JP2023067104A - Oscillation device - Google Patents

Abstract

To appropriately protect a linear member.SOLUTION: An oscillation device comprises: a linear member having one end part provided on an oscillation body, the one end part oscillating according to the oscillation of the oscillation body, and the other end being fixed; and a linear member protection part that protects the linear member. The linear member protection part has: a planetary gear mechanism having a sun gear that oscillates at a predetermined first angle as the oscillation body oscillates at the predetermined first angle, an immovable internal gear, a planetary gear that is provided between the sun gear and the internal gear and oscillates at a predetermined second angle smaller than the predetermined first angle when the sun gear oscillates at the predetermined first angle; and a linear member holding part that oscillates at the predetermined second angle as the planetary gear oscillates at the predetermined second angle, and holds an intermediate part between both end parts of the linear member.SELECTED DRAWING: Figure 1

Description

The present invention relates to an oscillating device.

An oscillating device comprising a linear member having one end provided on an oscillating body, the one end oscillating according to the oscillation of the oscillating body, and the other end being fixed, is already well known. (For example, Patent Document 1).

JP-A-5-69381

In the conventional rocking device, when the rocking body rocks greatly, the linear member may be greatly twisted and damaged.

SUMMARY OF THE INVENTION The present invention has been made in view of the conventional problems as described above, and a main object thereof is to appropriately protect linear members.

The main aspect of the present invention is a linear member having one end provided on an oscillating body, the one end oscillating according to the oscillating movement of the oscillating body, and the other end being fixed;
and a linear member protection portion that protects the linear member,
The linear member protection portion is
a sun gear that oscillates at a predetermined first angle as the oscillating body oscillates at a predetermined first angle; an immovable internal gear; and a sun gear provided between the sun gear and the internal gear. a planetary gear mechanism having a planetary gear that oscillates at a predetermined second angle smaller than the predetermined first angle when the oscillates at the predetermined first angle;
a linear member holding portion that swings at the predetermined second angle as the planetary gear swings at the predetermined second angle and holds an intermediate portion between both end portions of the linear member;
It is a rocking device characterized by having

Other features of the present invention will become apparent from the description of the specification and accompanying drawings.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to protect a linear member appropriately.

1 is a schematic side view of a positioner 1 according to this embodiment; FIG. FIG. 2 is a schematic rear view of the positioner 1 according to the embodiment; FIG. 1 is a diagram in which a linear member 30, a linear member holding portion 60, and a rotary support 70 are removed from FIG. 1, and is an explanatory diagram for explaining a planetary gear mechanism 42. FIG. FIG. 3 is a diagram with the linear member 30, the linear member holding portion 60, and the rotary support 70 removed from FIG. 2, and is an explanatory diagram for explaining the planetary gear mechanism 42. FIG. FIG. 5 is a cross-sectional view taken along line FF of FIG. 4; 4 is a schematic perspective view of a linear member holding portion 60; FIG. FIG. 10 is a diagram showing the states of the linear member 30, the planetary gear mechanism 42, and the linear member holding portion 60 when the oscillating body is oscillated +100 degrees; FIG. 10 is a diagram showing the states of the linear member 30, the planetary gear mechanism 42, and the linear member holding portion 60 when the oscillating body is oscillated by −100 degrees; It is a side schematic diagram of the tilting rotary table apparatus 100 which concerns on 2nd embodiment. FIG. 4 is an explanatory diagram for explaining a guide member 110;

At least the following will be clarified by the description of this specification and the accompanying drawings.

a linear member having one end provided on an oscillating body, the one end oscillating according to the oscillating movement of the oscillating body, and the other end being fixed;
and a linear member protection portion that protects the linear member,
The linear member protection portion is
a sun gear that oscillates at a predetermined first angle as the oscillating body oscillates at a predetermined first angle; an immovable internal gear; and a sun gear provided between the sun gear and the internal gear. a planetary gear mechanism having a planetary gear that oscillates at a predetermined second angle smaller than the predetermined first angle when the oscillates at the predetermined first angle;
a linear member holding portion that swings at the predetermined second angle as the planetary gear swings at the predetermined second angle and holds an intermediate portion between both end portions of the linear member;
A rocking device comprising:

According to such a swinging device, stress on the linear member can be reduced, and damage to the linear member can be appropriately suppressed (the linear member can be properly protected). Become).

In such a swinging device,
The planetary gear mechanism is
A carrier rotatably supporting the planetary gear and rocking with the rocking of the planetary gear;
It is desirable that the linear member holding portion is attached to the carrier.

According to such an oscillating device, it is possible to easily transmit the oscillating motion of the planetary gear to the linear member holding portion by using the carrier.

