JP3109489B2 - Multi-axis drive mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-axis driving mechanism, and more particularly to a multi-axis driving mechanism capable of driving a plurality of driving shafts by one driving source.

[0002]

2. Description of the Related Art Conventionally, driving of each axis of a three-axis driving robot has been performed by three motors arranged on each axis.

[0003]

However, since one motor and a driver for controlling the motor are required for each axis, a three-axis drive robot requires three motors and its driver, and Had become expensive. In addition, since the motors are arranged on the respective axes, the weight becomes heavy, and the load capacity of the robot is heavy, and the operation speed is slow. These apply not only to robots, but also to other multi-axis drive mechanisms.

The present invention has been made in view of the above problems, and has as its object to provide a multi-axis drive mechanism that can drive a plurality of drive shafts with one drive source.

[0005]

A multi-axis drive mechanism according to the present invention is a multi-axis drive mechanism having first to n-th drive shafts. First to n-th axis driving pulleys connected in series in the n-th order, and the k-th axis driving pulley provided between the (k-1) -th axis driving pulley and the k-th axis driving pulley when connected. the k shaft clutch and (k is a natural number of 2 to n), respectively said first to n to transmit the rotational force of the motor to the pulley
And first to n-axis drive wires suspended on the shaft drive pulley, the first, is spaced apart from the first drive shaft direction from the n-axis drive pulley to the first to n-axis drive wire N suspended first shaft driven pulleys and the k-th to n-th shafts respectively passing through the first to (k-1) -axis directions.
Direct the shaft drive wire in the direction of the k-th drive shaft (n−k +
1) k-th driven pulleys and the (k-1) -th shaft, respectively.
The drive wire is spaced apart from the drive wire in the k-th drive axis direction.
And the k-th to n-th drive wires are suspended (n−k).
+1) and the k axis driven pulley, is connected to the first shaft driving wire to move to the first drive axis the (n-
1) a first shaft moving member pieces of the second driven pulley are provided, respectively the first to (m -1) moves with the shaft moving member further the m-axis movement range of the first m-axis drive wire And moves in the direction of the m-th drive shaft to move the (n−m)
An m-th axis moving member provided with an (m + 1) -th driven pulley (m is a natural number not less than 2 and not more than (n-1));
Moving with the (n-1) th axis moving member and further moving the nth axis
The n-th drive is connected to the n-th axis movement area of the drive wire.
And an n-th axis moving member that moves in the axial direction .

Another multi-axis driving mechanism according to the present invention is a multi-axis driving mechanism having a driving direction in the xyz-axis direction of a three-dimensional orthogonal coordinate system, one motor and a driving shaft of this motor being sequentially connected. An x-axis drive pulley, a z-axis drive pulley, and a y-axis drive pulley, and provided between the x-axis drive pulley and the z-axis drive pulley to transmit the torque of the motor to the z-axis drive pulley when connected. a z-axis clutch, a y-axis clutch provided between the z-axis drive pulley and the y-axis drive pulley and configured to transmit the rotational force of the motor to the y-axis drive pulley when connected with the z-axis clutch. ,
A y-axis driven pulley spaced apart from the y-axis pulley in the y-axis direction, a y-axis driving wire connected between the y-axis driving pulley and the y-axis driven pulley and moved in the y-axis direction,
a z-axis driving wire, a z-axis driven pulley connected to the z-axis driving pulley by the z-axis driving wire, a driven pulley for directing the z-axis driving wire in the y-axis and z-axis directions, and x
An axis driving wire, an x axis driven pulley connected to the x axis driving pulley by the x axis driving wire, a driven pulley for directing the x axis driving wire in the y axis, z axis and x axis directions, and the y axis A y-axis moving member that is connected to the driving wire and moves in the y-axis direction; and a z-axis moving member that moves with the y-axis moving member and that is connected to the z-axis moving region of the z-axis driving wire and moves in the z-axis direction. A member and an x-axis moving member that moves together with the z-axis moving member and is connected to the x-axis moving area of the x-axis driving wire and moves in the x-axis direction.

