JP6576733B2 - Alignment apparatus and alignment method - Google Patents

Description

  The present invention relates to an alignment apparatus and an alignment method for automatically performing alignment in at least two x-axis and y-axis directions, such as an XY stage and an industrial robot, and more specifically, a single driving motor. The present invention relates to an alignment apparatus and an alignment method for performing alignment in at least two axes.

  Various alignment apparatuses that automatically perform alignment in biaxial directions have been proposed (see, for example, Patent Document 1).

  Patent Document 1 discloses an arm having a pen tip that is an alignment part at the tip, an x-axis direction moving motor that moves the arm in the x-axis direction, and a y-axis direction moving motor that moves the arm in the y-axis direction. An alignment apparatus comprising:

  This alignment device can move the arm to an arbitrary position in the xy plane by controlling the rotation speed of each motor. Since the two motor drivers for controlling the two motors independently and the two motors are essential for the alignment device, it is difficult to reduce the size of the alignment device and reduce its manufacturing cost. Met.

No. 03-024393

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an alignment apparatus and an alignment method for performing alignment in at least two axial directions with a single driving motor.

An alignment apparatus of the present invention that achieves the above object is an alignment apparatus that moves an alignment portion in at least two axial directions, an intermediate structure in which a driving motor is disposed, and the intermediate structure between A first structure and a second structure arranged in a sandwiched state, wherein the intermediate structure is placed between the first structure and the motor to rotate only in one direction of the motor. A first transmission mechanism that transmits to the second structure, and a second transmission mechanism that is installed between the second structure and transmits only the rotation in the other direction of the motor to the second structure. A mechanism is configured to slide or turn the intermediate structure relative to the first structure by rotating the motor in the one direction; and the second transmission mechanism rotates the motor in the other direction. Intermediate structure A structure for sliding or pivoting the second structural member for, characterized in that said alignment portion on the second structural member is installed.

The alignment method of the present invention is the alignment method in which the alignment portion is moved at least in the biaxial direction, and the first structure and the second structure are sandwiched between the intermediate structures on which the driving motor is disposed. And transmitting only rotation in one direction from the motor to the first structure and sliding or turning the intermediate structure with respect to the first structure, and from the motor in the other direction. Only the rotation is transmitted from the intermediate structure to the second structure, and the alignment is installed in the second structure by the step of sliding or turning the second structure with respect to the intermediate structure. It is characterized by positioning the parts.

  According to the alignment apparatus and the alignment method of the present invention, the alignment portion in the biaxial direction can be aligned by controlling the rotation direction of one motor, so that the structure of the alignment apparatus can be reduced in size. Control can be simplified. Since the positioning device has an upper, middle, and lower three-layer structure and the motor is installed in the middle, power may be transmitted from the intermediate structure to the first structure or the second structure by the transmission mechanism. Therefore, the first transmission mechanism and the second transmission mechanism can be realized with a simple structure. It is advantageous to reduce the manufacturing cost of the alignment device.

  The two transmission directions are the x-axis direction and the y-axis direction intersecting each other, and the first transmission mechanism is configured to slide the intermediate structure in the x-axis direction with respect to the first structure, and the second transmission mechanism is the intermediate structure The second structure can be slid in the y-axis direction with respect to the body. According to this configuration, alignment in the xy direction can be realized with one motor.

  A first transmission mechanism coupled directly or indirectly to the motor to transmit a rotational force in only one direction; a first guide groove formed in the first structure and extending in the y-axis direction; and one end A first drive arm portion connected to the first clutch mechanism and formed with a projecting body inserted into the first guide groove at the other end may be provided.

  The second transmission mechanism is connected directly or indirectly to the motor to transmit the rotational force only in the other direction, the second guide groove formed in the second structure and extending in the x-axis direction, and one end Can be configured to include a second drive arm portion that is connected to the second clutch mechanism and is formed with a protruding body that is inserted into the second guide groove at the other end.

  Compare the movement of the intermediate structure relative to the first structure in the x-axis direction or the movement of the second structure relative to the intermediate structure in the y-axis direction by adopting a crank structure for the first transmission mechanism or the second transmission mechanism. It is advantageous to perform at a high speed. Further, since the transmission mechanism does not have a meshing portion such as a gear, it is advantageous for suppressing the generation of noise.

  The second structure includes a drive unit to which power is applied from the motor via the second transmission mechanism, a frame-like body that surrounds the outer periphery of the drive unit, and connection and disconnection of the drive unit and the frame-like body. It has a connecting tool to control, and it can be set as the composition where an alignment part is arranged on a frame-like object.

  Since the drive unit can be separated from the frame-like body, the alignment device can be protected by separating the frame-like body from the drive unit when the alignment part receives an external force due to a collision or the like.

  The second structure is a lifting mechanism that converts the relative movement of the drive unit with respect to the frame-like body that is separated and stopped by the coupler into movement of the alignment portion along the z-axis direction orthogonal to the x-axis direction and the y-axis direction. It can be set as the structure provided with. Positioning can be performed in the triaxial direction.

