JP4101725B2 - Rotating pair device - Google Patents

Description

The present invention relates to a rotary pair device that can be applied as a joint for connecting a parallel mechanism with a mechanical element related to a bearing that rotates around three orthogonal axes.

Conventionally, so-called universal joints have been used as joint devices used as mechanical elements such as precision positioning devices and industrial robots. In addition to the universal joint, a rotating pair device has been used. The performance required for this rotating pair device includes high rigidity, high accuracy, and smooth operation, but the higher the accuracy of the device, the smaller the amount of movement of the rotation center, including the play during operation. desirable.

Up to now, there are the following documents as an example of the rotating pair device . For example,
(Japanese Patent Application No. 2000-308348) In this, a rod having a spherical tip is surrounded and supported by a retainer holding a large number of rolling elements via the spherical tip, and the retainer is mounted on a housing. In a spherical bearing in which the rod is pivotable within a range of a predetermined angle, the base end side of the rod is coupled to a connecting pipe connected to the apparatus main body via a bearing means, and a spherical tip portion of the rod is Pins are provided so as to penetrate in the radial direction and perpendicular to the axial direction of the rod, and the retainer has a spherical shape with openings facing each other. A hole and a long hole formed in a direction orthogonal to the mutually facing opening surfaces of the retainer, and the pin at the spherical tip of the rod is connected to the retainer. Insert the spherical tip of the rod into the retainer so that it can be inserted into the slot formed in the retainer, and attach it to the housing together with the retainer. The rod is displaced around the rod axis and around the axis perpendicular to the rod axis. The configuration is made possible.

In the rotary pair device as described above, although it is highly accurate and highly rigid, the relative positional relationship between the retainer, the spherical tip, and the housing does not vary greatly in order to cause the retainer to follow the movement of the rod. However, it is slightly difficult to manufacture and the manufacturing cost increases.
The present invention has been proposed in order to solve such problems, and provides a rotary pair device that does not move around the center of rotation, is simpler in construction, easier to manufacture, and reduces manufacturing costs. For the purpose.

In order to solve the above-described problem, in the present invention, in claim 1, a first base shaft having a spherical tip portion, and a pinching member capable of sandwiching the spherical tip portion in an axial direction passing through the center of the spherical tip portion A second base shaft provided at the tip, and the holding member has a pair of holding arms opposed to each other, each of the holding arms is provided with a preload applying means, and the pair of holding arms The preload applying means presses a large number of rolling members held by a cage via a disk member surrounding and supporting the large number of rolling members to sandwich the spherical tip, and the first base shaft A rotation pair device is proposed in which a second base shaft is connected to be rotatable about an axis passing through the center of the spherical tip.
In the present invention, the spherical member according to claim 2 has first and second base shafts each having a nipping member that can be sandwiched in the axial direction passing through the center of the spherical member and perpendicular to each other. The sandwiching member includes a plurality of rolling members held in a cage by a preload applying means provided on each sandwiching arm between a pair of opposing sandwiching arms constituting the sandwiching member. Pressing through a disk member that surrounds and supports these many rolling members in axial directions perpendicular to each other through the center of the member, sandwiching the spherical member, the first base shaft and the second base shaft, The present invention proposes a rotary pair device that is configured to be pivotably connected around the mutually orthogonal axes.
In the present invention, the spherical member according to claim 3 has first and second base shafts each having a pinching member provided at the tip thereof in an axial direction perpendicular to each other through the center of the spherical member. The holding member of one of the first and second basic shafts is held by a preload applying means provided on each holding arm between a pair of opposed holding arms constituting the holding member. Pressing a large number of rolling members held in the vessel in one axial direction through the center of the spherical member via a disk member surrounding and supporting the large number of rolling members, sandwiching the spherical member, The other pinching member is a spherical member via a contact disk member whose tip is directly in contact with the spherical member by a preload applying means provided on each of a pair of holding arms constituting the holding member. Sandwiching the first base shaft and the second base shaft, We suggest turning pair apparatus where the structure around an axis rotatably coupled.
According to the present invention, in claim 4, the bearing means capable of rotating around the axis passing through the axial center of the first and second base shafts on the base end side of one of the first and second base shafts. We propose a rotating pair device that is equipped with
According to the present invention, in the fifth aspect of the present invention, the rotation of the first and second base shafts is provided with bearing means that can rotate about the axis passing through the axial center of the first and second base shafts. Propose an even device .
In the present invention also, in claim 6, wherein the preloading means, turning pair device configured with preloading screw threaded into pressed inwardly axis from each outside of the pair of holding arms in the holding member Propose.
Further, according to the present invention, in claim 7, the retainer is provided with a through-hole having a predetermined diameter at the center, and a predetermined number of arc-shaped receiving portions are provided on the outer periphery to receive the rolling member so as to surround the through-hole. We propose a rotating pair device composed of an annular thin member.