In such a swinging device,
an oscillation generator for oscillating the oscillating body,
The rocking motion generator has a rotating shaft that rotates integrally with the rocking body, and a housing,
It is preferable that the sun gear is provided on the rotating shaft and the internal gear is provided on the housing.

According to such an oscillating device, the motion of the planetary gear mechanism can be efficiently and easily generated by making good use of the moving (oscillating) portion and the non-moving (fixed) portion of the oscillating motion generating section. becomes possible.

In such a swinging device,
It is preferable that the sun gear is provided at the other end on the side opposite to the one end on the side closer to the oscillating body, among both ends of the rotating shaft in the axial direction.

According to such a swinging device, it is possible to avoid the length from one end of the linear member to the intermediate portion being too short.

In such a swinging device,
The rotating shaft has a hollow hole along the axial direction of the rotating shaft,
A portion of the linear member from the one end to the intermediate portion preferably penetrates the hollow hole.

According to such a swinging device, a hollow hole is provided in the rotary shaft, and by utilizing the hollow hole, the portion from the one end portion to the intermediate portion of the linear member can be efficiently and visually improved. Wiring can be done.

In such a swinging device,
In the hollow hole,
a rod along the axial direction;
A rotary support that is rotatably attached to the rod and supports the linear member is preferably provided.

According to such a swing device, it is possible to suppress the occurrence of torsion concentrating (locally) on a portion of the linear member.

In such a swinging device,
It is preferable that the rod is a swing shaft of the linear member holding portion.

According to such a swinging device, the swinging shaft of the linear member holding portion is used as a mounting member for mounting the rotation support, which eliminates the need to separately prepare the mounting member. can be reduced.

===Positioner 1 according to the present embodiment===
Here, a positioner 1 is taken as an example of the swinging device, and the positioner 1 will be described with reference to FIGS. 1 to 8. FIG. FIG. 1 is a schematic side view of the positioner 1 according to the present embodiment, showing a state in which the rocking body attached to the positioner 1 is not rocking. FIG. 2 is a view of the positioner 1 of FIG. 1 as seen from the direction of the white arrow, and is a schematic rear view of the positioner 1. As shown in FIG. In FIG. 3 (FIG. 4), the linear member 30, the linear member holding portion 60, and the rotation support 70 are removed from FIG. FIG. 3 is an explanatory diagram for explaining the planetary gear mechanism 42. FIG. 5 is a cross-sectional view taken along line FF of FIG. 4. FIG. FIG. 6 is a schematic perspective view of the linear member holding portion 60. As shown in FIG. 6, the illustration of the swing shaft 68 of the linear member holding portion 60 is omitted. FIG. 7 is a diagram corresponding to FIG. 2, showing the state of the linear member 30, the planetary gear mechanism 42, and the linear member holding portion 60 when the rocking body is rocked by +100 degrees. FIG. 8 is a diagram corresponding to FIG. 2, showing the state of the linear member 30, the planetary gear mechanism 42, and the linear member holding portion 60 when the rocking body is rocked by -100 degrees.

In addition, the positioner 1 according to this embodiment has X, Y and Z directions, the X and Y directions intersect each other, and both the X and Y directions intersect with the Z direction. . 1 is the X direction, the left side (right side) of the page is called the left (right), and the horizontal direction of the page of FIG. 2 is the Y direction, and the left side (right side) is the front (back). In FIGS. 1 and 2, the longitudinal direction of the paper surface is the Z direction (vertical direction), and the upper side (lower side) of the paper surface is referred to as the top (bottom).

The positioner 1 has a swing generation section 10 , a linear member 30 and a linear member protection section 40 .

The rocking motion generator 10 rotates to rock a rocking body (not shown). An owner (purchaser) of the positioner 1 can attach various objects to be positioned to the positioner 1 . For example, motors, image sensors, hydraulic equipment, pneumatic equipment, robot-related articles can be attached. Then, the article is swayed by the rotation of the sway generation unit 10 . That is, such an attached article (hereinafter also referred to as an attached article) is oscillated by the oscillation generating section 10 and becomes an oscillating body.

The swing generation section 10 has a drive section, a rotation shaft 16 , a rotation table 18 and a housing 20 .

The drive section includes a drive source, a cam mechanism, and a drive section main body 12 (illustration of the motor and cam is omitted). The drive unit main body 12 is rotatably supported with respect to the housing 20 by bearings 14 . A cam follower 12a is provided in the drive unit main body 12, and a cam mechanism is configured by engaging a cam (for example, a barrel cam) with the cam follower 12a. A driving source is connected to the cam, and when the cam is operated by the driving source, the operation is transmitted to the driving portion main body 12, and the driving portion main body 12 rotates.