  The biaxial direction is the θ direction turning around the x-axis direction and the z-axis direction intersecting the x-axis direction, and the first transmission mechanism slides the intermediate structure relative to the first structure in the x-axis direction. The second transmission mechanism can be configured to pivot the second structure in the θ direction with respect to the intermediate structure. According to this configuration, alignment in the x-axis direction and the θ direction can be realized with one motor.

  The intermediate structure includes a timing belt disposed on the drive shaft of the motor and a pulley around which the timing belt is wound, and the first transmission mechanism is connected to one side of the rotation shaft of the pulley, and the second side is A configuration in which two transmission mechanisms are installed can be adopted.

  Since the motor and the first or second transmission mechanism are connected via the timing belt, the timing belt is disengaged when the intermediate structure or the second structure receives an external force such as a collision during the movement. The movement of the intermediate structure or the like can be stopped. It is advantageous to improve safety.

It is explanatory drawing which illustrates the outline | summary of the position alignment apparatus of this invention. It is explanatory drawing which illustrates the alignment apparatus of FIG. 1 in a plane. It is explanatory drawing which illustrates the state which moved the intermediate structure of the alignment apparatus of FIG. It is explanatory drawing which illustrates the state which moved the 2nd structure of the alignment apparatus of FIG. It is explanatory drawing which illustrates the outline | summary of the internal structure of an intermediate structure. It is explanatory drawing which illustrates the intermediate structure of FIG. 5 in the AA cross section. It is explanatory drawing which illustrates a mode that an intermediate structure moves with respect to a 1st structure. It is explanatory drawing which illustrates a mode that an intermediate structure moves with respect to a 1st structure. It is explanatory drawing which illustrates a mode that an intermediate structure moves with respect to a 1st structure. It is explanatory drawing which illustrates a mode that an intermediate structure moves with respect to a 1st structure. It is explanatory drawing which illustrates a mode that a 2nd structure moves with respect to an intermediate structure. It is explanatory drawing which illustrates a mode that a 2nd structure moves with respect to an intermediate structure. It is explanatory drawing which illustrates a mode that a 2nd structure moves with respect to an intermediate structure. It is explanatory drawing which illustrates the modification of a 1st transmission mechanism. It is explanatory drawing which illustrates the state which isolate | separated the 2nd structure of FIG. 12 into the drive part and the frame-shaped body. It is explanatory drawing which illustrates the structure which implement | achieves the alignment of az axis direction. It is explanatory drawing which illustrates the structure which implement | achieves the alignment of az axis direction. It is explanatory drawing which illustrates the modification of an intermediate structure. It is explanatory drawing which illustrates the intermediate structure of FIG. 18 in a BB cross section. It is explanatory drawing which illustrates a mode that the intermediate structure of FIG. 19 moves. It is explanatory drawing which illustrates a mode that the intermediate structure of FIG. 19 moves. It is explanatory drawing which illustrates the modification of a 2nd guide groove. It is explanatory drawing which illustrates the modification of an intermediate structure. It is explanatory drawing which illustrates the state which moved the intermediate structure and 2nd structure of the alignment apparatus of FIG. It is explanatory drawing which illustrates the outline | summary of the non-contact electric power feeding unit using the alignment apparatus of this invention. It is explanatory drawing which illustrates the housing | casing of FIG. 25 in CC cross section.

  Hereinafter, an alignment apparatus and alignment method of the present invention will be described based on the embodiments shown in the drawings.

As illustrated in FIG. 1 and FIG. 2, the alignment device 1 of the present invention is installed on the ground or the like and fixed to the first structure 2, and is movable in the x-axis direction with respect to the first structure 2. An intermediate structure 3 to be installed, and a second structure 4 disposed on the top plate 3a of the intermediate structure 3 and installed so as to be movable in the y-axis direction with respect to the intermediate structure 3 are provided. . That is, the alignment apparatus 1 is configured with a three-layer structure in which the intermediate structure 3 is sandwiched between the first structure 2 and the second structure 4. In the figure, the x-axis direction and the y-axis direction are directions that form a horizontal plane and are orthogonal to each other, and the vertical direction that is orthogonal to the x-axis direction and the y-axis direction is shown as the z-axis direction.

  The intermediate structure 3 is constrained by walls 5 projecting upward from the first structure 2 at both ends in the y-axis direction, and is arranged so as to be movable only in the x-axis direction. A driving motor 6 is disposed in the intermediate structure 3, and the intermediate structure 3 can move in the x-axis direction with respect to the first structure 2 by the power of the motor 6.

  The second structure 4 is arranged so as to be movable only in the y-axis direction with respect to the intermediate structure 3. For example, a feeding coil is installed in the second structure 4 as the alignment portion 7. This alignment apparatus 1 is used for a non-contact power supply unit that supplies power after aligning a power supply coil with respect to a power receiving coil 9 of, for example, an AGV (automated transport cart) 8.

  Use of the alignment apparatus 1 is not limited to the non-contact power supply unit. A robot hand or welding torch may be installed at the alignment portion 7 to be used as an industrial robot, or a jig for holding a panel member or the like may be installed to be used as an XY stage.

  The x-axis direction and the y-axis direction in the alignment apparatus 1 only need to intersect each other, and the directions are not limited to the above. The x-axis direction and the y-axis direction may form a vertical plane, and the angle formed by the x-axis direction and the y-axis direction may be an angle smaller than 90 °.