According to the present invention, there is no movement of the operation center during operation, and therefore there is no backlash in the support state of the base shaft, and high precision is required, which is suitable for precision measuring instruments, precision processing machines, precision positioning mechanisms, etc. It can be said that it is a device , and the manufacturing cost can be suppressed.

  According to claim 1, the first base shaft and the second base shaft are respectively connected to the spherical tip portion via a large number of rolling members held by a cage under preload by preload applying means provided on the holding arm. Smooth rotation around the axis passing through the center is possible.

  According to the second aspect, the first base shaft and the second base shaft are the holding means via the multiple rolling members held by the cage under the preload by the preload applying means provided on the holding arms, respectively. Smooth rotation around the axes perpendicular to each other through the center of the sandwiched spherical member becomes possible.

  According to the third aspect, the first base shaft and the second base shaft are pressed and clamped via the disk member that surrounds and supports a large number of rolling members under the preload by the preload applying means provided on the holding arm. Smooth rotation is possible around one axis passing through the center of the spherical member.

  According to the fourth aspect, the bearing means provided on the base end side of the first base shaft or the second base shaft can be rotated around the axis passing through the axial center of the first base shaft or the second base shaft. Operation with a high degree of freedom is possible.

  According to the fifth aspect, the bearing means provided on the base end sides of both the first and second base shafts can be rotated around the axis passing through the axial center of the first and second base shafts. High degree of operation is possible.

  According to the sixth aspect of the present invention, the preload-applying screw is operated from the outside of each of the pair of holding arms in the holding member and is screwed inwardly toward the axial line, so that the spherical tip portion or the spherical member is inserted. An appropriate preload can be applied through a large number of rolling members held by the disk member and the cage, and the axial center line of the second base axis can be made to coincide with the center of the spherical tip portion.

  According to the seventh aspect of the present invention, the retainer is provided with a through hole having a predetermined diameter at the center, and a circular ring thin section provided with a predetermined number of arc-shaped receiving portions on the outer periphery for receiving the rolling member so as to surround the through hole. Since it consists of a member, processing is easy and manufacturing cost can be held down.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a rotating pair device according to the present invention will be described with reference to the accompanying drawings.
FIG. 1 shows a rotary pair device 1. The rotary pair device 1 includes a first base shaft 2 having a spherical tip portion 2a and an axis line passing through the center O of the spherical tip portion 2a by sandwiching the spherical tip portion 2a by a holding member 3 provided at the tip. The second base shaft 4 that can rotate about i is substantially constituted.
The spherical tip 2a and the sandwiching member 3 are preload applying means 5 and 5 provided on the sandwiching arms 3a and 3a, respectively, between a pair of sandwiching arms 3a and 3a that constitute the sandwiching member 3. Thus, a large number of rolling members 7 held by the cage 6 are inserted into the spherical tip 2a with a suitable preload applied to the spherical tip 2a via a disk member 8 surrounding and supporting the many rolling members 7. The part 2a is sandwiched.

The first base shaft 2 is formed with a screw portion 2b on the base end side, and is screwed into an apparatus main body (not shown).
Further, the spherical tip 2a of the first basic shaft 2 is subjected to high-precision spherical processing with high sphericity on the outer periphery.

  The holding member 3 is substantially U-shaped, and the second base shaft 4 is screwed to the center of the base portion 3b orthogonal to the pair of holding arms 3a and 3a. In this case, the second base shaft 4 has its axial center line orthogonal to the axis i passing through the center O of the spherical tip 2a, and similarly aligned with the axis j passing through the center O of the spherical tip 2a. It should be noted that the first base shaft 2 and the axial line j are in an arrangement relationship with the axial line j.

  The preload applying means 5 is a preload applying screw that presses the disk member 8 by screwing into screw holes 9, 9 formed in opposing surfaces of the pair of holding arms 3 a, 3 a of the holding member 3. 10 is comprised. In this case, the preload imparting screw 10 presses the disk member 8 from the outside of the pair of holding arms 3a and 3a toward the inside of the axis i and toward the spherical tip 2a (FIG. 2). reference).

