JP3072896B1 - Hybrid multi-degree-of-freedom mechanism - Google Patents

Abstract

An object of the present invention is to provide a simpler structure, a wider operation range, and easier positioning in multiple axial directions by combining a control structure of a support portion. SOLUTION: First movably by driving means on first to third guide rails 3 to 5 arranged on a base 2, respectively.
-The end portions of the third support portions 6 to 8 are provided. The adjusting frame member 10 is supported on the apexes of the first to third support portions 6 to 8 via the universal joint 9. Further, the first to third support portions 6 to 8 are configured to be extendable and contractible by a driving mechanism. The end portions of the first to third support portions 6 to 8 are
The position of the adjustment frame member 10 is adjusted by adjusting the movement of the adjustment frame member 10 by adjusting the movement on the first to third guide rails 3 to 5 and adjusting the expansion and contraction of the first to third support portions 6 to 8 by the driving mechanisms. I do.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid multi-degree-of-freedom mechanism having a simpler structure and easy to position in multiple directions.

[0002]

2. Description of the Related Art Conventionally, a positioning mechanism (serial mechanism) having a cantilever structure has been employed in robot manipulators, including precision measuring instruments and precision processing machines.
Recently, a completely different so-called parallel mechanism has been spotlighted in place of the cantilever structure positioning mechanism. This parallel mechanism supports a platform (table) to be positioned by a plurality of columns, and simultaneously controls the columns to control the platform in multiple axes. According to such a parallel mechanism,
1. 1. Simple mechanism 2. high rigidity; 3. low error; It has many advantages such as high speed and will be widely spread in the future. By the way, the control structure of the column supporting the platform is simply 1. Telescopic type, 2. Bending type, 3. It is said that it can be classified as an openable type.

[0003]

However, the parallel mechanism has drawbacks such as a narrow operating range, complicated and difficult control. Further, unlike the control structure of the support portions, the control structure of the support portion of the combination has not yet been seen. Therefore, the present applicant has overcome the aforementioned disadvantages by combining the control structures of the strut portions, and can overcome the above-mentioned disadvantages, and can further reduce the number of strut portions. Has been found to be possible. The present invention has been proposed based on the above-described viewpoints.By combining the control structures of the strut portions, the structure is simpler, the operation range is wider, and positioning in the multiaxial direction is easy. It is another object of the present invention to provide a hybrid multi-degree-of-freedom mechanism.

[0004]

Means for Solving the Problems In order to solve the above, the present invention provides a multi a plurality of linear guide means on platform
The guides are disposed so as to be oriented in the direction of the sides , and the guides are respectively provided with the ends of the pillars so as to be movable along the guides by the driving means. A structure for supporting the member to be adjusted via a joint, wherein each of the struts is configured to be extendable and retractable by a telescopic drive mechanism, and driving means at an end of the strut is provided.
And the expansion and contraction drive mechanism are appropriately combined and controlled,
The position of the distal end of each support is adjusted along the guide means, and the support is adjusted to expand and contract to adjust the position of the adjustable member. The present invention also provides
A first guide rail, a second guide rail, and a third guide rail are arranged on a gantry in a side direction forming a square or a triangle.
And the first support portion and the second support portion are movable on these first to third guide rails by driving means.
And the end portions of the third support portion are provided.
The adjustable member is supported on the vertex side of the third support portion via a universal joint, and the first to third support portions are configured to be extendable and retractable by a telescopic drive mechanism.
The adjustable member is moved and adjusted by driving means on the first to third guide rails by the driving means, and the first to third support parts are respectively expanded and contracted by a telescopic drive mechanism. For adjusting the positioning.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, one embodiment of the hybrid multi-degree-of-freedom mechanism according to the present invention will be described with reference to the accompanying drawings. FIG. 1 schematically shows a hybrid type multi-degree-of-freedom mechanism 1. The multi-degree-of-freedom mechanism 1 includes a base 2
A first guide rail 3, a second guide rail 4, and a third guide rail 5 are disposed at predetermined positions thereon, and are oriented in predetermined directions, respectively. 5 are provided with end portions of a first support portion 6, a second support portion 7, and a third support portion 8 so as to be movable by driving means (described later). At the apexes of the first to third support portions 6 to 8, an adjustable member,
That is, the configuration is such that the adjustment frame member 10 is supported. The first to third support portions 6 to 8 are configured to be extendable and contractible by a driving mechanism (described later). With such a structure, the end portions of the first to third support portions 6 to 8 are moved and adjusted on the first to third guide rails 3 to 5, and the first to third guide rails 3 to 5 are adjusted.
The position of the adjustment frame member 10 is adjusted by adjusting the extension and contraction of each of the third support portions 6 to 8 by a drive mechanism.