A hole is provided in the central portion of the driving portion main body 12, and a rotating shaft 16 is provided so as to pass through the hole. The axial direction of the rotation shaft is along the X direction (horizontal direction). The rotating shaft 16 is fixed to the driving portion main body 12 with a first bolt 22 , so that the rotating shaft 16 rotates integrally with the driving portion main body 12 . In other words, the rotation shaft 16 rotates as the driving portion main body 12 rotates.

Further, the rotating shaft 16 has a hollow hole 17 along the axial direction of the rotating shaft 16 . The cross section of this hollow hole 17 has a circular shape. A linear member 30 and the like are provided in the hollow hole 17 (details will be described later).

The rotary table 18 is a member that plays a role of a mounting base for mounting the rocking body (attachment article) described above. The rotary table 18 is located on the left side of (adjacent to) the drive unit main body 12 in the X direction. A hole is provided in the central portion in the same manner as the driving portion main body 12, and the rotary shaft 16 is inserted into the hole. Further, the rotary table 18 is provided with a bolt hole 18a, and by inserting a bolt into the bolt hole 18a, the swinging body (attachment article) can be bolted to the rotary table 18. (The bolting also fixes the rotary table 18 to the drive section main body 12). Therefore, the rotating table 18 rotates integrally with the driving portion main body 12 . In other words, the rotation table 18 rotates as the drive section body 12 rotates.

Further, as described above, since the rotating shaft 16 rotates integrally with the driving portion main body 12, the rotating table 18, the rotating shaft 16, and the driving portion main body 12 rotate integrally.

Also, the swinging body (attachment article) is fixed to the rotating table 18 with bolts. Therefore, the rocking body (mounting article) rotates (rocks) integrally with the three members (rotating table 18, rotating shaft 16, and driving unit main body 12) (conversely, The three members swing integrally with the swinging body (attachment article). That is, the swinging body (attachment article) swings by rotating (swinging) the three members.

The housing 20 is a member for accommodating the driving section and the rotating shaft 16, and also has a function of rotatably supporting the driving section main body 12 of the driving section via the bearing 14. As shown in FIG.

Moreover, the positioner 1 is provided with a linear member 30 . Here, the linear member 30 is, for example, a cable used for energization or the like, or a hose (pipe) used for hydraulic pressure or pneumatic pressure. These cables and hoses may or may not be provided with a cable protection member such as a spiral tube or a so-called Cableveyor (registered trademark). included. For example, an object in which a spiral tube is wound around a cable (hose) and an object in which a cable (hose) is housed in a Cableveyor (registered trademark) and integrated are both linear members 30. .

The linear member 30 is provided in the positioner 1 in order to energize the rocking body (attachment article) and to apply oil (pneumatic) pressure. Therefore, one end of the linear member 30 is provided on the rocking body (attachment article), and the one end rocks according to the rocking movement of the rocking body (attachment article). On the other hand, the other end portion is provided, for example, in an electricity generation portion for energization or a pressure generation portion for oil (pneumatic) pressure (the electricity generation portion or the pressure generation portion is the other end portion of the linear member 30). ), it does not swing (fixed) like the one end. In other words, the linear member 30 according to the present embodiment has one end provided on the rocking body (attachment article), the one end rocking in response to the rocking of the rocking body (attachment article), and It is a member whose end is fixed.

In this way, when the rocking body rocks, one end of the linear member 30 rocks while the other end is fixed. . The greater the swing angle of the oscillating body, the greater the torsion that occurs in the linear member 30. When such a large torsion occurs, stress is applied to the linear member 30, and the linear member 30 is damaged. there is a risk of In particular, if a large torsion is concentrated (locally) in a portion of the linear member 30 (rather than in its entirety), the possibility of damaging the linear member 30 further increases.

Therefore, the positioner 1 according to the present embodiment is provided with the linear member protection portion 40, and the linear member protection portion 40 is configured such that the swinging body (one end of the linear member 30) is inclined at a predetermined first angle (predetermined maximum angle) (interlocked with the swinging), the middle portion 30a of both ends (one end and the other end) of the linear member 30 (exactly in the middle between the one end and the other end) ) is swung by a predetermined second angle that is smaller than the predetermined first angle.

