JP3537002B2 - Object attitude control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[Table of Contents] The present invention will be described in the following order. Industrial applications Conventional technology Problems to be solved by the invention (FIGS. 7 and 8) Means for solving the problem (FIGS. 1 to 6) Action (FIGS. 1 to 6) Example (FIGS. 1 to 6) The invention's effect

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object posture control device, and is suitably applied to, for example, an object posture control device for maintaining the posture of an object in a predetermined state.

[0003]

2. Description of the Related Art Conventionally, various types of mechanisms for holding an object in a predetermined state have been proposed and realized as this kind of object posture control device.

[0004]

However, such an object attitude control device often has a structure in which a drive mechanism is formed so as to protrude to the outside. Therefore, sufficient performance is required in terms of airtightness and safety. It was difficult to demonstrate. That is, for example, in an environment where airtightness is required, such as in a clean room for semiconductor manufacturing or in water with high external pressure, or in a place where safety is required, such as in a city or at home, such an object posture control device is used. There is a problem that makes it difficult to use.

As one method for solving this problem, there has been proposed an object posture control apparatus provided with a gyroscope 1 using a gimbal mechanism as shown in FIG. In the gyroscope 1, the first annular member 3 rotatably supported between two shaft rods 2A and 2B having a parallel relationship with each other can rotate in a direction indicated by an arrow a or in a direction opposite thereto. It has been done. A second annular member 4 slightly smaller than the first annular member 3 is rotatably supported inside the first annular member 3 in a direction indicated by an arrow b or in a direction opposite thereto. That is, the first
The annular member 3 can be rotated in a direction perpendicular to the rotation axis.

A shaft 5 is rotatably supported on the second annular member 4 while maintaining a vertical relationship with a rotation axis of the second annular member 4. Second as axis
A disk 6 slightly smaller than the annular member 4 is integrally formed with the shaft 5. Therefore, the disk 6 can rotate together with the shaft 5 in the direction indicated by the arrow c or in the opposite direction. Thereby, the gyroscope 1 can move an object (not shown) held at a predetermined position on the disk 6 in an arbitrary direction. However, gyroscope 1
Has the function of holding the object in a certain posture,
There is a problem that it is difficult to control the movement of the posture of the object to a predetermined position.

Further, as shown in FIG.
A configuration in which first and second joint members 8 and 9 are rotatably connected to each other has been proposed. That is, the second connecting portion 9A of the second joint member 9 is fitted to the first connecting portion 8A of the first joint member 8, and the first connecting rod 9B of the first joint member 8 is The second shaft 9B of the second joint member 9 can freely rotate at an arbitrary inclination angle. However, since the inclination angle of the second shaft 9B with respect to the first shaft 8B is mechanically restricted, the operating range of the object connected to the second shaft 9B is also limited. For this reason, there is a problem that it is difficult to move the object to be coupled of the second shaft 9B to an arbitrary position.

The present invention has been made in view of the above points, and is intended to propose an object posture control apparatus for moving a predetermined object to a desired position in a place where safety and airtightness are required. It is.

[0009]

According to the present invention, there is provided an object posture control apparatus for holding a first object in a predetermined state, wherein an inner space is covered with a spherical shell having a predetermined thickness. And a first driving means provided in the internal space of the sphere and transmitting the driving force of the first pair of motors to the belt to which the second object is attached via a gear. Object moving means for moving the second object to a desired position close to or in contact with the inner surface of the sphere by moving the second object in the roll direction and the pitch direction by the first driving means; A first magnetic member connected to a holding surface of the first object with respect to the sphere; a material made of a material that attracts the first magnetic member by magnetic force; The second connected to
And the first and second magnetic members are aligned with each other via the sphere, and the first object is slid in the attracted state on the outer surface of the sphere with the movement of the second object. I did it.