In the present invention, one motor and (N-
1) Since the N-axis can be driven by the combination of the clutches, it is possible to reduce the cost of the device incorporating the multi-axis drive mechanism. In addition, it is not necessary to dispose a motor on each shaft, so that the strength of each shaft can be appropriately reduced and the weight can be reduced, so that a motor having a small driving torque can be used.

In the multi-axis driving mechanism according to the present invention, for example, when the driving direction is the xyz-axis direction of the three-dimensional orthogonal coordinate system, when the z-axis clutch and the y-axis clutch are connected, the y-axis driving pulley, When the z-axis drive pulley and the x-axis drive pulley rotate, driving force is applied to the y-axis moving member, the z-axis moving member, and the x-axis moving member via the y-axis driving wire, the z-axis driving wire, and the x-axis driving wire. Is transmitted, but x
Since the moving amount of the x-axis moving member due to the rotation of the shaft driving pulley and the moving amount of the x-axis moving member due to the movement of the z-axis moving member are offset, the x-axis moving member does not move, and the z-axis driving pulley is not moved. The amount of movement of the z-axis moving member due to the rotation of and the amount of movement of the z-axis moving member due to the movement of the y-axis moving member cancel each other, so that the z-axis moving member does not move. Therefore, only the y-axis moving member moves in the y-axis direction.

When the y-axis clutch is disengaged and only the z-axis clutch is connected, the y-axis drive pulley does not rotate and the driving force is not transmitted to the y-axis moving member.
The shaft moving member does not move. Further, a z-axis drive pulley and x
The driving force is transmitted to the z-axis moving member and the x-axis moving member via the z-axis driving wire and the x-axis driving wire by the rotation of the shaft driving pulley. Since the moving amount of the member and the moving amount of the x-axis moving member due to the movement of the z-axis moving member cancel each other, the x-axis moving member does not move, and only the z-axis moving member moves in the z-axis direction.

Further, when the z-axis clutch and the y-axis clutch are disengaged, the driving force is transmitted to only the x-axis moving member via the x-axis driving wire by rotating the x-axis driving pulley. Therefore, only the x-axis moving member is driven in the x-axis direction.

In the present invention, the combination of one motor and two clutches can easily drive three axes of a three-axis multi-axis mechanism, which is the most general multi-axis drive mechanism.

When the y-axis moving member, the z-axis moving member, and the x-axis moving member slide, and a linear guide for linearly moving the moving members is provided, the moving members can be easily linearly moved. If a driven pulley for changing the suspension direction of the y-axis drive wire, the z-axis drive wire, and the x-axis drive wire is provided, each drive wire can be easily routed on the device.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a three-axis driving mechanism which is a multi-axis driving mechanism according to an embodiment of the present invention will be specifically described with reference to the accompanying drawings. FIG. 1 is a perspective view showing a three-axis drive mechanism according to an embodiment of the present invention, and FIG. 2 is a perspective view as seen from the back. FIG. 3 is a diagram schematically showing an engagement relationship between a wire and a pulley.

As shown in FIGS. 1 and 2, the three-axis drive mechanism of the present embodiment has one motor 1 as a drive source. Three pulleys are connected in series to the drive shaft 33 of the motor 1, and the x-axis drive pulley 2, the z-axis drive pulley 4, and the y-axis drive pulley 19 are arranged in this order from the side closer to the motor 1. I have. A z-axis clutch 3 is provided between the x-axis drive pulley 2 and the z-axis drive pulley 4. When the z-axis clutch 3 is connected, the rotational force of the motor 1 is transmitted to the z-axis drive pulley 4. And when cut, the z-axis drive pulley 4
Does not rotate. A y-axis clutch 5 is provided between the z-axis drive pulley 4 and the y-axis drive pulley 19. When the y-axis clutch 5 and the z-axis clutch 3 are connected, the rotational force of the motor 1 is reduced. When transmitted to the y-axis drive pulley 19 and one of the clutches is disconnected, the y-axis drive pulley 19 does not rotate. Therefore, the rotational force of the motor 1 is always transmitted to the x-axis drive pulley 2 and when the z-axis clutch 3 is connected,
Also transmitted to the z-axis drive pulley 4, the y-axis clutch 5 and z
When the shaft clutch 3 is connected, the y-axis drive pulley 19
Is also transmitted to

Further, the three-axis driving mechanism of this embodiment has three driven axes, the y-axis is arranged in the horizontal direction,
The axes are arranged in a vertical direction, and the x-axis is arranged in a horizontal direction orthogonal to the y-axis. Note that a y-axis drive unit 6, a z-axis drive unit 7, and an x-axis drive unit 8 are provided as drive units for driving in each axis direction.