  As illustrated in FIGS. 2 to 4, the alignment apparatus 1 first measures the position of the power receiving coil 9 of the AGV 8 with a distance sensor 10 or the like installed in the vicinity of the feeding coil 7 that is the alignment portion 7. In the figure, the intermediate structure 3 is indicated by a broken line for explanation.

  A sheet 8 a is disposed on the side wall of the AGV 8 in the vicinity of the power receiving coil 9. This sheet 8 a is arranged to make it easier for the distance sensor 10 to detect the boundary line of the power receiving coil 9 embedded in the AGV 8. The sheet 8a is configured by a sheet having a function that allows the distance sensor 10 to detect the boundary between the power receiving coil 9 and the side wall of the AGV 8, such as a black non-reflective sheet.

  Instead of arranging the sheet 8a, the power receiving coil 9 may be arranged in a state of protruding from the side wall of the AGV 8, and the boundary line may be detected by the distance sensor 10. It is not limited to said structure, What is necessary is just the structure which can determine the position which detects the place of the receiving coil 9 and makes the feeding coil 7 approach.

  As illustrated in FIG. 3, the intermediate structure 3 is moved horizontally in the x-axis direction with respect to the first structure 2 by the power of the motor 6 installed in the intermediate structure 3. At this time, the second structure 4 disposed above the intermediate structure 3 is in a state of being stopped relative to the intermediate structure 3, and thus moves in the x-axis direction together with the intermediate structure 3. The movement of the intermediate structure 3 is stopped at a position where the power feeding coil 7 is in front of the power receiving coil 9.

  After the alignment in the x-axis direction is completed as illustrated in FIG. 4, the second structure 4 is horizontally moved in the y-axis direction with respect to the intermediate structure 3 by the power of the motor 6. The power feeding coil 7 is brought close to the power receiving coil 9, and the movement of the second structure 4 is stopped when the distance between the power feeding coil 7 and the power receiving coil 9 reaches a predetermined distance. Thereafter, power feeding is started.

  The movement of the intermediate structure 3 and the second structure 4 is automatically controlled based on the measurement value acquired by the distance sensor 10. After the feeding is completed, the feeding coil 7 returns to the initial position illustrated in FIG.

  As illustrated in FIGS. 5 and 6, the motor 6 is arranged in the intermediate structure 3 and is configured by a motor capable of controlling the number of rotations such as a stepping motor. A motor driver 11 that controls the rotational speed of the motor 6 is arranged inside the intermediate structure 3. In FIG. 5, the first structure 2 and the second structure 4 are indicated by broken lines for the sake of explanation.

  As illustrated in FIG. 6, a pulley 12 is disposed at a substantially central portion of the intermediate structure 3 in plan view. A timing belt 14 is wound around the drive shaft 13 and the pulley 12 of the motor 6.

  As illustrated in FIG. 5, a rotating shaft 15 extending in the vertical direction z is fixed to the pulley 12. A bearing holder 16a is installed on the inner wall surface of the intermediate structure 3 below the pulley 12, and the first clutch mechanism 16 is installed on the outer wall surface side while being held by the bearing holder 16a. A rotary shaft 15 is connected to the upper surface side of the first clutch mechanism 16.

  A first drive arm portion 17 extending in the horizontal direction is connected to the lower surface side of the first clutch mechanism 16. One end of the first drive arm portion 17 is connected to the first clutch mechanism 16, and a projecting body 18 that extends downward is provided on the other end.

  A bearing holder 19a is installed on the inner wall surface of the intermediate structure 3 above the pulley 12, and a second clutch mechanism 19 is installed on the outer wall surface side while being held by the bearing holder 19a. A rotating shaft 15 is connected to the lower surface side of the second clutch mechanism 19.

  A second drive arm portion 20 extending in the horizontal direction is connected to the upper surface side of the second clutch mechanism 19. One end of the second drive arm portion 20 is connected to the second clutch mechanism 19, and a projecting body 21 that extends upward is provided on the other end so as to project the second structure 4.

  The first clutch mechanism 16 and the second clutch mechanism 19 are configured by a one-way clutch or an electromagnetic clutch that transmits only one-side rotation. The first clutch mechanism 16 transmits only rotation in one direction of the rotation shaft 15 to the first drive arm portion 17, and the second clutch mechanism 19 transmits only rotation in the other direction of the rotation shaft 15 to the second drive arm portion 20. To do.

  Therefore, when the motor 6 is rotated forward, for example, the first drive arm portion 17 is rotated and the second drive arm portion 20 is stopped. When the motor 6 is rotated reversely, the second drive arm portion 20 is rotated and the first drive arm portion 20 is rotated. The drive arm unit 17 is stopped. That is, the rotation of the first drive arm unit 17 and the second drive arm unit 20 can be controlled by one motor 6.

  By changing the rotation direction of the motor 6, power can be selectively transmitted from the motor 6 disposed in the intermediate structure 3 to the first structure 2 or the second structure 4. Therefore, the alignment of xy in two axes can be realized with one motor 6. Since one motor 6 and one motor driver 11 can achieve alignment in the biaxial direction, it is advantageous in reducing the size of the alignment apparatus 1 and reducing its manufacturing cost.

