direction of the sub shaft frame 3. In particular, the laser processing head 2 and the counterweight 6 are equal in weight, and the fixing position of the laser processing head 2 and the counterweight 6 on the endless belt 8 is set so that the laser processing head 2 and the counterweight 6 are the countershafts of the subshaft frame 3. It is preferable to set so as to be located on the opposite side from the center line in the sub-axis direction across the center line in the direction.

In the transport apparatus 1c according to the present embodiment, the endless belt 8 is rotated by driving the servo motor M10 clockwise or counterclockwise, and the laser processing head 2 is moved to the right side of the sub-shaft frame 3 that is the sub-axis direction. Or can be moved to the left side of the countershaft frame 3. At this time, the counterweight 6 moves in the sub-axis direction opposite to the laser machining head 2.
Further, by driving the servo motor M11 clockwise or counterclockwise, the endless belt 11 can be rotated, and the countershaft frame 3 can be moved forward or backward as movement in the main axis direction.
Also in this embodiment, the same effect as the first embodiment can be obtained.

(Modification)
Next, a modification of the present invention will be described. In this modified example, the description of the matters described in the first to fourth embodiments is omitted, and the characteristic portions thereof will be described.
In the above embodiment, the laser processing head and the counterweight have the same weight, and the fixing position of the laser processing head and the counterweight on the endless belt is such that the laser processing head 2 and the counterweight 6 are the countershaft of the subshaft frame 3. The center line CC in the direction is set to be equidistant from the center line CC in the sub-axis direction and located on the opposite side. The present invention is not limited to this, and “weight” and “position of the countershaft frame in the sub-axis direction” of the counterweight are “weight” and “position of the countershaft frame in the sub-axis direction” of the laser processing head. Therefore, when the countershaft frame moves in the main shaft direction, the inertia weight difference at both ends of the subshaft frame in the subaxis direction may be set to decrease.

FIG. 8 is a schematic diagram showing a model of the countershaft frame portion of the conveying apparatus according to the modified example of the present invention, where “a” shows a case where the weight of the counterweight 6a is lighter than the weight of the laser processing head 2; Indicates a case where the weight of the counterweight 6b is heavier than the weight of the laser processing head 2.
When the weight of the counterweight 6a is lighter than the weight of the laser machining head 2 as shown in a, the laser machining head 2 exceeds the moving range MR1 across the center line CC in the minor axis direction of the minor axis frame 3 of the laser machining head 2. The moving range MR2 of the counterweight 6a is set.
As shown in b, when the weight of the counterweight 6b is heavier than the weight of the laser machining head 2, the laser machining head 2 is narrower than the moving range MR3 across the center line CC in the minor axis direction of the minor axis frame 3 of the laser machining head 2. A moving range MR4 of the counterweight 6b is set.
The laser processing head 2 and the counterweight 6a (6b) are held independently on the countershaft frame 3 so as to be movable in the subshaft direction, and are respectively driven by independent driving means (for example, a pair of endless belts). It is configured to be movable on the shaft frame 3.
Even in the case of the model of the countershaft frame portion shown in FIG. 8 as described above, the difference in inertia weight between the both end portions 33a and 33b in the subshaft direction of the subshaft frame 3 can be eliminated, and the main shaft moves in the main shaft direction. The moment of the countershaft frame 3 can be eliminated, the countershaft frame 3 can be prevented from vibrating or twisting, and the locus of the laser machining head 2 can be stabilized. These models can be applied in combination with the first to fourth embodiments.
In any of the embodiments and modifications, it has been described that the difference in inertia weight between the opposite end portions 33a and 33b of the countershaft frame 3 is eliminated, but the opposite end portions 33a and 33b of the auxiliary shaft frame 3 are eliminated. If the difference in the inertia weight in can be reduced as much as necessary (for example, if the accuracy of the locus of the laser processing head 2 can be ensured as much as necessary), both ends 33a of the auxiliary axis direction of the auxiliary axis frame 3 are not necessarily required. The difference in inertia weight in 33b may not be completely eliminated.

Note that the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the scope of the present invention.
In the above embodiment, the laser processing head and the counterweight obtain driving force from the same servo motor, but separate driving sources may be provided for the laser processing head and the counterweight, respectively.
In addition, the endless belt that circulates on the countershaft frame and to which the laser processing head and the counterweight are fixed is not only circulated only on the countershaft frame, but also circulates on other frames including the countershaft frame. Good.
The means for driving the countershaft frame and the means for driving the conveyed object and the counterweight are not limited to those using a servo motor and an endless belt. For example, a reciprocating motion on the frame such as a fluid cylinder or an electric cylinder is performed. Anything that can do.

DESCRIPTION OF SYMBOLS 1, 1a, 1b, 1c ... Conveyance apparatus 2 ... Laser processing head (conveyed object)
3 ... Secondary shaft frame 4a, 4b, 4c ... Main shaft frame 5, 8, 9, 10, 11 ... Endless belt 6, 6a, 6b ... Counterweight 7a, 7b, 7c, 7d ... Pulley 31 ... One side 32 ... Other Side surfaces 33a, 33b ... Ends in the sub-axis direction 34 ... Two guides 41a, 41b ... Inner side surfaces 42a, 42b ... Outer side surfaces 44a, 44b ... Side surfaces 46a, 46b ... Front inner side surfaces 47a, 47b ... Rear inner side surfaces

Claims (3)

A sub-shaft frame extending in the sub-axis direction and holding the object to be moved so as to be movable in the sub-axis direction;
A main spindle frame extending in a main axis direction intersecting with the sub axis direction and holding the sub axis frame movably in the main axis direction, and
A transport device that transports the object to be transported in a main axis direction and a sub-axis direction,
Positioned on the opposite shaft frame so as to be movable in the minor axis direction, opposite to the object to be conveyed with respect to the center line in the minor axis direction of the minor shaft frame and on the opposite side in the principal axis direction of the minor shaft frame And a counterweight that moves in a direction opposite to the movement of the conveyed object in the sub-axis direction.   The counterweight moves in the main axis direction depending on the weight of the counterweight and the position in the subaxis direction of the countershaft frame depending on the weight of the object to be conveyed and the position in the subaxis direction of the countershaft frame. 2. The transport device according to claim 1, wherein a difference in inertia weight between both end portions in the sub-axis direction of the sub-shaft frame is set to be reduced.   The conveying apparatus according to claim 1, further comprising an endless belt that circulates on the countershaft frame and to which the conveyed object and the counterweight are fixed.

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