[0010]

A sphere is formed by covering the inner space with a spherical shell having a predetermined thickness, and a second object is attached to the inner space of the sphere through the driving force of the first pair of motors via gears. Object moving means having a first driving means for transmitting the belt to the belt, and moving the second object in the roll direction and the pitch direction so as to approach or contact the inner surface of the sphere. To be movably controlled. At this time, by positioning the first object and the second object so as to attract each other by a magnetic force via a sphere,
The first object can be slid in the suction state on the outer surface of the sphere with the movement of the second object.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.

In FIG. 1, reference numeral 10 denotes an object posture control device as a whole, and a sphere (hereinafter referred to as a spherical shell) 11 in which an internal space is covered with a spherical shell having a predetermined thickness in a closed state. The object moving device 12 is held movably in a state in which the object moving device 12 is partially in contact with the inner surface of the spherical shell 11.

The object moving device 12 has a motor 14 fixed to the upper end of a base frame 13 so as to sandwich the base frame 13 therebetween. The rotating rail 15 and the motor 16 are integrally mounted together with the motor 16 so that the rotating rail 15 and the motor 16 are driven in a direction indicated by an arrow α or in a direction opposite thereto (hereinafter, referred to as a roll direction). It is made to be able to rotate.

Here, an arched rail (hereinafter referred to as an arched rail) 15A is provided on the rotating frame 15.
Is formed, and one end of the arched rail 15A is rotatably mounted on a side end of a flange portion 13A extending outward from the base frame 13 and around a rotation axis in the roll direction. . A carriage is slidably mounted on the arched rail 15A (hereinafter, referred to as a spherical-shell-inside movable carriage).
17 is attached, and the trolley 17 inside the spherical shell is a belt 18 stretched along the arched rail 15A.
It is attached to a part of.

In this case, the space between the arched rail 15A and the motor 16 in the rotating frame 15 is configured as shown in FIG. That is, the bevel gear 19 is attached to the output shaft 16A of the motor 16, and the bevel gear 20 having a rotating shaft orthogonal to the rotating shaft of the bevel gear 19 is mounted on the rotating frame 15. It is attached to the belt drive shaft 21 so as to mesh with the gear 19. The pulley 22 mounted coaxially with the belt drive shaft 21 is a bevel gear 2
It is designed to rotate with the rotation of zero.

As described above, after the belt 18 passes through the pulley 22 from the arched rail 15A, the belt 18 travels along the pulley holding portion 23 and the pulley 24 formed to protrude from the rotating frame 15 and further to one end of the arched rail 15A. It is stretched once along the arched rail 15A through the attached pulley 25, and is rotated by the motor 16 in the direction indicated by the arrow β or in the opposite direction (hereinafter, referred to as the arrow β).
This is called a pitch direction).

Thus, the trolley 17 can be moved in the roll direction by the rotation of the motor 14 and also in the pitch direction by the rotation of the motor 16.

At a position facing the base frame 13, there is provided a base frame 26 having the same shape on the lower side of the base frame 13 below the portion where the motor 14 is fixed. 13 and 26 are fixed shafts 27
Are connected to each other. That is, motors 28 and 29 are fixed to the lower part of the motor 14 of the base frame 13 and the upper part of the base frame 26 so as to sandwich the base frames 13 and 26, respectively.
Gears (hereinafter referred to as output shaft gears) 30 and 31 are attached to the output shafts of the motor shaft 29 and the motor shaft 29 so that they face each other.

The fixed shaft 27 has spur gears 32 and 3 attached thereto.
3 are rotatably mounted, each having an output shaft gear 30
And 31 are engaged. The lower ends of the base frames 13 and 26 are provided with the base frame 13.
The rotary drive shafts 34 and 35 are rotatably inserted through the drive shafts 26 and 26, respectively, and one end of each of the rotary drive shafts 34 and 35 is provided with a gear (hereinafter, referred to as a drive shaft gear) 38. And 39 are mounted at opposing positions to engage spur gears 32 and 33, respectively.