  As illustrated in FIGS. 7 to 10, a first guide groove 22 extending in the y-axis direction is provided on the upper surface of the first structure 2. The protruding body 18 of the first drive arm portion 17 is inserted into the first guide groove 22. In this embodiment, the first guide groove 22 is formed at a substantially central portion in the x-axis direction of the first structure 2. In the drawing, the outer edges of the intermediate structure 3 and the top plate 3a installed on the intermediate structure 3 are shown by broken lines for the sake of explanation.

  In FIG. 7, the intermediate structure 3 is located at the left end of the first structure 2, and the protrusion 18 is located at the approximate center of the first guide groove 22 in the y-axis direction. This position is the initial position of the intermediate structure 3.

  When the motor 6 is rotated forward, only the first drive arm portion 17 starts to rotate. As illustrated in FIG. 8, the protrusion 18 moves downward along the first guide groove 22 as the first drive arm portion 17 rotates, and the intermediate structure 3 is the right end of the first structure 2. Move towards. At this time, since the intermediate structure 3 is restrained from moving in the y-axis direction by the wall portion 5 of the first structure 2, it moves along the x-axis direction.

  As illustrated in FIGS. 9 and 10, the protruding body 18 that has reached the vicinity of the end portion (lower side of the drawing) of the first guide groove 22 is folded and moved toward the other end (upper side of the drawing) of the first guide groove 22. To do. In FIG. 10, the protruding body 18 is located at the approximate center of the first guide groove 22 in the y-axis direction, and the intermediate structure 3 is located at the right end of the first structure 2.

  By switching or stopping the rotation direction of the motor 6 when the intermediate structure 3 reaches an arbitrary position, the intermediate structure 3 is stopped at an arbitrary position between the initial position with respect to the first structure 2 and the right end. be able to.

  As described above, the power of the motor 6 is transmitted to the first guide groove 22 via the first clutch mechanism 16 and the first drive arm portion 17, whereby the intermediate structure 3 with respect to the first structure 2. Moves in the x-axis direction. The first clutch mechanism 16, the first drive arm portion 17, and the first guide groove 22 that transmit the power of the motor 6 to the first structure 2 are collectively referred to as a first transmission mechanism 23 (see FIG. 5). The first transmission mechanism 23 has a crank structure that converts the rotational force of the motor 6 into the linear motion of the intermediate structure 3.

  As illustrated in FIGS. 11 to 13, the second structure 4 is provided with a second guide groove 24 extending in the x-axis direction. The projecting body 21 of the second drive arm portion 20 is inserted into the second guide groove 24.

  In FIG. 11, when the side on which the alignment portion 7 of the second structure 4 is installed in the y-axis direction is the front, the second structure 4 is positioned at the rear end with respect to the intermediate structure 3, and The body 21 is located at the approximate center of the second guide groove 24 in the x-axis direction. This position is the initial position of the second structure 4.

  When the motor 6 is rotated in the reverse direction, only the second drive arm unit 20 starts to rotate. As illustrated in FIG. 12, the protrusion 21 moves to the left side of the drawing along the second guide groove 24 as the second drive arm portion 20 rotates, and the second structure 4 moves forward (lower side in FIG. 12). ) At this time, since the second structure 4 is restrained from moving in the x-axis direction with respect to the intermediate structure 3, it moves along the y-axis direction.

  The movement of the second structure 4 in the x-axis direction is restricted by, for example, installing slide shafts 25 on both side surfaces of the second structure 4 and sliding the slide shafts 25 to the intermediate structure 3 top plate 3a. This can be realized by penetrating the bush 26. The configuration is not limited to the above as long as the movement of the second structure 4 in the x-axis direction can be restricted. For example, a slider extending in the y-axis direction may be provided between the second structure 4 and the intermediate structure 3. .

  As illustrated in FIGS. 12 and 13, the protruding body 21 that has reached the end portion (left side in the drawing) of the second guide groove 24 is folded back at the end portion and the other end (right side in the drawing) of the second guide groove 24. Move towards. In FIG. 13, the protruding body 21 is positioned at the approximate center of the second guide groove 24 in the x-axis direction, and the second structure 4 is positioned at the front end of the intermediate structure 3.

  By stopping the rotation of the motor 6 when the second structure 4 reaches an arbitrary position, the second structure 4 can be stopped at an arbitrary position between the initial position with respect to the intermediate structure 3 and the front end. it can.

  As described above, the power of the motor 6 is transmitted to the second guide groove 24 via the second clutch mechanism 19 and the second drive arm portion 20, whereby the second structure 4 with respect to the intermediate structure 3. Moves in the y-axis direction. The second clutch mechanism 19, the second drive arm portion 20, and the second guide groove 24 that transmit the power of the motor 6 to the second structure 4 are collectively referred to as a second transmission mechanism 27 (see FIG. 5). The second transmission mechanism 27 has a crank structure that converts the rotational force of the motor 6 into the linear motion of the second structure 4.

  The alignment device 1 has a three-layer structure including the first structure 2, the intermediate structure 3, and the second structure 4, and the motor 6 is disposed on the intermediate structure 3. The structures of the first transmission mechanism 23 and the second transmission mechanism 27 that transmit power to the structure 2 or the second structure 4 can be reduced in size and simplified. This is advantageous in reducing the manufacturing cost of the alignment apparatus 1.