More specifically, the predetermined first angle (predetermined maximum angle) of the oscillating body (one end of the linear member 30) in the positioner 1 according to the present embodiment is 100 degrees (however, it is limited to this angle). It is not a thing). That is, the oscillation generator 10 oscillates the oscillating body in the range of -100 degrees to +100 degrees, and as a result, the oscillating body (one end of the linear member 30) oscillates in the range of -100 degrees to +100 degrees. move. Then, when the swinging body (one end of the linear member 30) swings by 100 degrees (−100 degrees), the linear member protection section 40 moves the intermediate portion 30a of the linear member 30 more than 100 degrees. It is oscillated by a small angle of 40.9 degrees (-40.9 degrees). Therefore, between the intermediate portion 30a of the linear member 30 (more specifically, the intermediate portion 30a held by the second member holding portion 66b described later) and the other end (fixed end) (hereinafter, also referred to as the latter portion) ), only a twist of 40.9 degrees (equivalent to 40.9 degrees) occurs, and from one end to the intermediate portion 30a (more specifically, it is held by the first member holding portion 66a described later). Up to the intermediate portion 30a) (hereinafter also referred to as the front portion), only a twist of 59.1 degrees (equivalent to 59.1 degrees) occurs. If the linear member protection portion 40 were not present, the linear member 30 would be twisted by 100 degrees (equivalent to 100 degrees), and this 100-degree twist would be concentrated in a portion of the linear member 30 . If this occurs, the possibility that the linear member 30 will be damaged is further increased. On the other hand, in the present embodiment, even if the torsion is concentrated in a portion of the linear member 30, the maximum torsion is 59.1 degrees. Therefore, it is possible to appropriately suppress damage to the linear member 30 (it is possible to appropriately protect the linear member 30).

The above function of the linear member protection portion 40 is realized by the planetary gear mechanism 42 . The linear member protection portion 40 will be described below.

The linear member protection section 40 is for protecting the linear member 30 and has a planetary gear mechanism 42 , a linear member holding section 60 and a rotation support 70 .

The planetary gear mechanism 42 is positioned at the other end 16b on the side opposite to the one end 16a on the side closer to the oscillating body of both ends in the axial direction (X direction) of the rotating shaft 16. , an internal gear 46, a planetary gear 48, and a carrier 50 (hatched in FIGS. 1, 3, and 5 to distinguish them from the gears).

The sun gear 44 is provided at the other end portion 16b of the rotating shaft 16 so that the center position of the sun gear 44 coincides with the center of the rotating shaft 16, and rotates integrally with the rotating shaft 16. do. Further, as described above, since the rocking body rocks (rotates) integrally with the rotating shaft 16, the sun gear 44 rocks with the rocking of the rocking body. That is, the sun gear 44 oscillates by a predetermined first angle (100 degrees) as the oscillating body oscillates (that is, the angle of the sun gear 44 is always the same as that of the oscillating body. angle).

In addition, the sun gear 44 is fixed to the rotation shaft 16 by the second bolt 23 . Further, as shown in FIG. 4, the sun gear 44 according to the present embodiment does not exist for one round, and the sun gear 44 has a circumferential end portion 44a, which is an end portion in the circumferential direction. .

The internal gear 46 is provided in the housing 20 such that the center position of the internal gear 46 coincides with the center position of the sun gear 44 , and is positioned radially outside the sun gear 44 . Since the internal gear 46 is fixed to the housing 20 by the third bolt 24, it cannot move. As shown in FIG. 4, the internal gear 46 also does not exist for one round, and the internal gear 46 also has a circumferential end portion 46a.

A planetary gear 48 is provided between the sun gear 44 and the internal gear 46 and meshes with both gears. Therefore, when the sun gear 44 oscillates, the planetary gear 48 oscillates (revolves) in the same direction as the oscillating direction of the sun gear 44 (in the plus direction when the sun gear 44 oscillates in the plus direction) while rotating on its own axis. do. Here, in the planetary gear mechanism 42, when the number of teeth for one rotation of the sun gear 44 is Za and the number of teeth for one rotation of the internal gear is Zb, the planetary gear 48 and the sun gear 44 are: In comparison, it is known to rotate at a speed reduction ratio α=1/(Zb/Za+1). In this embodiment, since Zb=78 and Za=54, the speed reduction ratio α is 0.409. That is, the oscillating speed of the planetary gear 48 becomes slower than the oscillating speed of the sun gear 44, and the planetary gear 48 moves by a predetermined first angle (100 degrees) when the sun gear 44 moves. 100 degrees) by a predetermined second angle (100×0.409=40.9 degrees).

The carrier 50 is located on the left side of the planetary gear 48 in the X direction and supports the planetary gear 48 so as to rotate. When the planetary gear 48 oscillates (revolves) while rotating on its own axis, the carrier 50 oscillates with the oscillation (revolution). That is, the carrier 50 swings (moves) integrally with the planetary gear 48 while allowing the planetary gear 48 to rotate. Further, the carrier 50 is provided with a fixing base portion 50b projecting rightward in the X direction from the carrier main body 50a in order to fix (fixed portion 64 of) the linear member holding portion 60 (FIG. 5). reference). The fixed base portions 50b are provided one each on the front side and the back side in the Y direction of the planetary gear 48 (see FIG. 4). A bolt hole 50c is provided in the fixed base portion 50b, and the linear member holding portion 60 is attached to the carrier 50 by using the bolt hole 50c. In addition, as shown in FIG. 4, the carrier 50 also does not exist for one round, and the carrier 50 also has a circumferential end portion 50d.