[0006] First to third guide rails 3 to 3 on the base 2
Numeral 5 is arranged along three of the rectangular lines. The moving members 11, 12, 13 movably mounted on the first to third guide rails 3 to 5 are provided with the first
To the end portions of the third support portions 6 to 8. Although the details of the first to third support portions 6 to 8 will be described later, the base pipes 6a, 7a, and 8a, and telescopic supports 6b, 7b, and 8 provided to be able to advance and retreat to the base pipes 6a to 8a, respectively.
b. Further, the universal joint 9 attached to the distal ends of the telescopic struts 6b to 8b is a spherical bearing (hereinafter, spherical bearing 9), and this spherical bearing 9 is attached to the adjusting frame member 10 via an attaching member 14. Attached. In FIG. 1, the detailed structure is omitted at all. The spherical bearing 9 connects the telescopic struts 6b to 8b and the adjustment frame member 10 so as to be pivotable within a predetermined angle range.
Although not shown in detail, a spherical rod tip 9b is provided together with a retainer (not shown) in which a large number of steel balls are arranged in a housing 9a.
Is rotatably held. The telescopic columns 6b to 8b are connected to a rod (not shown) connected to the rod tip 9b.

Here, details of the multi-degree-of-freedom mechanism 1 having such a schematic structure will be described in detail with reference to an example of a specific structure. First, the periphery of the first to third guide rails 3 to 5 on the base 2 can be configured as shown in FIG. In this case, the first guide rail 3 will be representatively described.
That is, an electric actuator 15 that moves the moving member 11 that moves the first guide rail 3 dynamically is disposed close to the first guide rail 3. The electric actuator 15 has a screw shaft 16 arranged parallel to the first guide rail 3, and has a female screw member 17 that moves on the screw shaft 16, and connects the female screw member 17 to the moving member 11. ing. In addition, the screw shaft 16
Is supported by bearings 18 and 19, and one end of the bearing 18 is protruded and connected to a motor 21 via a coupling 20.

A base pipe 6a of the first column 6 is swingably mounted on the moving member 11 together with the telescopic drive mechanism 22 (see FIGS. 3 and 4). In this case, the base pipe 6a and the expansion / contraction drive mechanism 22 are provided on a bridge member 25 which is held via a swing shaft 24 on support frames 23, 23 projecting from both ends of the moving member 11.

Next, an example of the first support 6 and the telescopic drive mechanism 22 will be described with reference to FIG. A screw shaft 26 is arranged along a longitudinal center axis of the base pipe 6 a of the first support 6, and a female screw member 27 is screwed into the screw shaft 26. A guide pipe 28 disposed from the bridge member 25 to the top of the base pipe 6a is inserted through the female screw member 27. An end of a pair of linear motion shafts 29, which are telescopic struts 6b, is fixed to the female screw member 27, and protrudes from the top of the base pipe 6a so as to be able to advance and retreat, and the upper end supports the spherical bearing 9 at the upper end. Connected to member 30.

On the other hand, the telescopic drive mechanism 22 includes a motor 31 mounted on the bridge member 25 and a bridge member 2.
5, a gear box 32 provided on the lower surface. In the gear box 32, transmission gears 33a, 33b, 3
3c are arranged in mesh with each other, and the power from the motor 31 is transmitted to the female screw member 27 via the transmission gears 33a to 33c. The above-described electric actuator 15 for moving the moving member 11 dynamically, and the telescopic drive mechanism 22 of the first column 6 (the electric actuator for the other moving members 12 and 13, the second and third column 7). , 8 as well)
Are configured to operate based on software set in a control device (not shown).

As described above, the hybrid-type multi-degree-of-freedom mechanism 1 according to the present invention is configured, so that the electric actuator 15 and the telescopic drive mechanism 22 are combinedly driven and controlled based on software in the control device. The moving members 11 to 13 are moved on the first to third guide rails 3 to 5, and the first to third support portions 6 to
By expanding and contracting each of the eight telescopic struts 6b to 8b,
The rotation of the adjustment frame member 10 can be freely adjusted in a desired direction (see FIG. 6). In this case, the adjustment frame member 10
Are the first to third support portions 6 to 8 and the electric actuator 1
5 and the expansion / contraction drive mechanism 22 can be adjusted in multiple axes by performing a combined drive control operation. As described above, the platform is supported by controlling the operation of the six links by individual drive sources as in the past. It can be seen that the structure is simplified as compared with the adjusting method. At that time,
The first to third support portions 6 to 8 are respectively movable members 11 to 1.
In addition to the displacement of 3, the telescopic struts 6b to 8b extend and contract, respectively, so that the operation range is expanded. Further, the operation control can be facilitated.