  By adopting a crank structure for the first transmission mechanism 23 and the second transmission mechanism 27, the movement of the intermediate structure 3 in the x-axis direction with respect to the first structure 2 and the y of the second structure 4 with respect to the intermediate structure 3 are achieved. The axial movement can be performed at a relatively high speed. Further, since the transmission mechanisms 23 and 27 do not have meshing portions such as gears, it is advantageous for suppressing the generation of noise.

  The structures of the first transmission mechanism 23 and the second transmission mechanism 27 are not limited to the crank structure described above. Any configuration capable of converting the rotation of the motor 6 into a linear motion in the x-axis direction or the y-axis direction may be used. For example, the first clutch mechanism 16 and the second clutch mechanism 19 may be provided with pinion gears, and racks corresponding to the first structure 2 and the second structure 4 may be installed. Moreover, you may make it the structure which converts the rotational motion of the motor 6 into a linear motion by a ball screw.

  Further, as illustrated in FIG. 14, a gear 17a installed in the first clutch mechanism 16, a pair of timing pulleys 17b disposed on both sides of the gear 17a in the x-axis direction, and the gears 17a and 17b are wound around. The chain 17c may be configured to include a protruding body 18 fixed to a predetermined position on the outer peripheral side of the chain 17c.

  When power is transmitted through the first clutch mechanism 16, the gear 17a fixed to the first clutch mechanism 16 rotates, and accordingly the chain 17c rotates. Due to the rotation of the chain 17c, the protruding body 18 moves on a path around which the chain 17c is wound. Since the protrusion 18 reciprocates in the x-axis direction, the intermediate structure 3 reciprocates in the x-axis direction with respect to the first structure 2 accordingly.

  The arrangement position of the timing pulley 17b is not limited to the embodiment illustrated in FIG. For example, the timing pulley 17b and the gear 17a may be arranged in a state of being aligned in the y-axis direction, or may be arranged in a state where the timing pulley 17b and the gear 17a are inclined at a predetermined angle from the x-axis direction to the y-axis direction.

The number of timing pulleys 17b is not limited to the above, and may be one or three or more. A timing belt may be arranged instead of the chain 17c. Although FIG. 14 illustrates the configuration of the first transmission mechanism 23, the second transmission mechanism 27 can be configured in the same manner. Different structures may be employed for the first transmission mechanism 23 and the second transmission mechanism 27. For example, the first transmission mechanism 23 may be configured as illustrated in FIG. 14, and the second transmission mechanism 27 may be a crank structure.

  In the above embodiment, the intermediate structure 3 is moved in the x-axis direction with respect to the first structure 2, and then the second structure 4 is moved in the y-axis direction with respect to the intermediate structure 3. The alignment apparatus 1 of the present invention is not limited to this configuration. After moving the second structure 4 in the y-axis direction with respect to the intermediate structure 3, the intermediate structure 3 may be moved in the x-axis direction with respect to the first structure 2.

  As illustrated in FIG. 15, the second structure 4 may be nested. That is, the second structure 4 includes a drive unit 28 that is formed with a second guide groove 24 and receives power from the motor 6, and a frame-like body 29 that is disposed so as to surround the outer periphery of the drive unit 28. May be. The drive unit 28 is configured to be movable in the y-axis direction along a slide shaft 29 a that constitutes a part of the frame-like body 29.

  In the second structure 4 of this embodiment, a connector 30 that controls connection and release of the drive unit 28 and the frame-shaped body 29 is installed. The connector 30 can be configured by, for example, an electromagnet, a locking claw that is installed in the drive unit 28 and tilts to engage with the frame-like body 29. Alternatively, the connector 30 can be configured by a stopper that is installed in the intermediate structure 3 and stops the frame-like body 29 at an arbitrary position and separates it from the drive unit 28.

  In this embodiment, the connector 30 is composed of two electromagnets installed at the rear end side (upper side in FIG. 15) of the drive unit 28. When the second structure 4 is moved with respect to the intermediate structure 3, the electromagnet is energized to connect the drive unit 28 and the frame-shaped body 29. As a result, the frame body 29 having the alignment portion 7 moves along the y-axis direction together with the drive unit 28.

  When the moving frame-shaped body 29 collides with the AGV 8 or a pedestrian or the like, the connection by the connector 30 is released, and the frame-shaped body 29 stops with respect to the drive unit 28 that continues to move. This is advantageous for improving the safety of pedestrians and the like and for preventing the alignment apparatus 1 from malfunctioning. For example, by adjusting the magnetic force of the electromagnet when energized, the connector 30 can be released according to the external force generated when the frame-shaped body 29 collides.

  Further, if the connection by the connector 30 is actively released by stopping the energization of the electromagnet while the second structure 4 is being moved, the frame-like body 29 separated from the drive unit 28 can be arbitrarily set. Can be stopped in position. While the frame-shaped body 29 is stopped at an arbitrary position and the power is supplied to the AGV 8, the drive unit 28 is moved to the front end, folded back, and moved rearward. It can be made to wait in the position in front of contact or contact. Thereby, the second structure 4 can be returned to the initial position in a short time after the power feeding is completed. Moreover, since the 2nd structure 4 can be returned to an initial position, without moving the frame-shaped body 29 ahead (AGV8 side) after completion of electric power feeding, the electric power feeding coil installed in the alignment part 7 collides with AGV8. You can avoid that.