The linear member holding portion 60 is a member for holding the intermediate portion 30a of the linear member 30, and includes a holding portion main body 62, a fixed portion 64, a member holding portion 66, a swing shaft 68, have.

The holding portion main body 62 is positioned on the side of the other end portion 16b on the side opposite to the one end portion 16a on the side closer to the oscillating body among both ends of the rotating shaft 16 in the axial direction (X direction). That is, the holding portion main body 62 is provided on the right side of the rotation shaft 16 in the X direction.

The fixed portion 64 is a portion for fixing the linear member holding portion 60 to the carrier 50, and is provided on the left side of the holding portion main body 62 in the X direction and slightly below the center in the Z direction (FIG. 1). reference). A bolt hole 60a is provided so as to pass through the holding portion main body 62 and the fixed portion 64. By inserting the fourth bolt 25 into the bolt hole 60a and the bolt hole 50c of the carrier 50, the linear member is held. Portion 60 is bolted to carrier 50 .

The member holding portion 66 is a portion for holding the intermediate portion 30 a of the linear member 30 . In the present embodiment, two intermediate portions 30a of the linear member 30 are held, so that there are two member holding portions 66 (a first member holding portion 66a and a second member holding portion 66a). 66b) is provided. The first member holding portion 66a is provided substantially in the center of the holding portion main body 62 in the X, Y and Z directions, and the second member holding portion 66b is provided substantially in the center of the holding portion main body 62 in the X and Y directions. It is provided at the bottom in the Z direction (see FIG. 6). The member holding portion 66 is provided with a hole portion 67 through which the linear member 30 is passed, and the intermediate portion 30a of the linear member 30 passing through the hole portion 67 is held by the hole portion 67. ing. Further, in the present embodiment, the intermediate portion 30a held by the second member holding portion 66b is farther from the one end portion of the linear member 30 than the intermediate portion 30a held by the first member holding portion 66a. side (closer than the other end).

In the present embodiment, linear member holding portions 60 (member holding portions 66) hold linear member 30 at two locations, but the present invention is not limited to this. It doesn't matter if it's more than one point. Further, in the present embodiment, as shown in FIG. 6, two hole portions 67 are provided for one member holding portion 66, but the number of hole portions 67 is not limited to this. It is determined based on 30 numbers.

Moreover, not only one linear member 30 but also a plurality of linear members 30 may be passed through one hole 67 . Alternatively, the linear member 30 in which a plurality of cables or the like are bundled and protected by a cable protection member may pass through the hole 67 . In FIG. 6, the hole 67 is circular, and does not have a shape suitable for the plurality of linear members 30 or the linear member 30 having the shape. Depending on the form of the shaped member 30, the elliptical shape can be appropriately changed.

The rocking shaft 68 is a rod extending along the axial direction, and is provided in the hollow hole 17 of the rotating shaft 16 so that the center of the rocking shaft 68 coincides with the center of the rotating shaft 16 . . The swing shaft 68 is provided so as to pass through the hollow hole 17 and is swingably supported within the hollow hole 17 .

The holding portion main body 62 is fixed to one end portion of the swing shaft 68 in the axial direction. More specifically, a fixing hole 62a for fixing the rocking shaft 68 is provided at substantially the center in the X and Y directions and the upper part in the Z direction of the holding portion main body 62. The swing shaft 68 and the holding portion main body 62 are connected by fitting the swing shaft 68 .

As described above, the carrier 50 swings integrally with the planetary gear 48, and the linear member holding portion 60 is bolted to the carrier 50. As shown in FIG. Therefore, the linear member holding portion 60 will swing integrally with the planetary gear 48 . That is, as the planetary gear 48 swings at the predetermined second angle (40.9 degrees), the linear member holding portion 60 rotates around the swing shaft 68 at the predetermined second angle (40.9 degrees). swing. Since the intermediate portion 30a of the linear member 30 is held by the linear member holding portion 60, the intermediate portion 30a of the linear member 30 also swings by the predetermined second angle (40.9 degrees). becomes.