At the other end of each of the rotary drive shafts 34 and 35,
Wheels 36 and 37 are mounted so as to abut against the inner surface of the spherical shell 11, respectively, and are configured to independently rotate with the rotation of the corresponding drive shaft gears 38 and 39. At this time, one of the wheels 36 and 37 rotates in the direction indicated by the arrow γ, and the other rotates in the opposite direction to the direction indicated by the arrow γ, at the same angular velocity as each other. It rotates on the inner surface in a direction perpendicular to the rotation drive shafts 34 and 35, that is, in a direction indicated by an arrow θ or in a direction opposite thereto (hereinafter, referred to as a yaw direction).

As shown in the schematic view of the spherical shell 11 and the object moving device 12 in FIG. 3, when the object moving device 12 is driven to rotate in the direction indicated by the arrow θ, a reaction occurs in the rotating operation. In some cases, the spherical shell 11 rotates in the direction indicated by the arrow θ ′, that is, in the direction opposite to the rotation direction of the object moving device 12. However, in this case, the frictional force generated between the spherical shell 11 and the contact portion such as the floor on which the spherical shell 11 is installed is large, or the inertia force of the object moving device 12 causes the wheels 36 and 37 to move. When the inertia force is large, the rotation of the wheels 36 and 37 of the object
And 37, the rotation angle in the opposite direction is larger. As a result, the moving vehicle 17 inside the spherical shell attached to the object moving device 12 changes its direction with respect to a contact portion such as a floor on which the spherical shell 11 is installed.

From predetermined positions below the base frames 13 and 26, the casters 40A and 40B are extended in both outer directions so as to have a vertical relationship with the fixed shaft 27, respectively.
, 41A and 41B are provided, and the base frames 13 and 26 are supported on the inner surface of the spherical shell 11 by the four casters. As a result, the object moving device 12 has the wheels 36 and 37 and the casters 40A and 40B and 41A.
And 41B are held on the inner surface of the spherical shell 11.

As a result, the carriage 17 inside the spherical shell moves the motors 28 and 29 in addition to the roll direction and the pitch direction.
Can also move in the yaw direction by being driven to rotate in opposite directions. As a result, the inside moving shell 17 can freely move to a desired position close to or in contact with the inner surface of the spherical shell 11 inside the spherical shell 11.

Here, as shown in FIG. 4, when the movement of the carriage inside the spherical shell 17 is controlled to a predetermined position inside the spherical shell 11, the back surface side of the inner surface approaching or abutting the predetermined position. A trolley (hereinafter, referred to as a spherical shell outer moving cart) 42 which is slidable on the outer surface is placed on the outer surface consisting of: The carts 42 are mutually connected by magnetic force in a non-contact manner.

That is, the spherical shell inner moving carriage 17 has a structure in which a table 17B made of a magnet is magnetized or bonded on a connecting member 17A connected to the belt 18. Further, the spherical shell outer moving cart 42 is provided with a table
A predetermined number of spherical wheels 42B made of, for example, steel (hereinafter referred to as steel balls) 42B are slidably attached to the lower side of A.

In a state in which the spherical shell outer moving cart 42 is placed on the outer surface of the spherical shell 11 so as to be aligned with the spherical shell inner moving cart 17, the table 17B of the spherical shell inner moving cart 17 and the spherical shell Since the table 42A of the external moving carriage 42 attracts each other by magnetic force, the spherical outer moving carriage 4
2 is adsorbed on the outer surface of the spherical shell 11. At this time, since a predetermined number of steel balls 42B are slidably attached to the spherical shell outer moving cart 42, the spherical shell outer moving cart 42 moves along with the movement of the spherical shell inner moving cart 17 so that the spherical shell 11 moves. It can slide on the outer surface in any direction.

In FIG. 1, the object moving device 12 is provided with a control section (not shown), and the control section controls the motors 14, 16, 28 and 2 based on an external control command.
9 are respectively driven and controlled.