A y-axis drive wire 22 is suspended from the y-axis drive pulley 19. The y-axis drive wire 22 is connected to the y-axis via pulleys 23c and 12c provided on the substrate of the drive mechanism.
It is suspended on a driven pulley 24 a provided on the shaft unit 6. The pulley 12c and the pulley 24a are separated in the y-axis direction, and the wire 22 driven by the drive pulley 19 moves in the y-axis direction between the pulleys 12c and 24a. y
A y-axis guide block 16 is connected to the axis drive wire 22 by a y-axis clamp 9, and the y-axis guide block 16 is a y-axis guide 13 which is a linear guide provided on the y-axis unit 6 in parallel with the y-axis. And can be moved in the y-axis direction. Also, the y-axis guide block 16
Is connected to a z-axis unit 7. Therefore, when the y-axis drive wire 22 is driven, the z-axis unit 7 moves in the y-axis direction.

Further, a z-axis drive wire 21 is suspended from the z-axis drive pulley 4. This wire 21 is connected to a driven pulley 2 provided coaxially with a driven pulley 24a via pulleys 23b and 12b provided on a substrate of a driving mechanism.
4b. And this z-axis drive wire 2
Reference numeral 1 denotes a pair of pulleys provided between the pulley 12b and the pulley 24b in the y-axis direction in the vicinity of the y-axis unit 6 in the y-axis direction. The suspension direction is z by pulleys 24d and 24f.
The axis is changed upward, and is suspended by a driven pulley 24 h provided at the upper end of the z-axis unit 7. As a result, the wire 21 is driven by the rotation of the z-axis drive pulley 4, and the pulleys 24d and 24f in the z-axis unit 7 and the driven pulley 2
4h in the z-axis direction. z
A z-axis guide block 17 is connected to the axis drive wire 21 by a z-axis clamp 10. The z-axis guide block 17 is a z-axis guide 14 which is a linear guide provided in the z-axis unit 7 in parallel with the z-axis. And can be moved in the z-axis direction. Also, z-axis guide block 1
An x-axis unit 8 is connected to 7. Therefore, when the z-axis drive wire 21 is driven, the x-axis unit 7 moves in the z-axis direction.

Further, an x-axis drive wire 20 is suspended from the x-axis drive pulley 2. The wire 20 is suspended on a driven pulley 24c provided coaxially with a driven pulley 24b via pulleys 23a and 12a provided on a substrate of a driving mechanism. The x-axis drive wire 20 extends in the y-axis direction near the y-axis unit 6 between the pulley 12a and the pulley 24c. The suspension direction is changed upward in the z-axis direction by a pair of provided driven pulleys 24 e and 24 g, and is suspended by a driven pulley 24 i provided at the upper end of the z-axis unit 7. Further, the suspension direction of the wire 20 is changed in the x-axis direction by a pair of driven pulleys 24j and 24k provided at an appropriate interval in the x-axis unit 8, and the driven pulley 24m provided at the tip of the x-axis unit 8 Is suspended. This allows
The wire 20 is driven by the rotation of the x-axis drive pulley 2 and moves in the x-axis direction between the pulleys 24j and 24k in the x-axis unit 8 and the driven pulley 24m. The x-axis drive wire 20 is connected to the x-axis clamp 11 by x-axis.
The x-axis guide block 18 is connected to the x-axis guide block 18, which is a linear guide provided in parallel with the x-axis on the x-axis unit 8.
It is movable in the axial direction. Therefore, when the x-axis drive wire 20 is driven, the x-axis guide block 18 moves in the x-axis direction.