The rotary support 70 is rotatably attached to the rod (that is, the rocking shaft 68) and supports the linear member 30. As shown in FIG. As shown in FIG. 1, the portion from one end of the linear member 30 to the intermediate portion 30a (the front step portion) passes through the hollow hole 17, and the rotary support 70 supports this portion. The rotary supports 70 are provided one by one at both ends of the hollow hole 17 in the axial direction of the rotary shaft 16 . Then, when the front stage portion of the linear member 30 moves (moves) due to the above-described swinging of the one end portion of the linear member 30 and the intermediate portion 30a, each rotary support 70 rotates according to this movement, It helps smooth movement of the linear member 30 . As a result, it is possible to suppress the twist from being concentrated (locally) in a portion of the linear member 30 .

Also, the rotary support 70 is axially movable between two stoppers 71 . As a result, the linear member 30 can be moved more effectively and smoothly. The rotary support 70 is urged by a spring member 72 toward one stopper 71 .

Next, the operation of the positioner 1 will be described with reference to FIGS. 2, 7 and 8. FIG. In a state where the angle of the rocking body is 0 degrees (see FIG. 2), when the rocking motion generator 10 rocks the rocking body by a predetermined first angle (+100 degrees), the rotating shaft 16 rotates integrally with the rocking body. And the sun gear 44 also swings by the predetermined first angle (+100 degrees) (see FIG. 7). Then, the planetary gear 48 oscillates by a predetermined second angle (+40.9 degrees) smaller than the predetermined first angle (+100 degrees) by the function of the planetary gear mechanism 42 . When the planetary gear 48 swings by the predetermined second angle (+40.9 degrees), the carrier 50, the linear member holding portion 60, and the intermediate portion 30a of the linear member 30 also rotate integrally with the planetary gear 48. It swings two angles (+40.9 degrees) (see FIG. 7).

Next, when the oscillating body angle is +100 degrees (see FIG. 7), the oscillating motion generator 10 returns the oscillating body to 0 degrees. 2). The planetary gear 48 also returns to 0 degrees due to the function of the planetary gear mechanism 42, and similarly, the carrier 50, the linear member holding portion 60, and the intermediate portion 30a of the linear member 30 also return to 0 degrees (see FIG. 2). ).

Next, in a state where the angle of the rocking body is 0 degree (see FIG. 2), when the rocking motion generator 10 rocks the rocking body by a predetermined first angle (−100 degrees) in the opposite direction, the rocking body and The rotary shaft 16 and the sun gear 44 are also integrally swung by the predetermined first angle (-100 degrees) (see FIG. 8). Then, due to the function of the planetary gear mechanism 42, the planetary gear 48 swings by a predetermined second angle (-40.9 degrees) smaller than the predetermined first angle (-100 degrees). When the planetary gear 48 oscillates by the predetermined second angle (−40.9 degrees), the carrier 50, the linear member holding portion 60, and the intermediate portion 30a of the linear member 30 also rotate integrally with the planetary gear 48. It swings by a second angle (-40.9 degrees) (see FIG. 8).

Next, when the oscillating body angle is −100 degrees (see FIG. 8), the oscillating motion generator 10 returns the oscillating body to 0 degrees. See Figure 2). The planetary gear 48 also returns to 0 degrees due to the function of the planetary gear mechanism 42, and similarly, the carrier 50, the linear member holding portion 60, and the intermediate portion 30a of the linear member 30 also return to 0 degrees (see FIG. 2). ).

As described above, in the positioner 1 according to the present embodiment, when the oscillating body (one end of the linear member 30) oscillates 0 degrees→+100 degrees→0 degrees→−100 degrees→0 degrees, The intermediate portion 30a of the linear member 30 swings from 0 degrees→+40.9 degrees→0 degrees→−40.9 degrees→0 degrees. Therefore, only the twist of 40.9 degrees (equivalent to 40.9 degrees) occurs in the rear stage of the linear member 30, and the twist of 59.1 degrees (equivalent to 59.1 degrees) occurs in the front stage. only occurs. Therefore, as described above, even if the twist is concentrated in a portion of the linear member 30, the maximum twist is 59.1 degrees (instead of 100 degrees). The stress on 30 can be reduced, and damage to the linear member 30 can be appropriately suppressed (the linear member 30 can be appropriately protected).

===Effectiveness of the Rocking Device (Positioner 1) According to the Present Embodiment===
As described above, the positioner 1 according to the present embodiment is a line in which the rocking body is provided with one end, the one end rocks according to the rocking of the rocking body, and the other end is fixed. and a linear member protecting portion 40 for protecting the linear member 30. The linear member protecting portion 40 swings at a predetermined first angle as the swinging body swings at a predetermined first angle. A movable sun gear 44, an immovable internal gear 46, and a predetermined first gear provided between the sun gear 44 and the internal gear 46 when the sun gear 44 swings by the predetermined first angle. a planetary gear mechanism 42 having a planetary gear 48 that oscillates at a predetermined second angle smaller than an angle; and a linear member holding portion 60 that holds an intermediate portion 30a between both ends of the member 30 .