In the above configuration, the object moving device 12 controls the driving of the motor 14 inside the spherical shell 11 so that the carriage 17 inside the spherical shell can be moved in the roll direction, and also controls the driving of the motor 23. Thus, the spherical shell inside moving cart 17 can also be moved in the pitch direction. Further, by controlling the driving of the motors 36 and 37 so that they rotate in opposite directions to each other, the carriage 17 inside the spherical shell can be moved in the yaw direction.

As a result, the carriage 17 inside the spherical shell can freely move inside the spherical shell 11 to a desired position close to or in contact with the inner surface of the spherical shell 11. Further, in this case, the outer shell moving vehicle 42 is placed on the outer surface of the spherical shell 11 so as to be aligned with the inner shell moving vehicle 17, and the inner shell moving vehicle 17 and the outer shell moving vehicle 4 are placed.
2 are attracted to each other by a magnetic force in a non-contact state, so that the outer moving shell 42 can freely slide on the outer surface of the spherical shell 11 along with the inner moving carriage 17. it can.

According to the above configuration, a driving mechanism is provided which can freely move the inside moving shell 17 to a desired position close to or in contact with the inner surface of the spherical shell 11 inside the spherical shell 11, By positioning the inner shell moving carriage 17 and the outer shell moving carriage 42 so as to attract each other by the magnetic force via the spherical shell 11, the outer shell moving carriage 4 is formed.
2 can be slid freely on the outer surface of the spherical shell 11 while being sucked, with the movement of the spherical shell internal moving carriage 17. As a result, the object posture control device 10 can move the spherical outer moving carriage 42 to a desired position on the outer surface of the spherical shell 11 at a place where safety and airtightness are required.

That is, the object posture control device 10 is used in a clean room for semiconductor manufacturing because the object moving device 12 as a drive system is airtight inside the spherical shell 12 having a strong characteristic against external pressure. In the case of using underwater with high external pressure or the like, it is possible to maintain the posture of a conveyed object or the like or to perform a conveyance operation to a desired position while preventing dust and water from being mixed into the drive system.

Since the object posture control device 10 has a spherical structure without protrusions as a whole, the object posture control device 10 is also excellent in safety and can be applied as a robot that performs work in a home where children and elderly people are located. Is also possible.

In the above-described embodiment, as shown in FIG.
2 is to control the position of the inner shell moving carriage 17 so that the outer shell moving carriage 42 is always held at a position located vertically above the outer surface of the spherical shell body 11, and The present invention can be applied by being incorporated in a transfer device (not shown) for safely transferring the object 45 placed on the table 42A of the movable cart 42.

In the above embodiment, the spherical shell 11
Although the case where the spherical shell external moving cart 42 is placed on the outer surface of the above has been described, the present invention is not limited to this. For example, as shown in FIG. By attaching the three arms 50 to 52), the arm may be applied as a highly versatile joint.

Further, in the above-described embodiment, a case has been described in which the table 17A of the spherical shell inside moving cart 17 is made of a magnet and the table 42A of the spherical shell outside moving cart 42 is made of a magnetic material. However, the present invention is not limited to this, and the table 17A may be made of a magnetic material and the table 42A may be made of a magnet. Further, both the tables 17A and 42A may be made of magnets.

Further, in the above-described embodiment, the case where the spherical shell outer movable cart 42 is slidably movable on the outer side surface of the spherical shell body 11 via the steel ball 42B has been described. However, the present invention is not limited to this. By injecting, for example, an oxygen cylinder as a sliding means from the outer surface side of the spherical shell body 11 or the spherical shell external moving vehicle 42 side to generate an air film, the spherical shell external moving vehicle 42 is The body 11 may be slidably levitated from the outer surface.

Further, in the above-described embodiment, when moving the spherical inner moving carriage 17 in the pitch direction, the moving body 17 is moved by the belt 18 stretched along the arched rail 15A. However, the present invention is not limited to this, and, for example, the carriage 17 inside the spherical shell may be moved on the arched rail 15A as a linear motor.