  The cage 6 is composed of an annular thin member, and is arranged so that its center is aligned with an axis i passing through the center O of the spherical tip 2a. The cage 6 is provided with a through hole 11 having a predetermined diameter at the center. A predetermined number of arc-shaped receiving portions 12 for receiving the rolling members 7 are provided on the outer periphery so as to surround the through-holes 11.

The disk member 8 has a recess C for receiving a large number of rolling members 7 arranged in the receiving portion 12 of the cage 6 so as to surround the same. Further, an insertion hole 13 is provided in the center of the disk member 8 for inserting a preload applying screw 10 to be described later and applying a preload to the spherical tip 2a via the disk member 8.
When the many rolling members 7 are arranged together with the cage 6 in the recess C in the disk member 8 and come into contact with the spherical tip 2a, in this case, the spherical tip 2a, the rolling member 7, and the disk member When the contact points with the recess C are connected, the line connecting the contact points is in a direction passing through the center O of the spherical tip 2a, so that the large number of rolling members 7 are not scattered. The preload applied by the preload applying screw 10 is suitably applied to the spherical tip portion 2 a via the disk member 8.

Next, the preload-applying screw 10 has a distal end portion 10 a that can be inserted into the insertion insertion hole 13 in the disk member 8 at the distal end, and screw holes 9 and 9 in the pair of holding arms 3 a and 3 a of the holding member 3. A screw portion 10b having a diameter larger than that of the tip portion 10a, which can be screwed into the head, is configured. That is, when the tip portion 10a of the preload imparting screw 10 is inserted into the fitting insertion hole 13 in the disc member 8, the screw portion 10b hits the periphery of the fitting insertion hole 13, and the preload imparting screw 10 is screwed to press the disc member 8. It is a configuration.
The preload-applying screw 10 can press the disk member 8 toward the disk member 8 disposed on the opposing surfaces of the pair of holding arms 3a, 3a in the holding member 3. 10c and 10c are exposed on the outer surfaces of the pair of holding arms 3a and 3a, respectively.

In the rotary pair device 1 configured as described above, the first base shaft 2 and the second base shaft 4 are under preload by the preload applying means 5 provided on the pair of holding arms 3a and 3a in the holding member 3, respectively. A smooth rotation operation around the axis i passing through the center O of the spherical tip 2a is possible via a large number of rolling members 7 held by the cage 6 (see FIG. 3).

The first base shaft 2 and the second base shaft 4 are respectively attached to an apparatus body (not shown), and the apparatus bodies are smoothly connected to each other by a smooth rotation operation around an axis i passing through the center O of the spherical tip 2a. Freedom of movement can be brought about.
The first base shaft 2 and the second base shaft 4 have a relationship in which the center line in the major axis direction is aligned with the axis line j passing through the center O of the spherical tip 2a, and the preload to the spherical tip 2a The direction is directed to the center O of the spherical tip 2a, and is concentrated on the center O of the spherical tip 2a. Further, a large number of rolling members 7 held by the cage 6 are Since it is in a state of rolling on a concentric circle centering on the axis i passing through the center O of the portion 2a, the first base shaft 2 and the second base shaft 4 are around the axis i passing through the center O of the spherical tip 2a as described above. Can be smoothly rotated.
At this time, the preload direction is concentrated at the center O of the spherical tip 2a, the stress balance between each element is achieved, and the center of rotation moves around the axis i passing through the center O. Therefore, it can be said that the rotating pair device is more suitable for precision measuring instruments, precision processing machines, precision positioning mechanisms, etc., in which the support state of the base shaft is not loose and high accuracy is required.

  The retainer 6 that holds a large number of rolling members 7 is formed of an annular thin member, and has a through hole 11 having a predetermined diameter at the center, and a predetermined number on the circumference so as to surround the through hole 11. However, the degree of freedom is limited as compared with the spherical cage, but the manufacturing is easy and the manufacturing cost can be reduced. it can.

The rotary pair device 1 according to the present invention can also be configured as follows.
In this rotary pair device 1, as shown in FIG. 4, bearing means 12 that can turn around an axis j passing through the axial center of the first and second base shafts 2, 4 on the base end side of the first base shaft 2. Is provided. In addition, in this rotation couple device 1, since another structure part and an element are fundamentally the same structures as the above-mentioned rotation pair device 1, those description is abbreviate | omitted.
That is, in this rotary pair device 1, the bearing means 12 is attached to a mounting base 15 in which the first base shaft 2 is fixed to a device body (not shown) with fastening bolts 14, 14 on the base end side of the first base shaft 2. The first and second base shafts 2 and 4 are attached so as to be rotatable around an axis j passing through the center in the axial direction.
The bearing means 12 is configured to hold a large number of steel balls 17 on the outer ring 16.