Therefore, as described above, the stress on the linear member 30 can be reduced, and damage to the linear member 30 can be appropriately suppressed (the linear member 30 can be properly protected). ).

Further, in the present embodiment, the planetary gear mechanism 42 includes a carrier 50 that supports the planetary gear 48 so as to be able to rotate on its own axis and rocks as the planetary gear 48 rocks. is installed.

Therefore, by using the carrier 50 , it becomes possible to easily transmit the oscillation of the planetary gear 48 to the linear member holding portion 60 .

In addition, in the present embodiment, a rocking motion generator 10 for rocking the rocking body is provided. , and the sun gear 44 is provided on the rotating shaft 16 and the internal gear 46 is provided on the housing 20, respectively.

Therefore, it is possible to efficiently and easily create motion of the planetary gear mechanism 42 by effectively utilizing the moving (oscillating) portion and the non-moving (fixed) portion of the oscillation generating section 10 .

In the present embodiment, the sun gear 44 is provided at the other end 16b on the side opposite to the one end 16a on the side closer to the oscillating body among both ends of the rotating shaft 16 in the axial direction. and

If the sun gear 44 is provided on the one end portion 16a, the linear member holding portion 60 will also be positioned on the one end portion 16a side. In that case, the length from one end of the linear member 30 located inside the swinging body to the intermediate portion 30a may be too short. In the present embodiment, since the sun gear 44 is provided at the other end portion 16b, it is possible to avoid the length from the one end portion of the linear member 30 to the intermediate portion 30a being too short. Become.

Further, in the present embodiment, the rotary shaft 16 has a hollow hole 17 along the axial direction of the rotary shaft 16, and the portion from one end of the linear member 30 to the intermediate portion 30a has the hollow hole 17. It was assumed that it penetrated.

Therefore, by providing a hollow hole 17 in the rotating shaft 16 and using the hollow hole 17, wiring of the portion from one end of the linear member 30 to the intermediate portion 30a can be performed efficiently and with good appearance. be able to.

In the present embodiment, the hollow hole 17 is provided with a rod along the axial direction and a rotation support 70 rotatably attached to the rod and supporting the linear member 30 . I decided to

Therefore, as described above, it is possible to suppress the twist from being concentrated (locally) in a portion of the linear member 30 .

Further, in the present embodiment, the rod is the swing shaft 68 of the linear member holding portion 60 .

Therefore, since the swing shaft 68 of the linear member holding portion 60 is used as a mounting member for mounting the rotation support 70, there is no need to separately prepare the mounting member, so the number of parts can be reduced. becomes.

===Other Embodiments===
The above-described embodiments are intended to facilitate understanding of the present invention, and are not intended to limit the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from its spirit, and that equivalents thereof are included in the present invention. In particular, even the embodiments described below are included in the invention.

The oscillating device (positioner 1) according to the above embodiment (also referred to as the first embodiment) does not include (is not incorporated in) an oscillating body. That is, the rocking body is an attachment that is freely attached by the owner (purchaser) of the positioner 1 . However, the present invention is not limited to this, and as shown in the example (second embodiment) of FIG.

The swing device according to the second embodiment is a tilting rotary table device 100 generally called a tilt table. FIG. 9 is a schematic side view of the tilting rotary table device 100 according to the second embodiment (corresponding to FIG. 1). ). The oscillating body in the tilting rotary table device 100 is the rotary table device 102, and the rotary table device 102 is oscillated by the oscillating motion generator 10 and rotates by itself, as in the first embodiment. there is In other words, the tilting rotary table device 100 tilts the table surface of the rotary table device 102 by the rocking movement and rotates the table 102a to index the workpiece or the like and perform predetermined processing. ing.

The main difference between the second embodiment and the first embodiment is the connection between the oscillation generator 10 and the oscillator. That is, in the second embodiment, the member corresponding to the rotary table 18 of the first embodiment is the rotary output section 104, which is integrated with the rocking body (the rotary table device 102). (On the contrary, in the first embodiment, the swinging body was detachable from the rotary table 18). This is because, in the second embodiment, since the rocking body (rotary table device 102) is incorporated in the rocking device (tilt rotary table device 100), it is not necessary to make it detachable.

In such an inclined rotary table device 100, the linear members 30 that may be introduced include the following. That is, the cable may be a power wire or control wire for a servomotor, a signal wire for a rotary encoder, or the like. In addition, as hoses (pipes), there are oil channel hoses for clamping and unclamping workpieces, oil or air channel hoses for table clamping, air channel hoses for servomotor cooling, An air purge (air flow path) hose for cleaning the rotary encoder is conceivable. In total, ten or more linear members 30 may be introduced, but only four linear members 30 are shown in FIG. 9 for convenience in order to avoid complicating the drawing. ing. Although only two linear members 30 are shown in the first embodiment (FIGS. 1, 2, 7, and 8), this is also for the sake of convenience and is limited to this number. not something.