Further, in the above-described embodiment, the control unit provided in the object moving device 12 includes the motors 14, 16, 28
And 29 have been described as being executed based on a control command from the outside.
The present invention is not limited to this. For example, a program for driving each motor may be read from a ROM in which a predetermined program is stored in advance, and the control unit may drive and control each motor based on the program.

[0039]

As described above, according to the present invention, a sphere having an inner space covered with a spherical shell having a predetermined thickness is provided, and the driving of the first pair of motors is provided in the inner space of the sphere. An object moving means having a first driving means for transmitting a force to a belt to which a second object is attached via a gear is provided so as to move the second object in a roll direction and a pitch direction. A desired position close to or in contact with the inner surface of the sphere is movably controlled. At this time, the first object and the second object are aligned with each other via a sphere so as to attract each other by a magnetic force, so that the first object and the second object are aligned with each other.
With the movement of the object, the sphere can be slid in the suction state on the outer surface. As a result, it is possible to realize an object posture control device that can move the first object to a desired position in a place where safety and airtightness are required on the outer surface of the sphere.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an entire configuration of an embodiment of an object posture control device according to the present invention.

FIG. 2 is a partial cross-sectional view showing a configuration for moving a sphere internal moving carriage in a pitch direction.

FIG. 3 is a schematic diagram for explaining the operation of the object moving device in the yaw direction.

FIG. 4 is a partial cross-sectional view for explaining the relationship between the carts on the inner and outer surfaces of the spherical shell.

FIG. 5 is a perspective view showing an object posture control device according to another embodiment.

FIG. 6 is a perspective view showing an object posture control device according to another embodiment.

FIG. 7 is a schematic diagram illustrating a configuration of a conventional gyroscope.

FIG. 8 is a perspective view showing a configuration of a conventional universal joint.

[Explanation of symbols]

10 ... object posture control device, 11 ... spherical shell, 12 ...
Object moving device, 13, 26... Base frame, 14, 1
6, 28, 29 ... motor, 15 ... rotating frame, 1
5A: arched rail, 17: trolley inside spherical shell,
18 ... belt, 27 ... fixed shaft, 36, 37 ... wheels, 42 ... spherical shell external moving cart.

Claims (5)

(57) [Claims] An object posture control device for holding a first object in a predetermined state, comprising: a sphere having an inner space covered by a spherical shell having a predetermined thickness; and a sphere provided in the inner space of the sphere. First pair of motors
The driving force of the second object is attached to the
The first drive means for transmitting the first drive to the
Means for moving the second object in the roll and pitch directions
So as to be moved to, and the object moving means for controlling movably the second object in the desired position adjacent or abuts the inner surface of the spherical body, connected to the holding surface with respect to the sphere of the first object a first magnetic member which is, the first <br/> such from the magnetic member and the material attraction Te cowpea the magnetic force is, connected to the proximity or contact surface of the inner surface of the spherical body of the second object A second magnetic member, wherein the first and second magnetic members are aligned with each other via the sphere, and the first object is moved out of the sphere with the movement of the second object. An object posture control device characterized in that the object is slid in a suction state on a side surface. 2. The object moving means transmits a driving force of a second pair of motors to a pair of wheels via gears.
Having a second driving means for transmitting, the second driving means
Move the second object on the inner surface of the sphere in the yaw direction
2. A rotating device according to claim 1, wherein said rotating member is rotated.
Object attitude control device. 3. The inner space of the sphere is sealed.
The object posture control device according to claim 1, wherein: 4. The object moving means, Based on a control command from outside the sphere, the first or
Comprises a controller for controlling the second pair of motors.
An object posture control device according to claim 1 or 2, wherein
Place. 5. The control unit according to claim 1, A ROM in which a predetermined program is stored;
M or the first or second program
Claims characterized in that a pair of motors is controlled.
Item 5. The object posture control device according to item 4.