In such a rotating pair device 1, in addition to a smooth one-degree-of-freedom movement between the device main bodies, the first and second base shafts 2 can be moved by the smooth rotation around the axis i passing through the center O of the spherical tip 2 a. Thus, a two-degree-of-freedom movement is possible that rotates through the bearing means 12 around an axis j passing through the center of the four axial directions (see FIG. 5).
Of course, the bearing means 12 can be provided on the base end side of the second base shaft 4.

The rotary pair device 1 according to the present invention can also be implemented as follows.
In other words, in the rotating pair device 1 shown in FIG. 6, the spherical member 18 (see FIG. 7) is sandwiched in the axis i and k directions perpendicular to each other through the center O of the spherical member 18. The first and second base shafts 2 and 4 are provided at the tip.
In this case, the first base shaft 2 and the second base shaft 4 are respectively narrowed between the pair of gripping arms 3a and 3a constituting the gripping member 3 at the tip of each of the first and second base shafts 2 and 4. By means of preload applying means 5 provided on the holding arms 3a, 3a, the axis i, k directions passing through the center of the spherical member 18 and orthogonal to each other through a number of rolling members 7 held by the cage 6 The spherical member 18 is sandwiched and connected so as to be rotatable around the axes i and k orthogonal to each other.
The spherical member 18 is a sphere that has been processed with a high sphericity with a diameter larger than that of the rolling member 7 held by the cage 6.
In this rotating pair device 1, the retainer 6 and the preload applying means 5 have the same configuration as the retainer 6 and the preload applying means 5 in the rotating pair device 1 shown in FIGS. Is omitted.

According to the rotary pair device 1 as described above, the first base shaft 2 and the second base shaft 4 are held in the cage 6 under preload by the preload applying means 5 provided on the holding arms 3a and 3a, respectively. Through the rolling member 7, it is possible to smoothly rotate about the axes i and k that are perpendicular to each other through the center of the spherical member 18 held by the holding means 6 (see FIG. 8).

Furthermore, the rotary pair device 1 according to the present invention can also be implemented as follows.
That is, as shown in FIG. 9, in this rotary pair device 1, as in FIG. Between the pair of holding arms 3a and 3a constituting the holding members 3 and 3 respectively provided, the spherical member 18 is sandwiched by the preload applying means 5 provided on the holding arms 3a and 3a, respectively. It is configured to be connected so as to be rotatable around orthogonal axes i and k.
In this case, bearing bodies 19 and 19 that are rotatable around an axis j orthogonal to the axes i and k are mounted between the base portions 3b and 3b of the holding members 3 and 3, respectively.
In addition, in this rotation couple device 1, since another structure part and an element are fundamentally the same structures as the above-mentioned rotation pair device 1, those description is abbreviate | omitted.
That is, in this rotary pair device 1, the bearing body 19 is provided with a plurality of first and second base shafts 2, 4 around the axis line j on a bearing outer ring 20 fixed to a device main body (not shown) with fastening bolts 14, 14. It is configured to be rotatable via the roller 21.

According to such a rotating pair device 1, it can be rotated around the axes i and k orthogonal to each other, passing through the center O of the spherical member 18, and further, the axes orthogonal to the axes i and k by the bearing bodies 19 and 19. It can be turned around j and can be operated with a higher degree of freedom.

Furthermore, the present invention can also be implemented as the rotating pair device 1 shown in FIGS.
The rotating pair device 1 in this case is configured as a modification of the rotating pair device 1 shown in FIG. That is, in this case, the first base shaft 2 and the second base shaft 4 are configured such that the pair of holding arms 3a and 3a constituting the holding member 3 at the tip of each of the first and second base shafts 2 and 4 are mutually connected. A pair of holding arms constituting the holding member 3 at the distal end of the second base shaft 4 arranged in the direction of the axis i, k passing through the center of the spherical member 18 and orthogonal to each other. 3a and 3a, the preload applying means 5 presses the axis i that passes through the center of the spherical member 18 through the rolling members 7 held by the cage 6 and is orthogonal to each other, while the axis j Between the pair of holding arms 3a, 3a constituting the holding member 3 at the tip of the first base shaft 2 arranged in the direction, the preload applying means 5 is processed so that the tip directly contacts the spherical member 18 without a gap. The spherical member 18 is sandwiched by pressing the contact disk member 22 .

According to such a configuration, the rotating pair device 1 can smoothly rotate around the axis line i that is in contact via the large number of rolling members 7.