The hybrid multi-degree-of-freedom mechanism according to the present invention includes first to third guide rails 3 to 3 arranged on a base 2.
5 may be arranged so as to be directed on a line forming a triangle (see FIG. 7). In the first to third guide rails 3 to 5 arranged on a square line on the base 2,
The bridge members for attaching the base pipes 6a, 7a to the moving members 11, 12 of the first and second guide rails 3, 4 are located inside each other with respect to the rectangular lines of the first and second guide rails 3, 4, respectively. Attachment may be performed by being deflected by a predetermined angle α. With such a structure, it is possible to contribute to prevention of shaking during operation.

[0013]

According to the present invention, the so-called telescopic type and the opening / closing type are combined as the control structure of the column supporting the platform, so that the operation of the six links up to now can be controlled by individual drive sources. The structure is simplified compared to the method of supporting and adjusting the platform by
In addition, the operation range can be expanded, and the control can be further simplified.

[0014]

[Brief description of the drawings]

FIG. 1 is an abbreviated and schematic perspective view showing one embodiment of a hybrid type multi-degree-of-freedom mechanism according to the present invention.

FIG. 2 is an explanatory plan view showing an example of a specific detailed structure of a guide rail and a support portion in the hybrid-type multi-degree-of-freedom mechanism shown in FIG. 1;

FIG. 3 is an explanatory side view of a specific detailed structure of a guide rail and a support section shown in FIG. 2;

FIG. 4 is another side explanatory view showing the mounting structure of the column shown in FIG. 3;

FIG. 5 is an abbreviated cross-sectional view showing an example of a specific detailed structure of a support portion and an expansion / contraction drive mechanism.

FIG. 6 is an abbreviated and schematic perspective view for explaining the operation of the hybrid-type multi-degree-of-freedom mechanism shown in FIG. 1;

FIG. 7 is an abbreviated, schematic perspective view showing another embodiment of the hybrid multi-degree-of-freedom mechanism according to the present invention.

FIG. 8 is an oblique and schematic perspective explanatory view showing another embodiment of the hybrid multi-degree-of-freedom mechanism according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Multi-degree-of-freedom mechanism 2 Base 3 First guide rail 4 Second guide rail 5 Third guide rail 6 First support part 7 Second support part 8 Third support part 6a, 7a, 8a Base pipe 6b, 7b, 8b Telescopic column 9 Spherical bearing 10 Adjustment frame member 11, 12, 13 Moving member 14 Mounting member 15 Electric actuator 16 Screw shaft 17 Female screw member 18, 19 Bearing 20 Coupling 21 Motor 22 Telescopic drive mechanism 23 Support frame 24 Oscillating shaft 25 Bridge member 26 Screw shaft 27 Female screw member 28 Guide pipe 29 Linear motion shaft 30 Upper bridge member 31 Motor 32 Gear box 33a, 33b, 33c Transmission gear

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-9-42405 (JP, A) JP-A-8-215977 (JP, A) JP-A 8-90462 (JP, A) JP-A-4- 176584 (JP, A) JP-A-60-155394 (JP, A) JP-A-63-150178 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23Q 3/04 B23Q 1 / 25 B25J 11/00

Claims (2)

(57) [Claims] 1. A polygonal a plurality of linear guide means on platform
The guides are arranged so as to be oriented in the side directions, and the guides are respectively provided with the end portions of the columns so as to be movable along the guides by the driving means. A structure for supporting the member to be adjusted via a joint, wherein each of the struts is configured to be extendable and retractable by a telescopic drive mechanism, and driving means at an end of the strut is provided.
And the expansion and contraction drive mechanism are appropriately combined and controlled ,
A hybrid-type multi-degree-of-freedom mechanism wherein the positions of the ends of the respective support portions are adjusted along guide means, and the support portions are respectively adjusted to extend and contract to adjust the position of the adjustable member. 2. The method according to claim 1, wherein the first guide rail, the second guide rail, and the third guide rail are formed in a square or a triangle on the base.
Arranged so as to orient the side direction of forming, the first struts to be movable respectively by the drive means on these first to third guide rails, a second strut portion, the distal end of the third strut The first to third support portions are each configured to support an adjustable member on a vertex side via a universal joint, and the first
The third to third support portions are each configured to be extendable and retractable by an expansion and contraction drive mechanism, and the distal ends of the first to third support portions are moved and adjusted on the first to third guide rails by the driving means. A hybrid multi-degree-of-freedom mechanism wherein the adjustable member is positioned and adjusted by adjusting the expansion and contraction of each of the third support portions by an expansion and contraction drive mechanism.