  As illustrated in FIG. 16 and FIG. 17, an alignment mechanism 31 is installed that converts the relative movement of the drive unit 28 with respect to the frame-like body 29 into the movement of the alignment portion 7 along the z-axis direction. It is good also as a structure which can align 1 in a triaxial direction.

  In this embodiment, the elevating mechanism 31 has a substantially L-shaped tilting member 32 installed at the front end (left side in FIG. 16) of the frame-like body 29, and one end of the tilting member 32 on the front side (left side in FIG. 16). And a plate 34 that is disposed on the other end of the tilting member 32 while the positioning portion 7 such as a robot hand is disposed.

The bent portion 35 of the substantially L-shaped tilting member 32 is pivotally supported by the frame body 29. There is one end pushed by the rod 33 above the bent portion 35, and the other end on which a part of the plate 34 is placed on the rear side of the bent portion 35.

  The drive unit 28 includes a connecting tool 36 that is detachably attached to the rod 33. The connector 36 is composed of, for example, an electromagnet or the like, similar to the connector 30 described above. An elastic member 37 such as a spring is disposed on the rear end side of the rod 33.

  After completing the alignment in the x-axis direction and the y-axis direction by the alignment device 1, energization to the electromagnets constituting the coupler 30 is stopped and the drive unit 28 is separated from the frame-shaped body 29. As a result, the position of the feeding coil 7 in the y-axis direction is determined by stopping.

  As illustrated in FIG. 17, the rotation of the motor 6 is maintained even after the separation of the frame-like body 29, and when the electromagnet constituting the coupler 36 is energized, the rod 33 moves with the movement of the drive unit 28, and the tilt member It contacts one end of 32 and pushes it forward. As the rod 33 moves, a spring force is accumulated in the elastic member 37.

  When one end of the tilting member 32 is pushed by the rod 33, the other end located on the rear side of the bent portion 35 rises. As the other end of the tilting member 32 rises, the plate 34 rises and the alignment portion 7 rises. The feeding coil 7 is raised according to the distance at which one end of the tilting member 32 is pushed by the rod 33. The rotation of the motor 6 is stopped when the feeding coil 7 is raised to an arbitrary position.

  When the connection by the connector 36 is released, the spring force of the elastic member 37 is released and the rod 33 returns to the original position on the rear side. As a result, the alignment portion 7 is lowered to the original position.

  With this configuration, the alignment apparatus 1 can align the alignment portion 7 in the xyz triaxial directions. Therefore, it can be used in a wide range of fields such as industrial robots.

  The configuration of the lifting mechanism 31 is not limited to the above. Any configuration that can convert the relative movement of the drive unit 28 with respect to the frame body 29 into the vertical movement of the alignment portion 7 may be used. In addition, you may make it the structure which installs the motor for raising / lowering separately and aligns the position of the alignment part 7 in the z-axis direction independently. Even in this case, the alignment in the triaxial direction can be realized by two motors, which is advantageous in reducing the manufacturing cost of the alignment apparatus 1.

  As illustrated in FIGS. 18 and 19, the first drive arm portion 17 can be expanded and contracted, for example, by a slide mechanism or a fluid cylinder, and expanded and contracted along an elliptical guide groove 38 formed on the lower surface side of the intermediate structure 3. You may make it the structure to make. The first drive arm portion 17 has a telescopic projecting body 39 projecting upward, in addition to the projecting body 18 projecting downward toward the first structure 2.

  As illustrated in FIG. 19, an elliptical elliptical guide groove 38 having a long side extending in the x-axis direction and a short side extending in the y-axis direction is formed on the lower surface side of the intermediate structure 3. The expansion / contraction protrusion 39 of the first drive arm portion 17 moves along the elliptical guide groove 38, whereby the expansion / contraction of the first drive arm portion 17 is controlled. That is, the first drive arm portion 17 is passively expanded and contracted along the elliptical guide groove 38 as it rotates.

  As illustrated in FIGS. 20 and 21, the first drive arm portion 17 extends longer as the telescopic protrusions 39 of the first drive arm portion 17 approach both ends in the x-axis direction. The movement distance of the intermediate structure 3 in the x-axis direction can be increased.

  For example, if the ratio of the long side to the short side of the elliptical guide groove 38 is 1: 2, the intermediate structure 3 of this embodiment realizes a movement distance that is about twice that of the embodiment illustrated in FIGS. can do. With this configuration, the movement distance in the x-axis direction of the alignment portion 7 can be increased without changing the size of the alignment apparatus 1.

  As illustrated in FIG. 22, the second guide groove 24 may be formed in a substantially S shape in plan view. In the second guide groove 24, the normal direction of the surface that contacts the protruding body 21 is inclined outward with respect to the rotation axis of the second drive arm unit 20. Therefore, when the projecting body 21 pushes the second guide groove 24, a component force is also generated in the normal direction of the surface in contact with the projecting body 21.