In the three-axis drive mechanism of the present embodiment having the above-described structure, as shown in FIG.
When (see FIG. 1) is cut off, only the x-axis drive pulley 2 rotates and the x-axis drive wire 20 is driven in the y-axis direction, the z-axis direction, and the z-axis direction. When the z-axis clutch 3 is connected and the y-axis clutch 5 (see FIG. 1) is disconnected,
When the x-axis drive pulley 2 and the z-axis drive pulley 4 rotate together, x
The axis driving wire 20 drives in the y-axis direction, the z-axis direction, and the z-axis direction, and the z-axis driving wire 21 drives in the y-axis direction and the z-axis direction. Further, when the z-axis clutch 3 and the y-axis clutch 5 are connected together, the three pulleys of the x-axis drive pulley 2, the z-axis drive pulley 4, and the y-axis drive pulley 19 rotate together and the x-axis drive wire 20 Drives in the y-axis, z-axis, and x-axis directions, the z-axis drive wire 21 drives in the y-axis and z-axis directions, and the y-axis drive wire 22 drives in the y-axis direction.

Next, the operation principle of this embodiment will be described. FIG. 4 is a schematic diagram of the three-axis drive mechanism according to the embodiment of the present invention, in which the drive mechanisms of the z-axis and y-axis portions are extracted. FIGS. 5 and 6 are schematic diagrams showing a wire path related to the movement of the z-axis guide block. In FIG.
x-axis drive pulley 2 and its associated x-axis drive wire 2
0, the x-axis unit 8, the x-axis guide block 18 and the like (all shown in FIG. 1) are omitted, but in reality, as described above, the z-axis drive pulley 4 or the y-axis drive pulley 19
Is rotating, the x-axis drive pulley 2 is simultaneously rotating, whereby the x-axis drive wire 20 is driven in the y-axis direction, the z-axis direction, and the x-axis direction.

First, a case where the z-axis clutch 3 is disconnected and only the x-axis drive pulley 2 is rotating will be described with reference to FIGS. When the x-axis drive pulley 2 is rotated so as to feed the x-axis drive wire 20 by the length α, only the x-axis guide block 18 connected to the x-axis movement area of the x-axis drive wire 20 moves α in the x-axis direction. I do.

Next, a case where the z-axis clutch 3 is connected, the y-axis clutch 5 is disconnected, and the x-axis drive pulley 2 and the z-axis drive pulley 4 are rotating will be described with reference to FIGS. I do. x-axis drive pulley 2 and z-axis drive pulley 4
Rotate at the same time. Here, the effects of both rotations will be described separately.

When the x-axis drive pulley 2 is rotated so as to feed the x-axis drive wire 20 by the length α, the x-axis drive wire 2
X-axis guide block 1 connected to 0 x-axis movement range
8 moves α in the x-axis direction. Also, the z-axis drive wire 21
When the z-axis driving pulley 4 is rotated so as to send out the length α, the z-axis guide block 17 connected to the z-axis moving area of the z-axis driving wire 21 as shown in FIG. It moves and is located at the position 17a. At the same time, when the z-axis guide block 17 moves in the z-axis direction, the x-axis unit 8 connected thereto moves in the z-axis direction, and pulleys 24j and 24j with respect to the pulley 24i as shown in FIG.
Since the position of k moves α in the z-axis direction, the x-axis guide block 18 connected to the x-axis movement region of the x-axis drive wire 20 moves (−α) in the x-axis direction (−α is the opposite direction). The same applies hereinafter).

Actually, since the x-axis drive pulley 2 and the z-axis drive pulley 4 are rotating at the same time, the amount of movement of the x-axis guide block 18 in the x-axis direction is offset, and the x-axis guide block 18 does not move. Only the z- axis guide block 17 moves α in the z-axis direction.

Next, referring to FIGS. 1 to 6, the z-axis clutch 3 and the y-axis clutch 5 are connected together, and the x-axis drive pulley 2, the z-axis drive pulley 4, and the y-axis drive pulley 19 are rotating. The case will be described. x-axis drive pulley 2,
Although the z-axis drive pulley 4 and the y-axis drive pulley 19 rotate simultaneously, the actions of the three rotations will be described separately here.

When the x-axis drive pulley 2 is rotated so as to feed the x-axis drive wire 20 by the length α, the x-axis drive wire 2
X-axis guide block 1 connected to 0 x-axis movement range
8 moves α in the x-axis direction. Also, the z-axis drive wire 21
When the z-axis driving pulley 4 is rotated so as to send out the length α, the z-axis guide block 17 connected to the z-axis moving area of the z-axis driving wire 21 as shown in FIG. Moving. At the same time, as the z-axis guide block 17 moves in the z-axis direction, the x-axis guide block 18 moves (-α) in the x-axis direction.