It is a partial cross section explanatory view showing one embodiment of a rotation pair device concerning the present invention. It is an exploded view which shows the assembly structure of the rotation couple apparatus shown in FIG. It is operation | movement explanatory drawing from the A direction of the rotation pair apparatus shown in FIG. It is a partial cross section explanatory view which shows another embodiment of the rotation pair apparatus concerning this invention. It is operation | movement explanatory drawing from the A direction of the rotation pair apparatus shown in FIG. It is a partial cross section explanatory view which shows another embodiment of the rotation pair apparatus concerning this invention. It is a cross-sectional explanatory drawing of the rotation pair apparatus shown in FIG. It is operation | movement explanatory drawing from the A direction of the rotation pair apparatus shown in FIG. It is a partial cross section explanatory view which shows another embodiment of the rotation pair apparatus concerning this invention. It is operation | movement explanatory drawing of the rotation pair apparatus shown in FIG. It is a partial cross section explanatory view which shows another embodiment of the rotation pair apparatus concerning this invention. It is a partial cross section explanatory view seen from the A direction of the rotation pair apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rotating pair device 2 1st base shaft 2a Spherical tip part 2b Male thread part 3 Nipping member 3a Nipping arm 3b Base part 4 2nd base axis 5 Preload provision means 6 Cage 7 Rolling member 8 Disk member 9 Screw hole 10 Preload provision Screw 10a Tip portion 10b Screw portion 10c Head portion 11 Through hole 12 Arc-shaped receiving portion 13 Fitting insertion hole 14 Fastening bolt 15 Mounting base 16 Outer ring 17 Steel ball 18 Spherical member 19 Bearing body 20 Bearing outer ring 21 Roller 22 Contact disk member C Concave Place

Claims (7)

A first base shaft having a spherical tip portion, and a second base shaft provided at the tip with a sandwiching member capable of sandwiching the spherical tip portion in an axial direction passing through the center of the spherical tip portion. A pair of gripping arms facing each other, each of the gripping arms is provided with preload applying means, and a plurality of rolling members held by the holder by the preload applying means between the pair of gripping arms. The spherical tip is sandwiched by pressing through a disk member that surrounds and supports the large number of rolling members, and the first base shaft and the second base shaft are rotated around an axis that penetrates the center of the spherical tip. A rotary pair device characterized in that it is configured to be connected in a possible manner. The spherical member has first and second base shafts provided at the tip with a holding member capable of holding the spherical member in an axial direction perpendicular to each other through the center of the spherical member, and the holding member is a holding member A plurality of rolling members held in the cage by the preload applying means provided on the holding arms respectively between a pair of holding arms facing each other, which are perpendicular to each other through the center of the spherical member. The spherical member is sandwiched by pressing through a disk member that surrounds and supports a large number of rolling members in the direction, and the first base shaft and the second base shaft can be rotated around the mutually orthogonal axes. Rotating pair device characterized by being connected to The spherical member has first and second base axes each having a pinching member that can be held in the axial direction perpendicular to each other through the center of the spherical member. The holding member of one of the basic shafts includes a plurality of rolling members held in a cage by a preload applying means provided on each holding arm between a pair of opposing holding arms constituting the holding member. The spherical member is sandwiched and pressed in the direction of one axis passing through the center of the spherical member through a disk member that surrounds and supports the large number of rolling members, and the other base shaft holding member is narrow. The spherical member is sandwiched between a pair of holding arms constituting the holding member by a preload applying means provided respectively through a contact disk member whose tip directly contacts the spherical member, and the first base shaft A configuration in which the second base shaft is connected to be rotatable about the one axis. Turning pair apparatus characterized by the. A bearing means capable of rotating around an axis passing through the axial center of the first and second base shafts is disposed on the base end side of one of the first and second base shafts. Item 4. The rotating pair device according to any one of Items 1 to 3. 4. A bearing means capable of rotating about an axis passing through the axial center of each of the first and second base shafts is provided on the base end side of both the first and second base shafts. The rotation pair apparatus of any one of these. 4. The preload applying means comprises a preload applying screw that is screwed and pressed from the outside of each of the pair of holding arms of the holding member toward the inside of the axis. The rotation pair apparatus of any one. The retainer is formed of an annular thin member provided with a through hole having a predetermined diameter at the center and a circular arc receiving portion on the outer periphery for receiving the rolling member so as to surround the through hole. 4. The rotating pair device according to claim 1, wherein the rotating pair device is one of claims 1 to 3.

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