  As shown in FIG. 22, this component force cancels at least a part of the force that the drive unit 28 whose end portion of the second guide groove 24 presses attempts to rotate counterclockwise about the z-axis direction. To do. This is advantageous for suppressing vibration generated by the drive unit 28 rotating about the z-axis direction.

  When the second drive arm portion 20 rotates in the opposite direction, that is, when it rotates clockwise, the substantially S-shape of the second guide groove 24 is reversed.

  As illustrated in FIGS. 23 and 24, the first transmission mechanism 23 includes a first clutch mechanism 16, and a pivot 40 having one end fixed to the first clutch mechanism 16 and the other end fixed to the first structure 2. You may comprise. In this embodiment, the intermediate structure 3 is arranged so as to be rotatable around the z axis with respect to the first structure 2.

  According to this configuration, the intermediate structure 3 is configured to be rotatable in the θ direction about the z axis with respect to the first structure 2, and the second structure 4 is slid in the horizontal direction with respect to the intermediate structure 3. Configured to be possible. The alignment apparatus 1 of this embodiment can perform alignment of the alignment portion 7 in the biaxial direction of the θ direction and the horizontal direction.

  In the embodiment illustrated in FIG. 5, a restraining mechanism that restrains the protruding body 18 guided by the first guide groove 22 of the first structure 2 may be disposed. According to this configuration, when the projecting body 18 is restrained by the restraining mechanism, the intermediate structure 3 can be rotated in the θ direction with respect to the first structure 2, and when the restraint by the restraining mechanism is released. Can slide the intermediate structure 3 in the x-axis direction with respect to the first structure 2. 16 and 17 can be combined, the alignment apparatus 1 can perform alignment in the four directions of the x-axis direction, the y-axis direction, the z-axis direction, and the θ direction.

  The alignment apparatus 1 can perform alignment in at least two directions selected from the x-axis direction, the y-axis direction, the z-axis direction, and the θ direction, and these directions can be appropriately combined. Further, the x-axis direction, the y-axis direction, and the z-axis direction are not limited to directions orthogonal to each other, and an angle formed between them may be smaller than 90 °. The θ direction is not limited to the turning direction around the z axis, and may be the turning direction around the x axis or the y axis. The alignment apparatus 1 may be configured by combining the turning around the x axis and the turning around the z axis.

  In the above-described embodiments, it is assumed that the first structure 2 is used while being fixed to the ground or the like. For example, the intermediate structure 3 is fixed to a gantry or the like, and the first structure 2 and the second structure are used. The alignment parts 7 may be arranged on both of the bodies 4 so that the first structure 2 and the second structure 4 move with respect to the fixed intermediate structure 3.

As illustrated in FIG. 25 and FIG. 26, the non-contact power feeding unit 43 can be configured by arranging the alignment device 1 and the high-frequency power source 41 in a frame-shaped housing 42. In this embodiment, the alignment device 1 is arranged at the lower stage of the casing 42 and the high-frequency power source 41 is arranged at the upper stage. The feeding coil 7 of the alignment device 1 and the high frequency power supply 41 are connected by a power cable 44.

  As illustrated in FIG. 26, the intermediate layer of the housing 42 has a slide bar 45 configured to be movable in the x-axis direction and a suspension configured to be movable in the y-axis direction along the slide bar 45. A hook 46 is provided. A power cable 44 extending from the high-frequency power source 41 to the power feeding coil 7 is supported by the suspension hook 46 at a plurality of locations.

  Since the slide bar 45 can move freely in the x-axis direction and the suspension hook 46 can move freely in the y-axis direction, the power cable 44 can move freely in accordance with the movement of the feeding coil 7. Since the power cable 44 can be disposed between the alignment apparatus 1 and the high frequency power supply 41, it is advantageous for reducing the size of the non-contact power feeding unit 43.

DESCRIPTION OF SYMBOLS 1 Position alignment apparatus 2 1st structure 3 Intermediate structure 3a Top plate 4 Second structure 5 Wall part 6 Motor 7 Positioning part (feeding coil)
8 AGV
8a Seat 9 Power receiving coil 10 Distance sensor 11 Motor driver 12 Pulley 13 Drive shaft 14 Timing belt 15 Rotating shaft 16 First clutch mechanism 16a Bearing holder 17 First drive arm portion 17a Gear 17b Timing pulley 17c Chain 18 Projecting body 19 Second Clutch mechanism 19a Bearing holder 20 Second drive arm 21 Projection 22 First guide groove 23 First transmission mechanism 24 Second guide groove 25 Slide shaft 26 Slide bush 27 Second transmission mechanism 28 Drive unit 29 Frame 29a Slide Shaft 30 Connecting tool 31 Elevating mechanism 32 Tilt member 33 Rod 34 Plate 35 Bending part 36 Connecting tool 37 Elastic member 38 Elliptical guide groove 39 Extending projection 40 Swing shaft 41 High frequency power source 42 Housing 43 Non-contact power supply unit 44 Power source cable 45 Slide bar 46 Suspension hook

Claims (14)