In addition, although there are four linear members 30 in the oscillating body (rotary table device 102) of FIG. This is because the split linear member 30 is put together in the middle (between the rotary table device 102 and the hollow hole 17) and protected by the cable protection member ( Note that description of the cable protection member is omitted in order to avoid complicating the drawing (the same applies to the first embodiment). Further, in the linear member holding portion 60, the linear member 30 having such a configuration passes through the hole portion 67 (as described above, in FIG. Although the shape does not conform to the shape of the linear member 30, the shape can be appropriately changed to an elliptical shape according to the shape of the linear member 30).

Further, as shown in FIG. 10, a guide member 110 (hatched in the figure to distinguish from the linear member 30) for guiding the rear stage of the linear member 30 is provided in the swing device. good too. FIG. 10 is an explanatory diagram for explaining the guide member 110. As shown in FIG. In FIG. 10, two guide members 110 (movable guide member 110a and fixed guide member 110b) are provided, and both guide members 110 have curved surfaces along the circumferential direction. In addition, the movable guide member 110a swings along with the swinging of the linear member holding portion 60. As shown in FIG. The movable guide member 110a guides the linear member 30 outside the movable guide member 110a in the radial direction. On the other hand, the fixed guide member 110b is fixed and guides the linear member 30 inside the fixed guide member 110b in the radial direction.

If such a guide member 110 is provided in the swinging device, even if the swinging body (one end of the linear member 30) swings, the latter part of the linear member 30 can be maintained in a desired shape to some extent. becomes possible.

1 positioner 10 rocking motion generator 12 drive unit main body 12a cam follower 14 bearing 16 rotary shaft 16a one end 16b other end 17 hollow hole 18 rotary table 18a bolt hole 20 housing 22 first bolt 23 second bolt 24 third bolt 25 Fourth bolt 30 Linear member 30a Intermediate portion 40 Linear member protection portion 42 Planetary gear mechanism 44 Sun gear 44a Circumferential end portion 46 Internal gear 46a Circumferential end portion 48 Planetary gear 50 Carrier 50a Carrier main body 50b Fixed base portion 50c Bolt hole 50d Circumferential end 60 Linear member holding portion 60a Bolt hole 62 Holding portion main body 62a Fixing hole 64 Fixed portion 66 Member holding portion 66a First member holding portion 66b Second member holding portion 67 Hole 68 Swing shaft 70 rotation support 71 stopper 72 spring member 100 tilting rotary table device 102 rotary table device 102a table 104 rotation output section 110 guide member 110a movable guide member 110b fixed guide member

Claims (7)

a linear member having one end provided on an oscillating body, the one end oscillating according to the oscillating movement of the oscillating body, and the other end being fixed;
and a linear member protection portion that protects the linear member,
The linear member protection portion is
a sun gear that oscillates at a predetermined first angle as the oscillating body oscillates at a predetermined first angle; an immovable internal gear; and a sun gear provided between the sun gear and the internal gear. a planetary gear mechanism having a planetary gear that oscillates at a predetermined second angle smaller than the predetermined first angle when the oscillates at the predetermined first angle;
a linear member holding portion that swings at the predetermined second angle as the planetary gear swings at the predetermined second angle and holds an intermediate portion between both end portions of the linear member;
A rocking device comprising: The rocking device according to claim 1,
The planetary gear mechanism is
A carrier rotatably supporting the planetary gear and rocking with the rocking of the planetary gear;
A rocking device, wherein the linear member holding portion is attached to the carrier. The oscillating device according to claim 2,
an oscillation generator for oscillating the oscillating body,
The rocking motion generator has a rotating shaft that rotates integrally with the rocking body, and a housing,
A rocking device according to claim 1, wherein the sun gear is provided on the rotating shaft, and the internal gear is provided on the housing. The oscillating device according to claim 3,
An oscillating device, wherein the sun gear is provided at the other end on the side opposite to the one end closer to the oscillating body among both ends of the rotating shaft in the axial direction. The oscillating device according to claim 4,
The rotating shaft has a hollow hole along the axial direction of the rotating shaft,
A rocking device, wherein a portion of the linear member from the one end portion to the intermediate portion passes through the hollow hole. The oscillating device according to claim 5,
In the hollow hole,
a rod along the axial direction;
and a rotary support that is rotatably attached to the rod and supports the linear member. The oscillating device according to claim 6,
The rocking device, wherein the rod is a rocking shaft of the linear member holding portion.

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