Actually, since the x-axis drive pulley 2 and the z-axis drive pulley 4 are simultaneously rotating, the movement amounts of the x-axis guide block 18 in the x-axis direction are offset, and the x-axis guide block 18 does not move. , Z-axis guide block 17 moves α in the z-axis direction.

Further, when the y-axis drive pulley 19 is rotated so as to feed the y-axis drive wire 22 by the length α, the y-axis guide block 16 connected to the y-axis drive wire 22 moves by α in the y-axis direction. . That is, the y-axis guide block 16
Is moved by α in the y-axis direction and is located at the position 7a. At this time, as shown in FIG. 3, since the positions of the pulleys 24d and 24f with respect to the pulley 24b move α in the y-axis direction, the z-axis guide block 17 connected to the z-axis movement region of the z-axis drive wire 21 Actually, the x-axis drive pulley 2, the z-axis drive pulley 4, and the y-axis drive pulley 19 that move in the z-axis direction (−α) rotate simultaneously, so that the z-axis guide block 17 moves in the z-axis direction. Are offset, and the z-axis guide block 17 moves by α in the y-axis direction and is located at the position 17b. That is, only the y-axis guide block 16 connected to the z-axis unit 7 moves α in the y-axis direction.

As described above, in this embodiment, when the z-axis clutch 3 is disconnected, the x-axis guide block 18
Moves in the x-axis direction, and when the z-axis clutch 3 is connected and the y-axis clutch 5 is disconnected, the z-axis guide block 17 moves in the z-axis direction. When the clutch 5 is connected together, the y-axis guide block 16 moves in the y-axis direction.

As described above, since three axes can be driven by a combination of one motor and two clutches, an apparatus incorporating a three-axis drive mechanism can be reduced in cost. In addition, it is not necessary to dispose a motor on each shaft, so that the strength of each shaft can be appropriately reduced and the weight can be reduced, so that a motor having a small driving torque can be used.

In this embodiment, the y-axis is arranged in the horizontal direction, the z-axis is arranged in the vertical direction, and the x-axis is arranged in the horizontal direction orthogonal to the y-axis.
The three-axis orthogonal coordinates are not limited thereto. The directions of the x-axis, the y-axis, and the z-axis are not limited to horizontal or vertical directions, and can be arbitrarily arranged.

Further, in the present invention, it is possible to drive many shafts with one motor without limitation on the number of shafts driven by increasing the number of clutches. In the case of n-axis drive, the (k + 1) -th axis is arranged on the guide block of the k-th (1 ≦ k ≦ n) axis, and the order of the drive pulleys is n-th, (n−1) Th, ... second,
By arranging the driving pulleys in series with the first and connecting the driving pulleys with a clutch, one motor and (n-1) clutches can drive the n-axis.

[0033]

As described in detail above, according to the present invention,
The N-axis can be driven by a combination of one motor and (N-1) clutches, so that a device incorporating a multi-axis drive mechanism can be inexpensive. In addition, it is not necessary to dispose a motor on each shaft, so that the strength of each shaft can be appropriately reduced and the weight can be reduced, so that a motor having a small driving torque can be used.

[Brief description of the drawings]

FIG. 1 is a schematic diagram illustrating a three-axis drive mechanism according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a three-axis driving mechanism according to the embodiment of the present invention.

FIG. 3 is a schematic diagram showing a path of a driving wire of a three-axis driving mechanism according to the embodiment of the present invention.

FIG. 4 is a view showing z in a three-axis drive mechanism according to an embodiment of the present invention.
It is the schematic diagram which took out the drive mechanism of the axis | shaft and the y-axis part.

FIG. 5 is a schematic diagram showing a wire path related to movement of a z-axis guide block.

FIG. 6 is a schematic diagram showing a wire path related to movement of a z-axis guide block.