In an alignment apparatus that moves an alignment portion in at least two axial directions,
An intermediate structure in which a driving motor is arranged, and a first structure and a second structure arranged in a state of sandwiching the intermediate structure,
The intermediate structure is installed between the first structure and the first transmission mechanism for transmitting only the rotation of the motor in one direction to the first structure, and the second structure. A second transmission mechanism that is installed and transmits only the rotation in the other direction of the motor to the second structure,
The first transmission mechanism is configured to slide or turn the intermediate structure relative to the first structure by rotating the motor in the one direction, and the second transmission mechanism causes the motor to move in the other direction. A structure for sliding or turning the second structure relative to the intermediate structure by rotating;
The alignment apparatus, wherein the alignment portion is installed in the second structure. The two axis directions are an x-axis direction and a y-axis direction intersecting each other;
The first transmission mechanism has a configuration in which the intermediate structure is slid in the x-axis direction with respect to the first structure, and the second transmission mechanism moves the second structure with respect to the intermediate structure in the y-axis. The alignment apparatus according to claim 1, comprising a configuration that slides in a direction.   The first transmission mechanism is directly or indirectly connected to the motor and transmits a rotational force only in the one direction, and a first guide groove formed in the first structure and extending in the y-axis direction. And a first drive arm portion having one end connected to the first clutch mechanism and a projecting body inserted into the first guide groove at the other end.   The second transmission mechanism is directly or indirectly connected to the motor and transmits a rotational force only in the other direction, and a second guide groove formed in the second structure and extending in the x-axis direction. And a second drive arm portion having one end connected to the second clutch mechanism and having a protruding body that is inserted into the second guide groove at the other end. . The second structure includes a drive unit to which power is applied from the motor via the second transmission mechanism, a frame-like body that surrounds an outer periphery of the drive unit, and the drive unit and the frame-like body. The alignment device according to claim 2, further comprising a connector that controls connection and disconnection, wherein the alignment portion is disposed on the frame-shaped body.   The relative movement of the drive unit with respect to the frame-like body that is separated and stopped by the connector is moved by the alignment portion along the z-axis direction orthogonal to the x-axis direction and the y-axis direction. The alignment apparatus according to claim 5, further comprising an elevating mechanism that converts the position into an elevating mechanism. The biaxial direction is the θ direction turning around the x-axis direction and the z-axis direction intersecting the x-axis direction,
The first transmission mechanism is configured to slide the intermediate structure in the x-axis direction with respect to the first structure, and the second transmission mechanism moves the second structure with respect to the intermediate structure in the θ direction. The alignment apparatus according to claim 1, further comprising a configuration for pivoting.   The intermediate structure includes a timing belt disposed on the drive shaft of the motor and a pulley wound around the timing belt, and the first transmission mechanism is coupled to one side of the rotation shaft of the pulley. The alignment apparatus according to claim 1, wherein the second transmission mechanism is installed on the other side. In an alignment method for moving an alignment portion in at least two axial directions,
The first structure and the second structure are disposed in a state where the intermediate structure where the driving motor is disposed is sandwiched therebetween, and only rotation in one direction is transmitted from the motor to the first structure, A step of sliding or turning the intermediate structure relative to the first structure, and transmitting only rotation in the other direction from the motor to the second structure from the intermediate structure, Then, the alignment method is performed by aligning the alignment portion installed in the second structure by the step of sliding or turning the second structure. The two axis directions are an x-axis direction and a y-axis direction intersecting each other;
The alignment method according to claim 9, wherein the intermediate structure is slid in the x-axis direction with respect to the first structure, and the second structure is slid in the y-axis direction with respect to the intermediate structure. A first clutch mechanism that transmits rotational force only in one direction is connected directly or indirectly to the motor, and one end of a first drive arm portion that rotates about the first clutch mechanism is connected to the first clutch mechanism. Connected, inserting a protruding body formed at the other end of the first drive arm portion into the first guide groove formed in the first structure and extending in the y-axis direction,
The first drive arm is rotated by the rotation of the motor in the one direction, and the protrusion is reciprocated in the y-axis direction along the first guide groove. The alignment method according to claim 10, wherein the intermediate structure is moved in the x-axis direction. A second clutch mechanism that transmits rotational force only in the other direction is connected directly or indirectly to the motor, and one end of a second drive arm portion that rotates about the second clutch mechanism is connected to the second clutch mechanism. Connecting, inserting a protruding body formed at the other end of the second drive arm portion into a second guide groove formed in the second structure and extending in the x-axis direction,
The second drive arm portion is rotated by the rotation of the motor in the other direction, and the protruding body formed at the other end of the second drive arm portion is moved along the second guide groove in the x-axis direction. The alignment method according to claim 10 or 11, wherein the second structure is moved in the y-axis direction with respect to the intermediate structure by reciprocating. The second structure is composed of a drive unit that transmits rotation from the motor and a frame that covers the outer periphery of the drive unit,
When moving the alignment part disposed on the frame-like body, the frame-like body is connected to the drive unit and moved together with the drive unit in the y-axis direction, and when the alignment part is stopped. The alignment method according to claim 10, wherein the connection between the frame-like body and the drive unit is released and stopped. The biaxial direction is the θ direction turning around the x-axis direction and the z-axis direction intersecting the x-axis direction,
The alignment method according to claim 9, wherein the intermediate structure is slid in the x-axis direction with respect to the first structure, and the second structure is turned in the θ direction with respect to the intermediate structure.

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