[Description of Signs] 1; motor 2; x-axis drive pulley 3; z-axis clutch 4; z-axis drive pulley 5; y-axis clutch 6; y-axis unit 7, 7a; z-axis unit 8; x-axis unit 9; Axis clamp 10; z-axis clamp 11; x-axis clamp 12a, 12b, 12c, 23a, 23b, 23c, 2
4a, 24b, 24c, 24d, 24e, 24f, 24
g, 24h, 24i, 24j, 24k, 24m; driven pulley 13; y-axis guide 14; z-axis guide 15; x-axis guide 16; y-axis guide block 17, 17a, 17b; z-axis guide block 18; Block 19; y-axis drive pulley 20; x-axis drive wire 21; z-axis drive wire 22; y-axis drive wire 33;

Claims (4)

(57) [Claims] 1. A multi-axis drive mechanism having first to n-th drive shafts, one motor and first to n-th drive shafts connected in series in the first to n-th order to the drive shaft of the motor. A shaft drive pulley, and a k-axis clutch provided between the (k-1) -th shaft drive pulley and the k-th shaft drive pulley, respectively, for transmitting the torque of the motor to the k-axis drive pulley when connected. and (k is 2 or more and n or less of a natural number), respectively the first
A first to an n- th axis driving wire suspended from the first to the n-th axis driving pulley;
First to n-axis drive wire are spaced in the drive shaft direction has traversed the n first shaft driven pulley which is suspended, respectively the first to (k-1) axially The k-th to n-th drive wires are oriented in the direction of the k-th drive shaft (n-
k + 1) th driven pulleys and (k− ) driven pulleys, respectively.
1) Separated from the shaft drive wire in the k-th drive shaft direction
And the k-th to n-th axis drive wires are suspended.
(N-k + 1) and the number of the k axis driven pulley, before moving to the first drive axis is connected to the first shaft drive wire
Serial and (n-1) first axis moving member pieces of the second driven pulley are provided, each of the first through (m -1) In addition the first m-axis drive wire moves together with the shaft moving member first connected to the m- axis movement area, and moves in the direction of the m-th drive shaft to move the (n-
m) number of the (m + 1) the m-axis moving member driven pulley is provided between the (m is 2 or more (n-1) following a natural number), before
Moving together with the first to (n-1) th axis moving members,
The n-axis driving wire is connected to the n-axis moving area, and the
a multi-axis driving mechanism, comprising: an n-th axis moving member that moves in the direction of n driving axes . 2. A multi-axis driving mechanism having a driving direction in the xyz-axis direction of a three-dimensional rectangular coordinate system, a motor and an x-axis driving pulley sequentially connected to a driving shaft of the motor.
An axial drive pulley and a y-axis drive pulley, a z-axis clutch provided between the x-axis drive pulley and the z-axis drive pulley to transmit the rotational force of the motor to the z-axis drive pulley when connected, A y-axis clutch that is provided between the shaft drive pulley and the y-axis drive pulley and transmits the torque of the motor to the y-axis drive pulley when connected with the z-axis clutch; A y-axis driven pulley, which is spaced apart in the axial direction, a y-axis driving wire that connects the y-axis driving pulley and the y-axis driven pulley and moves in the y-axis direction, A z-axis driven pulley connected to the z-axis drive pulley by the z-axis drive wire, a driven pulley for directing the z-axis drive wire in the y-axis and z-axis directions, an x-axis drive wire, and the x-axis drive wire X An x-axis driven pulley connected to a driving pulley, a driven pulley for directing the x-axis driving wire in the y-axis, z-axis and x-axis directions, and a y-axis connected to the y-axis driving wire and moving in the y-axis direction A moving member, a z-axis moving member that moves together with the y-axis moving member, is further connected to the z-axis moving region of the z-axis driving wire, and moves in the z-axis direction;
A multi-axis driving mechanism, comprising: an x-axis moving member that moves together with the axis moving member and is further connected to the x-axis moving area of the x-axis driving wire and moves in the x-axis direction. 3. The y-axis moving member, the z-axis moving member, and x
3. The multi-axis drive mechanism according to claim 2, wherein the shaft moving member has a linear guide that slides and moves each of the moving members linearly. 4. The multi-axis drive mechanism according to claim 2, further comprising a driven pulley that changes a suspension direction of the y-axis drive wire, the z-axis drive wire, and the x-axis drive wire.